Sideways walking: preferred is slow,slow is optimal,and optimal is expensive

When humans wish to move sideways, they almost never walk sideways, except for a step or two; they usually turn and walk facing forward. Here, we show that the experimental metabolic cost of walking sideways, per unit distance, is over three times that of forward walking. We explain this high metabolic cost with a simple mathematical model; sideways walking is expensive because it involves repeated starting and stopping. When walking sideways, our subjects preferred a low natural speed, averaging 0.575 m s⁻¹ (0.123 s.d.). Even with no prior practice, this preferred sideways walking speed is close to the metabolically optimal speed, averaging 0.610 m s⁻¹ (0.064 s.d.). Subjects were within 2.4% of their optimal metabolic cost per distance. Thus, we argue that sideways walking is avoided because it is expensive and slow, and it is slow because the optimal speed is low, not because humans cannot move sideways fast.     

The metabolic cost of changing walking speeds is significant,implies lower optimal speeds for shorter distances,and increases daily energy estimates

Humans do not generally walk at constant speed, except perhaps on a treadmill. Normal walking involves starting, stopping and changing speeds, in addition to roughly steady locomotion. Here, we measure the metabolic energy cost of walking when changing speed. Subjects (healthy adults) walked with oscillating speeds on a constant-speed treadmill, alternating between walking slower and faster than the treadmill belt, moving back and forth in the laboratory frame. The metabolic rate for oscillating-speed walking was significantly higher than that for constant-speed walking (6–20% cost increase for ±0.13–0.27 m s⁻¹ speed fluctuations). The metabolic rate increase was correlated with two models: a model based on kinetic energy fluctuations and an inverted pendulum walking model, optimized for oscillating-speed constraints. The cost of changing speeds may have behavioural implications: we predicted that the energy-optimal walking speed is lower for shorter distances. We measured preferred human walking speeds for different walking distances and found people preferred lower walking speeds for shorter distances as predicted. Further, analysing published daily walking-bout distributions, we estimate that the cost of changing speeds is 4–8% of daily walking energy budget.     

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.     

Piezoelectrically Actuated Biomimetic Self-Contained Quadruped Bounding Robot

This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces ofpiezocomposite actuators for the bounding locomotion.The design of the robot leg is inspired by legged insects and animals,and the biomimetic concept is implemented in the robot in a simplified form,such that each leg of the robot has only one degreeof freedom.The lack of degree of freedom is compensated by a slope of the robot frame relative to the horizontal plane.For theimplementation of the self-contained mobile robot,a small power supply circuit is designed and installed on the robot.Experimentalresults show that the robot can locomote at about 50 mm·s^-1with the circuit on board,which can be considered as asignificant step toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.     

The metabolic and mechanical costs of step time asymmetry in walking

Animals use both pendular and elastic mechanisms to minimize energy expenditure during terrestrial locomotion. Elastic gaits can be either bilaterally symmetric (e.g. run and trot) or asymmetric (e.g. skip, canter and gallop), yet only symmetric pendular gaits (e.g. walk) are observed in nature. Does minimizing metabolic and mechanical power constrain pendular gaits to temporal symmetry? We measured rates of metabolic energy expenditure and calculated mechanical power production while healthy humans walked symmetrically and asymmetrically at a range of step and stride times. We found that walking with a 42 per cent step time asymmetry required 80 per cent (2.5 W kg⁻¹) more metabolic power than preferred symmetric gait. Positive mechanical power production increased by 64 per cent (approx. 0.24 W kg⁻¹), paralleling the increases we observed in metabolic power. We found that when walking asymmetrically, subjects absorbed more power during double support than during symmetric walking and compensated by increasing power production during single support. Overall, we identify inherent metabolic and mechanical costs to gait asymmetry and find that symmetry is optimal in healthy human walking.     

Interspecific variation in the tetradactyl manus of modern tapirs (Perissodactyla: Tapirus) exposed using geometric morphometrics

The distal forelimb (autopodium) of quadrupedal mammals is a key morphological unit involved in locomotion, body support, and interaction with the substrate. The manus of the tapir (Perissodactyla: Tapirus ) is unique within modern perissodactyls, as it retains the plesiomorphic tetradactyl (four‐toed) condition also exhibited by basal equids and rhinoceroses. Tapirs are known to exhibit anatomical mesaxonic symmetry in the manus, although interspecific differences and biomechanical mesaxony have yet to be rigorously tested. Here, we investigate variation in the manus morphology of four modern tapir species (Tapirus indicus , Tapirus bairdii , Tapirus pinchaque , and Tapirus terrestris ) using a geometric morphometric approach. Autopodial bones were laser scanned to capture surface shape and morphology was quantified using 3D‐landmark analysis. Landmarks were aligned using Generalised Procrustes Analysis, with discriminant function and partial least square analyses performed on aligned coordinate data to identify features that significantly separate tapir species. Overall, our results support the previously held hypothesis that T. indicus is morphologically separate from neotropical tapirs; however, previous conclusions regarding function from morphological differences are shown to require reassessment. We find evidence indicating that T. bairdii exhibits reduced reliance on the lateral fifth digit compared to other tapirs. Morphometric assessment of the metacarpophalangeal joint and the morphology of the distal facets of the lunate lend evidence toward high loading on the lateral digits of both the large T. indicus (large body mass) and the small, long limbed T. pinchaque (ground impact). Our results support other recent studies on T. pinchaque , suggesting subtle but important adaptations to a compliant but inclined habitat. In conclusion, we demonstrate further evidence that the modern tapir forelimb is a variable locomotor unit with a range of interspecific features tailored to habitual and biomechanical needs of each species.     

