Global stability results for a generalized Lotka-Volterra system with distributed delays

The paper contains an extension of the general ODE system proposed in previous papers by the same authors, to include distributed time delays in the interaction terms. The new system describes a large class of Lotka-Volterra like population models and epidemic models with continuous time delays. Sufficient conditions for the boundedness of solutions and for the global asymptotic stability of nontrivial equilibrium solutions are given. A detailed analysis of the epidemic system is given with respect to the conditions for global stability. For a relevant subclass of these systems an existence criterion for steady states is also given.Work supported by the Special Program Control of Infectious Diseases, C.N.R. and by the M.P.I., Italy     

Maneuvering and stability performance of a robotic tuna

The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle(VCUUV) is the first mission-scale, autonomous underwater vehiclethat uses vorticity control propulsion and maneuvering. Builtas a research platform with which to study the energetics andmaneuvering performance of fish-swimming propulsion, the VCUUVis a self-contained free swimming research vehicle which followsthe morphology and kinematics of a yellowfin tuna. The forwardhalf of the vehicle is comprised of a rigid hull which housesbatteries, electronics, ballast and hydraulic power unit. Theaft section is a freely flooded articulated robot tail whichis terminated with a lunate caudal fin. Utilizing experimentallyoptimized body and tail kinematics from the MIT RoboTuna, theVCUUV has demonstrated stable steady swimming speeds up to 1.2m/sec and aggressive maneuvering trajectories with turning ratesup to 75 degrees per second. This paper summarizes the vehiclemaneuvering and stability performance observed in field trialsand compares the results to predicted performance using theoreticaland empirical techniques.     

Design and construction of a transducer for bite force registration

This study describes the development of a system for quantification of human biting forces by (1) determining the mechanical properties of an epoxy resin reinforced with carbon fiber, (2) establishing the transducer's optimal dimensions to accommodate teeth of various widths while minimizing transducer thickness, and (3) determining the optimal location of strain gages using a series of mechanical resistance and finite element (FE) analyses. The optimal strain gage location was defined as the position that produced the least difference in strain pattern when the load was applied by teeth with two different surface areas. The result is a 7.3-mm-thick transducer with a maximum load capacity beyond any expected maximum bite force (1500 N). This system includes a graphic interface that easily allows acquisition and registration of bite force by any health-sciences or engineering professional.     

Local microenvironment provides important cues for cell differentiation in lingual epithelia

Transgenic Keratin14-rtTA-PTR mice specifically express Keratin14 (K14) in the tongue epithelia, as well as co-express EGFP and the dominant negative ΔTgfbr2 genes upon treatment with Doxycycline (Dox). As TGF-β signaling negatively regulates the stem cell cycle and proliferation, its disruption by Dox induction in these transgenic mice shortens the cell cycle and allows observation of the final fate of those mutated cell lineages within a short period of time. Here, we used inducible transgenic mice to track the K14+ cells through the cell migration stream by immunohistochemical an immunofluorescent imaging. We showed that these cells have different development patterns from the tip to posterior of the tongue, achieved presumably by integrating positional information from the microenvironment. The expression of the K14 gene was variable, depending on the location of the tongue and papillae. Disruption of TGF-β signaling in K14+ progenitor cells resulted in proliferation of stem cell pools.     

Evidence for a widely distributed peripheral dopaminergic system

The hypothesis presented in this paper is that dopamine (DA) is a widely distributed neurotransmitter and/or cotransmitter in the autonomic nervous system. This hypothesis is based on the following evidence. Morphologically, DA-containing neurons have been demonstrated in autonomic ganglia, and dopaminergic axons have been identified in kidney and canine paw pad. On the basis of pharmacological experiments, the existence of dopaminergic nerves was suggested in vas deferens, stomach, and mesenteric artery. Biochemically, we found intensive catabolism of DA in different peripheral tissues of the rat and human. Furthermore, dopaminergic receptors have a widespread distribution in the body, and a high concentration of DA occurs in plasma with only some originating from the adrenal gland. The concentration of plasma DA closely reflects the activity of the autonomic nervous system. These observations together with our finding of relatively high concentrations of DA and its metabolites in several peripheral nerves suggest the possibility of a widely distributed peripheral dopaminergic system.     

