A walking robot called human: lessons to be learned from neural control of locomotion

From what we know at present with respect to the neural control of walking, it can be concluded that an optimal biologically inspired robot could have the following features. The limbs should include several joints in which position changes can be obtained by actuators across the joints. The control of mono- and biarticular actuators should occur at least at three levels: one at direct control of the actuators (equivalent to motoneuron level), the second at indirect control acting at a level which controls whole limb movement (flexion or extension) and the third at a still higher level controlling the interlimb coordination. The limb level circuits should be able to produce alternating flexion and extension movements in the limb by means of coupled oscillator flexor and extensor parts which are mutually inhibitory. The interlimb control level should be able to command the various limb control centers. All three control levels should have some basic feedback circuits but the most essential one is needed at the limb control level and concerns the decision to either flex or extend a given limb. The decision to activate the extensor part of the limb oscillator has to be based on feedback signalling the onset of loading of the limb involved. This should be signalled by means of load sensors in the limb. The decision to activate the flexor part of the limb oscillator has to depend on various types of feedback. The most important requirement is that flexion should only occur when the limb concerned is no longer loaded above a given threshold. The rule for the initiation of limb flexion can be made more robust by adding the requirement that position at the base of the limb ("hip") should be within a normal end of stance phase range. Hence, human locomotion is thought to use a number of principles which simplify control, just as in other species such as the cat. It is suggested that cat and human locomotion are good models to learn from when designing efficient walking robots.     

Neurochemical aspects of interneuronal communication

It is suggested that the term neurotransmission, which is used to designate neuronal communication at synaptic level, be associated to the less restrictive term neuromodulation. These two types of intercellular communication seem in fact to be two basically different mechanisms, both of which contribute to neuronal integration. The integration of neuronal information at cellular level appears to be more complex than the simple addition of excitatory plus inhibitory influences eliciting postsynaptic responses. Evidence has been obtained that non synaptic transmission can alter the capacity of a given synapse to transfer neuronal information from the presynaptic element to the postsynaptic neuron. For instance, presynaptic mechanisms provide evidence for the functional independence of the nerve terminals, since the release of neuromediators by the latter is sometimes independent of the axonal firing rate. Similarly, the somato-dendritic part of some neurons exhibits intrinsic functions, such as a dendritic release of neuromediator, suggesting that the control of the axonal firing rate takes place partly at this somato-dendritic level and does not depend for the totality on afferent axonic information. The intercellular operations which organize individual neurons into neuronal networks will also occur either at somato-dendritic level or at the level of specific nerve terminals selected as the result of presynaptic interactions. This integration of neuronal information also seems to take place at postsynaptic level, where cooperative interactions have been shown to occur between various receptors. These mechanisms will function at the level of a single nerve terminal containing more than one neuromediator. Neuromodulation can therefore be said to involve very efficient adaptive processes, which help to account for the fact that such large behavioral responses are expressed by such a small number of neuronal elements.     

The units ofselection

The individual has long been considered by evolutionists to be the only level at which selection acts. Recent advances in molecular biology have forced them to accept at least one other, the molecular level. This paves the way for a broadening of perspective in evolutionary thought, but renders it more necessary to clarify the debate about the level at which the process of evolution occurs. This debate cannot be resolved without clarifying the premises on which the argument is based. To this end, it is helpful to distinguish between that which is transmitted and that which transmits. The discrimination of genetic information from its material support (avatar) can be most useful, particularly when placed in the context of the hierarchical organization of biological systems. The utility of this approach is exemplified by its application to the case of the evolution of sex.     

Classification of the abnormality concept

This paper deals with congenital malformations in man and presents a classificatory system for them. It first distinguishes abnormalities from normal variation and then further separates between primary and secondary structural disorders. Secondary disorders are those which are due to disturbances in primary normal tissues. Every maldevelopment which originates in prenatal life, is a congenital malformation. The level at which the malformation occurs must be considered, i. e. whether it is at the organism level, organ level, tissue, cell or subcellular level. A standardized system is absolutely necessary if the incidence of malformations is to be compared throughout the world.     