Symmetry: A guide to its application in 2D electron crystallography

A defining property of a crystal is its symmetry. This mini-review sets out to summarize all aspects that define 2D crystallographic symmetry as applied to the study of macromolecular structure. It begins by defining molecular point symmetries, before covering crystallographic symmetry operations in 2D, common notation, a summary of crystallographic plane groups and theoretical methods and important considerations for the identification and application of symmetry in 2D crystal images for 3D structure determination. While many of the concepts covered here may be equally applicable to point symmetry and space group symmetry in 3D, this review has been written from the perspective of 2D electron crystallography and deals specifically with symmetry operations and crystallographic space groups in 2D crystal projection images.     

Group swimming behaviour and energetics in bluegill Lepomis macrochirus and rainbow trout Oncorhynchus mykiss

Group swimming size influences metabolic energy consumption and swimming behaviour in fishes. Hydrodynamic flows and vortices of other fish are thought to be beneficial in terms of the energetic costs of swimming. Similarly, abiotic obstructions have been shown to have similar benefits with respect to metabolic consumption in swimming fish such as rainbow trout Oncorhynchus mykiss. The current study works to examine metabolic rates and swimming behaviours as a function of group swimming with bluegill sunfish Lepomis macrochirus and O. mykiss. Fishes were subjected to individual and group swimming in a respiratory swim tunnel to determine oxygen consumption as a proxy for the metabolic rate of swimming fish. In addition, fish movements within the swim tunnel test chamber were tracked to examine group swimming behaviour. We hypothesized that fish would benefit metabolically from group swimming. In the case of O. mykiss, we also hypothesized that groups would benefit from the presence of an abiotic structure, as has been previously observed in fish swimming individually. Our results suggest that the influence of group size on swimming metabolism is species specific. While L. macrochirus show decreased metabolic rate when swimming in a group compared to individually, O. mykiss did not show such a metabolic benefit from group swimming.     

Human RBM28 protein is a specific nucleolar component of the spliceosomal snRNPs

The biogenesis of spliceosomal small nuclear RNAs (snRNAs) involves organized translocations between the cytoplasm and certain nuclear domains, such as Cajal bodies and nucleoli. Here we identify human RBM28 protein as a novel snRNP component, based on affinity selection of U6 small nuclear ribonucleoprotein (snRNP). As shown by immunofluorescence, RBM28 is a nucleolar protein. Anti-RBM28 immunoprecipitation from HeLa cell lysates revealed that this protein specifically associates with U1, U2, U4, U5, and U6 snRNAs. Our data provide the first evidence that RBM28 is a common nucleolar component of the spliceosomal ribonucleoprotein complexes, possibly coordinating their transition through the nucleolus.     

Human colon adenocarcinoma is associated with specific post-translational modifications of versican and decorin

In this study, the amounts and the fine structural characteristics of versican and decorin present in human colon adenocarcinomas (HCC) were investigated and compared with those in human normal colon (HNC). HCC is characterized by significant increase in the amounts of versican and decorin (13- and 8-fold in terms of protein, respectively). These two proteoglycans (PGs) were the predominant in HCC (86% of total uronic acid). In HNC, versican and decorin contained both chondroitin sulfate/dermatan sulfate chains (CS/DS), with DS to be the predominant one (90-93%). The molecular sizes (M(r)s) estimated for DS and CS chains were 25-28 and 21-28 kDa, respectively. In CS/DS chains isolated from both versican and decorin, 4-sulfated disaccharides accounted for 79-86% of total disaccharide units, respectively, whereas lower amounts of 6- and non-sulfated units were also recorded. In contrast, the tumor-associated versican and decorin were of smaller hydrodynamic size with lower glycosaminoglycan (GAG) content per PG molecule as compared with those found in HNC. In HCC, both PGs contained mainly CS chains (up to 86%) and the M(r)s of CS and DS chains were also found to be of smaller size (12 and 16 kDa, respectively). The sulfation patterns of CS/DS chains from both PGs were also significantly different. They were composed mainly of 6-sulfated disaccharides (63-70%), whereas 4-sulfated units accounted for 23-31%. A significant increase in the proportion of non-sulfated disaccharides was also recorded. These findings indicate that the colon adenocarcinoma is characterized by a remarkable increase in the concentration of versican and decorin. Furthermore, these PGs are significantly modified at the post-translational level, i.e. the type, length and the sulfation pattern of their GAG chains. These specific structural alterations of versican and decorin may influence the biology of cancer cells in HCC.     