Local and global stability for population models

In general, local stability does not imply global stability. We show that this is true even if one only considers population models.We show that a population model is globally stable if and only if it has no cycle of period 2. We also derive easy to test sufficient conditions for global stability. We demonstrate that these sufficient conditions are useful by showing that for a number of population models from the literature, local and global stability coincide.We suggest that the models from the literature are in some sense simple, and that this simplicity causes local and global stability to coincide.     

A novel application of velocity-based force control for use in robotic biomechanical testing

This paper presents a novel application of a velocity-based force control routine used for robotic biomechanical testing. The routine employs a jog function, available from the robot's motion commands, that permits easy adjustment of velocity on each axis. Force and moment targets are achieved by adjusting jog velocities in proportion to force or moment errors while limiting the maximum velocity of the system. The force control jog routine does not require specimen stiffness values and is inherently stable. The performance of the method was shown to be suitable for unconstrained in vitro spine testing in a rabbit model where extremely small motions are necessary to maintain the target force values. The jogging feature on which this work is based is a feature available on most robots and is equally applicable to a serial robot. The simplicity, stability, and performance of this method warrant its consideration for other robotic biomechanical testing applications where force control is required.     

Single cell deposition and patterning with a robotic system

Integrating single-cell manipulation techniques in traditional and emerging biological culture systems is challenging. Microfabricated devices for single cell studies in particular often require cells to be spatially positioned at specific culture sites on the device surface. This paper presents a robotic micromanipulation system for pick-and-place positioning of single cells. By integrating computer vision and motion control algorithms, the system visually tracks a cell in real time and controls multiple positioning devices simultaneously to accurately pick up a single cell, transfer it to a desired substrate, and deposit it at a specified location. A traditional glass micropipette is used, and whole- and partial-cell aspiration techniques are investigated to manipulate single cells. Partially aspirating cells resulted in an operation speed of 15 seconds per cell and a 95% success rate. In contrast, the whole-cell aspiration method required 30 seconds per cell and achieved a success rate of 80%. The broad applicability of this robotic manipulation technique is demonstrated using multiple cell types on traditional substrates and on open-top microfabricated devices, without requiring modifications to device designs. Furthermore, we used this serial deposition process in conjunction with an established parallel cell manipulation technique to improve the efficiency of single cell capture from ～80% to 100%. Using a robotic micromanipulation system to position single cells on a substrate is demonstrated as an effective stand-alone or bolstering technology for single-cell studies, eliminating some of the drawbacks associated with standard single-cell handling and manipulation techniques.     

Olfactory versus visual cues in a floral mimicry system

 We used arrays of artificial flowers with and without fragrance to determine the importance of olfactory and visual cues in attracting insects to a floral mimic. The mimic is a fungus, Puccinia monoica Arth., which causes its crucifer hosts (here, Arabis drummondii Gray) to form pseudoflowers that mimic co-occurring flowers such as the buttercup, Ranunculus inamoenus Greene. Although pseudoflowers are visually similar to buttercups, their sweet fragrance is distinct. To determine whether visitors to pseudoflowers were responding to fragrance we performed an experiment in which we removed the visual cues, but allowed fragrance to still be perceived. In this experiment we found that pseudoflower fragrance can attract visitors by itself. In other experiments we found that the relative importance of olfactory and visual cues depended on the species of visitor. Halictid bees (Dialictus sp.) had a somewhat greater visual than olfactory response, whereas flies (muscids and anthomyiids) were more dependent on olfactory cues. We also used bioassays to determine which of the many compounds present in the natural fragrance were responsible for attraction. We found that halictid bees were equally attracted to pseudoflowers and to a blend containing phenylacetaldehyde, 2-phenylethanol, benzaldehyde and methylbenzoate in the same relative concentrations as in pseudoflowers. Flies, on the other hand, only responded to pseudoflower scent, indicating that we have not yet identified the compound(s) present in pseudoflowers that are attracting them. The ability of insects to differentiate pseudoflowers from true flowers by their fragrance may be important in the evolution of the mimicry system. Different fragrances may facilitate proper transfer of both fungal spermatia and pollen, and thus make it possible for the visual mimicry to evolve. Received: 3 January 1996 / Accepted: 13 August 1996     