Tissue-specific expression of kallikrein-related genes in the rat

Four distinct kallikrein-related mRNAs (PS, S1, S2, and S3), encoded by members of a multigene family, are selectively expressed in various combinations in several rat tissues. Although closely related along most of the mRNA sequence, the four mRNAs can be selectively detected with synthetic oligonucleotide probes complementary to highly variable mRNA subregions. PS mRNA, which encodes an enzyme with true kallikrein activity, is present at high levels in the submaxillary gland, pancreas, and kidney. S1 mRNA, which encodes an enzyme similar to the PS kallikrein, is detected only in the submaxillary gland and is present at one-fifth the PS mRNA level. S2 mRNA, which encodes the enzyme tonin, is present in the submaxillary gland at half the PS mRNA level and at a slightly higher level in the prostate. S3 mRNA, which encodes an enzyme very similar to tonin, is present in the submaxillary gland at one-tenth the PS mRNA level and in the prostate at about the same level as tonin mRNA.     

Growth and development of children with a special focus on sleep

The first two decades of life are characterised complex biological processes involving growth and maturation as well as differentiation. The Central Nervous System (CNS) where among others internal and external stimuli are integrated and responses of the body are prepared starts to evolve quite early during ontogenesis. One of the complex behaviours, which are regulated by the brain, is the sleep-wake cycle.The discussion of age-related changes in sleep comprises changes at the physiological level (e.g. changes in the frequency and amplitude of EEG signal, as well as development and distribution of sleep stages), changes in the corresponding behaviour (e.g. changes in the absolute amount of sleep and its distribution in 24 h perspective), and finally the subjective perception of sleep and sleep as a measure of well-being.Studies on the impact of a specific factor on sleep during childhood and adolescence have to consider chronological and biological age as well as sex as relevant biological parameters. Even when these factors are controlled for large interindividual differences persist, that is why prospective instead of cross-sectional approaches should be used whenever possible. Furthermore, it has to be distinguished between sleep assessed at the level of brain functioning (i.e. by polysomnography), which gives information on effects at the physiological level and at the level of self-assessment, which focuses on behaviour. Both, sleep at the subjective as well as at the objective level, can to a considerable degree be affected by life style factors, which hence have to be considered as potential confounders.     

Causes and consequences of variation in competitive ability in plant communities

Abstract. Several factors may define the cause and pattern of variation in competitive ability among individuals within a plant community. Variation may be a consequence of genetic or environmental variability. These two sources of variation may vary in their relative magnitudes. The relevant scale of genetic variation may occur at the individual genotype level or at the species level. The relevant scale of environmental variation may occur at the individual plant level or at the neighbourhood (or community) level. Relative competitive abilities may be effected by genotype-environment interaction or by genotype-genotype (or species-species) interaction. The complex relationship among these factors reveals the mechanistic basis for establishing a clear distinction among five specific hypotheses for species coexistence and diversity that are all variations of the general hypothesis that competitive abilities do not differ sufficiently among coexisting species to cause any competitive exclusion at the community level. These hypotheses are compared in terms of the degree to which they are restricted by assumptions and supported by existing data, and in the extent to which they involve evolutionary consequences of competition.     

A novel and rapid apoptosis assay based on thiol redox status

We present here a novel probe, VitaBright-48, for the evaluation of the cellular level of reduced thiols. Using different cell lines and apoptogenic agents we show that a decrease in the level of reduced thiols correlates with well-known apoptotic markers such as phosphatidylserine translocation and caspase activity. The cell population to be investigated is added to the nonfluorescent stain VitaBright-48, which immediately permeates the cell membrane and reacts with intracellular thiols, forming a fluorescent compound. Quantification of the cell fluorescence directly after staining (without washing) can then be used to determine the population's cellular thiol level at the single cell level. Based on the results presented here, we suggest that measurement of changes in the level of free thiols should be added to the list of phenotypes which may be investigated in order to detect apoptosis.     

A hierarchical deductive approach for functional types in disturbed ecosystems

Abstract. We propose a hierarchical approach for plant functional classification in disturbed ecosystems to be used for vegetation modelling and global plant trait comparisons. Our framework is based on the persistence of plants at different levels of organization. We assume that the main parameters to determine persistence in chronically disturbed ecosystems are those related to: I ndividual‐persistence capacity, P ropagule‐persistence capacity (persistence at the population level), C ompetitive capacity (persistence at the community level) and D ispersal capacity (persistence at the landscape level). The IPCD approach is illustrated for fire‐prone and grazed ecosystems from the Mediterranean region and Australia and by assuming a binary classification of the four traits determining persistence which give a total 16 possible functional types. The IPCD framework provides a simple structured and synthetic view from which more elaborated schemes can be developed.     