Human dendritic cell expression of HLA-DO is subset specific and regulated by maturation

Expression of HLA-DO (DO) in cells that express HLA-DM (DM) results in an altered repertoire of MHC class II/peptide complexes, indicating that DO modulates DM function. Human and murine B cells and thymic epithelial cells express DO, while monocytes/macrophages do not. Monocyte-derived dendritic cells (DC) also have been found to be DO-negative, leading to the assumption that DC do not express DO. In this study, we report that, in fact, certain types of human primary DC express DO. These include Langerhans cells (LC) and some subtypes of circulating blood DC. Specifically, the majority of BDCA-3(+) DC, a small subset of uncertain function, are DO(+), while smaller proportions of CD11c(+), BDCA-1(+) (myeloid) DC, at most a minority of CD123(+)/BDCA-2(+) (plasmacytoid) DC, and no detectable CD16(+) (myeloid) DC, express DO. Immunohistochemistry of human tonsil sections demonstrates that tonsillar interdigitating DC are also DO(+). In a subset of immature LC with higher DO expression, an increased fraction of surface DR molecules carry CLIP peptides, indicating that DO functions as a DM inhibitor in these cells. LC expression of DO is down-regulated by maturation stimuli. DM levels also decrease under these conditions, but the DM:DO ratio generally increases. In the myeloid cell types tested, DO expression correlates with levels of DObeta, but not DOalpha, implying that modulation of DObeta regulates DO dimer abundance in these cells. The range of APC types shown to express DO suggests a broader role for DO in immune function than previously appreciated.     

The Torradovirus‐specific RNA2‐ORF1 protein is necessary for plant systemic infection

Tomato apex necrosis virus (ToANV, species Tomato marchitez virus, genus Torradovirus, family Secoviridae) causes a severe tomato disease in Mexico. One distinctive feature of torradoviruses compared with other members of the family Secoviridae is the presence of an additional open reading frame (ORF) in genomic RNA2 (denominated RNA2‐ORF1), located upstream of ORF2. RNA2‐ORF2 encodes a polyprotein that is processed into a putative movement protein and three capsid proteins (CPs). The RNA2‐ORF1 protein has homologues only amongst other torradoviruses and, so far, no function has been associated with it. We used recombinant and mutant ToANV clones to investigate the role of the RNA2‐ORF1 protein in various aspects of the virus infection cycle. The lack of a functional RNA2‐ORF1 resulted in an inability to systemically infect Nicotiana benthamiana and tomato plants, but both positive‐ and negative‐strand RNA1 and RNA2 accumulated locally in agroinfiltrated areas in N. benthamiana plants, indicating that the RNA2‐ORF1 mutants were replication competent. Furthermore, a mutant with a deletion in RNA2‐ORF1 was competent for virion formation and cell‐to‐cell movement in the cells immediately surrounding the initial infection site. However, immunological detection of the ToANV CPs in the agroinfiltrated areas showed that this mutant was not detected in the sieve elements even if the surrounding parenchymatic cells were ToANV positive, suggesting a role for the RNA2‐ORF1 protein in processes occurring prior to phloem uploading, including efficient spread in inoculated leaves.     

Ranging behavior of woolly spider monkeys,or muriquis,Brachyteles arachnoides

During a 14-month study of one group of woolly spider monkeys, or muriquis (Brachyteles arachnoides),at Fazenda Montes Claros, M. G., Brazil, the group used a home range of 168 ha. Day-range lengths averaged 1283 m and were longer in the wet season than in the dry season. An analysis of travel rates indicated that the group traveled faster on those days when they traveled farther. The availability of large patches of preferred food sources appears to affect daily movement patterns. Intraspecific comparisons, in addition to an apparent expansion of the study group’s home range as their group size has increased, suggest the importance of group size to muriqui range size. Interspecific comparisons between muriquis and sympatric brown howler monkeys suggest that locomotor adaptations are important to understanding species differences in ranging behavior.     

The Glucose Concentration Modulates N-Formyl-Methionyl-Leucyl-Phenylalanine (fMet-Leu-Phe)-Stimulated Chemokinesis in Normal Human Neutrophils

The effects of glucose concentration on the chemokinetic effects of the chemotactic peptide N-formyl-methionyl-leucyl-phenylalanine (fMet-Leu-Phe) was evaluated for normal human neutrophils using a direct microscopic assay. fMet-Leu-Phe increased the rate of locomotion in the absence of glucose, but the chemokinetic effect of fMet-Leu-Phe was most potent at 5mM glucose and not further changed at 15 mM glucose. The chemokinetic effects of fMet-Leu-Phe and glucose were essentially the same in blood clot-isolated and gradient-isolated neutrophils. However, in gradient-isolated neutrophils, the rate of locomotion under different experimental conditions was strictly negatively correlated to the fraction of non-locomoting cells and the degree of adhesion to the substratum. These results indicate that the chemokinetic effects of fMet-Leu-Phe are regulated by the glucose concentration by inducing locomotor activity in otherwise non-locomoting cells and by improving adhesion to the substratum.     

An Experimental Analysis of Overcoming Obstacle in Human Walking

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.     

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.