Autowave processes in a distributed chemical system

The autowave processes with a characteristic wavelength and oscillation period may arise under some initial conditions in a uniform active medium. The wavelength and period depend on the chemical and physical parameters of the system and are independent of the initial and boundary conditions and of the system linear size. The processes occur in a homogeneous solution in the course of an oscillating chemical reaction. Similar processes may play an important role in the phenomena of short-term memory, cardiac arrhythmia, morphogenesis and prebiological evolution.Different types of structures are discussed, and experimental data and mathematical models are presented.     

Local and distributed neuronal networks and individuality

To estimate stable behavioural peculiarities, an individual varying choice of greater or better appetite reinforcement depending on the time of instrumental motor response was used with cats. A decisive role in realisation of the response choice is played by the influence of motivational structures of hypothalamus and amygdala on formal areas of neocortex typical for "impulsive" (fast reacting) cats, and interaction of the frontal cortex--hippocampus system for the animals with delayed pressing of the lever to obtain their preferred food, i.e. manifesting the ability of "self-control".     

DNA methylation cues in nucleosome geometry,stability and unwrapping

Cytosine methylation at the 5-carbon position is an essential DNA epigenetic mark in many eukaryotic organisms. Although countless structural and functional studies of cytosine methylation have been reported, our understanding of how it influences the nucleosome assembly, structure, and dynamics remains obscure. Here, we investigate the effects of cytosine methylation at CpG sites on nucleosome dynamics and stability. By applying long molecular dynamics simulations on several microsecond time scale, we generate extensive atomistic conformational ensembles of full nucleosomes. Our results reveal that methylation induces pronounced changes in geometry for both linker and nucleosomal DNA, leading to a more curved, under-twisted DNA, narrowing the adjacent minor grooves, and shifting the population equilibrium of sugar-phosphate backbone geometry. These DNA conformational changes are associated with a considerable enhancement of interactions between methylated DNA and the histone octamer, doubling the number of contacts at some key arginines. H2A and H3 tails play important roles in these interactions, especially for DNA methylated nucleosomes. This, in turn, prevents a spontaneous DNA unwrapping of 3–4 helical turns for the methylated nucleosome with truncated histone tails, otherwise observed in the unmethylated system on several microseconds time scale.     

The differential equations for specific activities in a distributed tracer system

Under the assumption of simple Fick-law diffusion with convection and/or imposed force fields, the flux law for tagged molecules in a tracer system is derived, and the Sheppard-Householder interfusion coefficient identified. The partial differential equations for concentrations of tagged species and for specific activities in an open distributed reaction system are derived and compared.     

Environmental stability affects phenotypic evolution in a globally distributed marine picoplankton

Marine phytoplankton can evolve rapidly when confronted with aspects of climate change because of their large population sizes and fast generation times. Despite this, the importance of environment fluctuations, a key feature of climate change, has received little attention—selection experiments with marine phytoplankton are usually carried out in stable environments and use single or few representatives of a species, genus or functional group. Here we investigate whether and by how much environmental fluctuations contribute to changes in ecologically important phytoplankton traits such as C:N ratios and cell size, and test the variability of changes in these traits within the globally distributed species Ostreococcus. We have evolved 16 physiologically distinct lineages of Ostreococcus at stable high CO₂ (1031±87 μatm CO₂, SH) and fluctuating high CO₂ (1012±244 μatm CO₂, FH) for 400 generations. We find that although both fluctuation and high CO₂ drive evolution, FH-evolved lineages are smaller, have reduced C:N ratios and respond more strongly to further increases in CO₂ than do SH-evolved lineages. This indicates that environmental fluctuations are an important factor to consider when predicting how the characteristics of future phytoplankton populations will have an impact on biogeochemical cycles and higher trophic levels in marine food webs.     

Ultrastable atomic force microscopy: Improved force and positional stability

Atomic force microscopy (AFM) is an exciting technique for biophysical studies of single molecules, but its usefulness is limited by instrumental drift. We dramatically reduced positional drift by adding two lasers to track and thereby actively stabilize the tip and the surface. These lasers also enabled label-free optical images that were spatially aligned to the tip position. Finally, sub-pN force stability over 100 s was achieved by removing the gold coating from soft cantilevers. These enhancements to AFM instrumentation can immediately benefit research in biophysics and nanoscience.     