If animals know their own fighting ability, the evolutionarily stable level of fighting is reduced

We consider a version of the Hawk-Dove game in which an animal knows its own fighting ability but not the ability of its opponent. For this game at evolutionary stability there is a critical level of ability such that animals with ability greater than the critical level play Hawk and animals with ability below the critical level play Dove. We define the level of fighting to be the probability of a Hawk-Hawk fight when two opponents meet. We show that even if an animal does not know the ability of its opponent, knowing its own ability results in a lower level of fighting at evolutionary stability than is found in the standard Hawk-Dove game in which there are no differences in ability or abilities are not known.     

Isocitrate dehydrogenase assays on intact bacterial cells

A qualitative assay which can be adapted to screen large numbers of Escherichia coli colonies for the presence of soluble enzymes is described. In a test of the system using a new, especially sensitive assay for isocitrate dehydrogenase activity, colonies producing the enzyme could be correctly identified at the 70% level after 2 h of incubation and at the 100% level after 8 h of incubation. The completed reactions are stable for several days at room temperature.     

链格孢菌酯酶同工酶分析及其分类学意义

分析了20株链格孢菌的酯酶同工酶聚丙烯酰胺凝胶电泳图谱,并将酶谱进行聚类分析。结果发现:20株链格孢菌在37%的相似系数处明显分为大孢子组和小孢子组;大孢子组在52%的相似系数处分为6组,每组代表1个种,小孢子组在较高的相似性水平上分组与形态分组结果基本一致。本试验结果还表明:酯酶同工酶电泳方法简单易行,能准确反映种间的微小差异,适用于链格孢属真菌的种级分类,可作为传统形态学分类的一个重要辅助手段。     

Relationships between IFNgamma, IL-6, corticosterone, and Listeria monocytogenes pathogenesis in BALB/c mice

The relationships between Listeria monocytogenes (LM) pathogenesis, based on bacterial load, and serum levels of IL-6, IFNgamma, and corticosterone (CORT) were quantified. Serum IFNgamma levels increased along with the LM burden; however, with LM burdens > or =3 x 10(6) CFU per spleen, the serum IFNgamma level decreased along with a decrease in splenic weight. Serum IL-6 levels exponentially increased with increases of LM, and the CORT level positively correlated with the increase in IL-6 and LM. The serum level of IFNgamma appeared to be a good biomarker of the host's ability to combat the infection only when the LM burden did not exceed a critical level (>3 x 10(6) CFU per spleen). Interestingly, the LM load at which the IFNgamma level began to decline was near the dose at which the IL-6 concentration exponentially increased, suggesting a transition point shift from stress (assessed as CORT level) being immunoenhancing to becoming immunosuppressive. The IL-6:IFNgamma ratio may be a good indicator of disease severity and/or the ability to cope with an infection.     

Developmental and hormonal regulation of carbamoyl-phosphate synthase gene expression in rat liver: evidence for control mechanisms at different levels in the perinatal period

Carbamoyl-phosphate synthase gene expression is found to be primarily regulated by conditions that enhance hepatic glucocorticosteroid levels (hormone injections) and cyclic AMP levels (induction of diabetes). After birth, changes in the level of carbamoyl-phosphate synthase protein follow changes in the level of carbamoylphosphate synthase mRNA, suggesting a pretranslational control mechanism. In fetal rats, carbamoyl-phosphate synthase gene expression is regulated by the same factors as in adults. However, both the level to which carbamoyl-phosphate synthase mRNA can accumulate and the extent to which mRNA can be translated appear to be limited, indicating control mechanisms at the pretranslational and translational level. Finally, in the immediate postnatal period, a transient but pronounced decrease in the rate of degradation of carbamoyl-phosphate synthase protein may play a role in the accumulation of the enzyme.     