Complexity-stability relationship of two-prey-one-predator species system model: Local and global stability

Parrish & Saila (1970), motivated by the experiments of Paine (1966), constructed a simple mathematical model for a two-prey-one-predator system. They were unable to find, in their model, a set of parametric values with which the three-species system can be stable, whereas a twoprey species system without a predator is unstable. Cramer & May (1972) showed that, in fact, such parametric values exist, and gave the necessary mathematical condition. I have investigated the complete conditions for the stability of the system around the equilibrium point, and show that the conditions must be more stringent than given by Cramer & May (1972). Also, it is shown that the present model can have a globally stable limit cycle in three species even when the equilibrium point is locally unstable.     

Performance assessment of a new optimization system for robotic SBRT MLC-based plans

PurposeTo assess the performance of a new optimization system, VOLO, for CyberKnife MLC-based SBRT plans in comparison with the existing Sequential optimizer.MethodsMLC-plans were created for 25 SBRT cases (liver, prostate, pancreas and spine) using both VOLO and Sequential. Monitor units (MU), delivery time (DT), PTV coverage, conformity (nCI), dose gradient (R50%) and OAR doses were used for comparison and combined to obtain a mathematical score (MS) of plan quality for each solution. MS strength was validated by changing parameter weights and by a blinded clinical plan evaluation. The optimization times (OT) and the average segment areas (SA) were also compared.ResultsVOLO solutions offered significantly lower mean DT (−19%) and MU (−13%). OT were below 15 min for VOLO, whereas for Sequential, values spanned from 8 to 160 min. SAs were significantly larger for VOLO: on average 10 cm² versus 7 cm². VOLO optimized plans achieved a higher MS than Sequential for all tested parameter combinations. PTV coverage and OAR sparing were comparable for both groups of solutions. Although slight differences in R50% and nCI were found, the parameters most affecting MS were MU and DT. VOLO solutions were selected in 80% of cases by both physicians with 88% inter-observer agreement.ConclusionsThe good performance of the VOLO optimization system, together with the large reduction in OT, make it a useful tool to improve the efficiency of CK SBRT planning and delivery. The proposed methodology for comparing different planning solutions can be applied in other contexts.     

Local and distant prey-related cues influence when an acarine predator leaves a prey patch

Over relatively long distances, the predatory mite Phytoseiulus persimilis is able to detect volatiles produced by bean plants that are infested by its prey, Tetranychus urticae, the twospotted spider mite. Our investigation examined the separate and combined effects of prey, their products, and prey-induced plant volatiles on when P. persimilis left a potential prey host plant. In wind tunnels, we assessed the relative importance of and interaction among local and distant prey-related cues. The examination of local cues included: (1) all local cues (prey eggs, webbing, and prey-induced plant volatiles), (2) food (prey eggs) and webbing only, (3) plant volatiles only, and (4) no prey-related cues. The examination of distant cues involved the presence or absence of prey-induced plant volatiles from upwind plants. External volatile cues, produced by placing prey-infested plants upwind in the wind tunnel, resulted in more predators leaving downwind plants, and leaving sooner, than when clean plants were upwind, regardless of the availability of prey or prey-related cues on the local plant. However, local cues, especially the presence of food/webbing, had a greater effect than distant cues on timing of predator leaving. Predators remained in larger numbers and for longer times on prey-infested plants. However, the presence of either locally-produced plant volatiles or food/webbing alone still reduced the number of predators leaving a plant in the first hour compared to clean plants. After the first hour, the number of predators leaving was primarily driven by the presence of food/webbing. When no food/webbing was available, predators left plants rapidly; if food/webbing was available, some predatory mites remained on plants at least 24 hours. Even if no food/webbing was available, predators presented with local volatiles remained on plants for several hours longer than on clean plants without local volatiles. These small changes in leaving rates may lead to differences in local population dynamics, and possibly regional persistence, of the predator-prey interaction in patchy environments.