Fourier shell correlation threshold criteria

The resolution value claimed for an electron microscopical three-dimensional reconstruction indicates the overall quality of the experiment. The Fourier shell correlation (FSC) criterion has now become the standard quality measure. However, what has continued to be controversial is the issue of the FSC threshold level at which one defines the reproducible resolution. Here, we discuss the theoretical behaviour of the FSC in conjunction with the various factors which influence it: the number of "voxels" in a given Fourier shell, the symmetry of the structure, and the size of the structure within the reconstruction volume. Both the theoretical considerations and our model experiments show that fixed-valued FSC threshold (like "0.5") may never be used in a reproducible criterion. Fixed threshold values are-as we show here-simply the result of incorrect assumptions in the basic statistics. Two families of FSC threshold curves are discussed: the sigma-factor curves and the new family of bit-based information threshold curves. Whereas sigma-factor curves indicate the resolution level at which one has collected information significantly above the noise level, the information curves indicate the resolution level at which enough information has been collected for interpretation.     

LVV-hemorphin 7 and angiotensin IV in correlation with antinociception and anti-thermal hyperalgesia in rats

Hemorphins, a family of atypical endogenous opioid peptides, are produced by the cleavage of hemoglobin β-chain. Hemorphins were proved to bind to the μ-opioid receptors (agonist) and angiotensin IV receptors (insulin-regulated aminopeptidase; IRAP) (inhibitor). Among the hemorphins, LVV-hemorphin-7 (LVV-H7) was found to be abundant and with a longer half life in the CNS. Using intrathecal and intracerebroventricular injections, LVV-H7 and angiotensin IV were given to the rats, which were then subjected to the plantar test and the tail-flick test. Our results showed that LVV-H7 attenuated carrageenan-induced hyperalgesia at the spinal level, which could not be reversed by the co-administration of naloxone. At the supraspinal level, LVV-H7 also produced a significant anti-hyperalgesia effect but with a lower extent. Angiotensin IV showed a similar anti-hyperalgesia effect at the spinal level, but had no effect at the supraspinal level. In the tail-flick test and paw edema test, both peptides showed no effect. These results suggest that LVV-H7 mainly exert the anti-hyperalgesia effect at the spinal level, possibly through IRAP but not μ-opioid receptors. In addition, we observed the expression of IRAP in the CNS of animals with/without carrageenan-induced hyperalgesia. Our results showed a significant expression of IRAP in the spinal cord of rats. However, there was no significant quantitative change of IRAP after the development of hyperalgesia. The serum level of LVV-H7 was also found to be with no change caused by hyperalgesia. These results indicated that the endogenous LVV-H7 and IRAP may not regulate the severity of hyperalgesia through a quantitative change.     

Molecular Dynamics Simulations of Molecules in Uniform Flow

Flow at the molecular level induces shear-induced unfolding of single proteins and can drive their assembly, the mechanisms of which are not completely understood. To be able to analyze the role of flow on molecules, we present uniform-flow molecular dynamics simulations at atomic level. The pull module of the GRoningen MAchine for Chemical Simulations package was extended to be able to force-group atoms within a defined layer of the simulation box. Application of this external enforcement to explicit water molecules, together with the coupling to a thermostat, led to a uniform terminal velocity of the solvent water molecules. We monitored the density of the whole system to establish the conditions under which the simulated flow is well-behaved. A maximal velocity of 1.3 m/s can be generated if a pull slice of 8 nm is used, and high velocities would require larger pull slices to still maintain a stable density. As expected, the target velocity increases linearly with the total external force applied. Finally, we suggest an appropriate setup to stretch a protein by uniform flow, in which protein extensions depend on the flow conditions. Our implementation provides an efficient computational tool to investigate the effect of the flow at the molecular level.     

Explanatory pluralism in evolutionary biology

The ontological dependence of one domain on another is compatible with the explanatory autonomy of the less basic domain. That autonomy results from the fact that the relationship between two domains can be very complex. In this paper I distinguish two different types of complexity, two ways the relationship between domains can fail to be transparent, both of which are relevant to evolutionary biology. Sometimes high level explanations preserve a certain type of causal or counterfactual information which would be lost at the lower level; I argue that this is central to the proper understanding of the adaptationist program. Sometimes high level kinds are multiply realised by lower level kinds: I argue that this is central to the understanding of macroevolution.