Fully decentralized control of a soft-bodied robot inspired by true slime mold

Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom, equivalent to animals, into the robots’ bodies. For taming many degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However a systematic way of designing such autonomous decentralized control system is still missing. Aiming at understanding the principles that underlie animals’ locomotion, we have focused on a true slime mold, a primitive living organism, and extracted a design scheme for autonomous decentralized control system. In order to validate this design scheme, this article presents a soft-bodied amoeboid robot inspired by the true slime mold. Significant features of this robot are twofold: (1) the robot has a truly soft and deformable body stemming from real-time tunable springs and protoplasm, the former is used for an outer skin of the body and the latter is to satisfy the law of conservation of mass; and (2) fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts stemming from the law of conservation of protoplasmic mass. Simulation results show that this robot exhibits highly supple and adaptive locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design methodology for autonomous decentralized control system.     

Effects of lysophosphatidylcholine micelle and phosphatidylcholine liposome on photoreduction of methylviologen

Photoinduced reduction of methylviologen (MV2+) by ethylenediaminetetraacetate (EDTA3-), which was sensitized by thiacarbocyanine dyes having long alkyl chains (C+m-n) embedded in palmitoyl lysophosphatidylcholine micelle and dipalmitoyl phosphatidylcholine liposomal membrane, was carried out. The formation rate of reduced methylviologen cation radical (MV+.) decreased with the time of irradiation with visible light, and the deceleration was more pronounced in the micellar solution. In kinetic studies, we found that the sensitizer divalent cation radical (C2+.m-n) is formed through the reaction of photoexcited sensitizer (C+*m-n) with MV2+ as an intermediate in this reaction, and that the reduction of C2+.m-n with EDTA3- inhibits the back reaction of MV+. with C2+.m-n. The inhibition was greater in the liposomal solution than in the micellar solution. This was ascribed to a higher concentration of EDTA3- on the liposomal surfaces through the electrostatic interaction between EDTA3- and the liposomal surfaces, the charge of which is attributed to the univalent cation sensitizer embedded in the liposomal membrane. The difference in the positive charge density of the surface of these lipid aggregates was due to the difference in the curvature of the micelle and the liposome. These results suggest that the dipalmitoyl phosphatidylcholine liposome is a more effective carrier than the palmitoyl lysophosphatidylcholine micelle for the production of MV+. in the photoreduction studied here.     

Precordial electrocardiographic map using the IBM-Bonner program

The precordial electrocardiographic map may be useful for non-invasive assessment of the extent of the acutely infarcted myocardium. Rapid and serial precordial electrocardiographic maps also may be useful to evaluate the effects of intervensions of drugs and efforts on the ischemic myocardium. In this study, the IBM-Bonner program was applied to produce a system for the precordial electrocardiographic map. Six electrodes at one intercostal space were moved in parallel from the second to the seventh intercostal space. Thus electrocardiograms (ECGs) could be recorded from 36 precordial sites, 6 x 6 matrix, and analyzed using the IBM-Bonner program. The measured values of the ECG waveform make feasible the automatic procurement of the precordial electrocardiographic map. Our mapping program can be used readily and anywhere the IBM-Bonner program is in use.     

An X-ray evidence for the ring-stacking interaction between indole ring and the pyrimidine moiety of thiamin: Crystal structure of thiamin indole-3-propionate

The crystal structure of thiamin indole-3-propionate was determined by X-ray diffraction as a model for the possible thiamin coenzyme-tryptophan residue interaction at the binding site of thiamin pyrophosphate dependent enzymes. There is an intermolecular stacking interaction of the indole ring with the pyrimidine ring, but not with the positively charged thiazolium ring, of thiamin retaining the characteristic F-conformation. Although this association is due to dipole-dipole interaction between both aromatic rings, charge-transfer interaction cannot be ruled out in solution state because the absorption spectrum shows the characteristic charge-transfer band.     

A role for Ca2+ in mediating hormone-induced biphasic pepsinogen secretion from the chief cell determined by luminescent and fluorescent probes and X-ray microprobe

In isolated chief cells from the guinea pig, cholecystokinin (10 nM) and a high concentration of ionomycin each caused a biphasic pattern of pepsinogen secretion. The initial fast response to cholecystokinin was not dependent on medium Ca2+ ans was mimicked by low concentration of ionomycin (100 nM). Inositol 1,4,5-trisphosphate caused a similar fast release from permeabilized cells. The slow component of release was dependent on medium Ca2+, however, and was mimicked by the phorbol ester 12-O-tetradecanoylphorbol 13-acetate (TPA) (100 nM) or the diacylglycerol analogue 1-oleoyl-2-acetylglycerol (OAG) (100 microM). Ionomycin (100 nM) and TPA (and/or OAG), when applied together, reproduced the biphasic pattern of pepsinogen secretion, suggesting that the signalling pathways utilized by both types of agonist contribute to the response evoked by cholecystokinin-hormone stimulation. Both fura-2 and aequorin were used to monitor changes of intracellular Ca2+. Three pathways were found to contribute to the Ca2+ transient. A rapid release of Ca2+ from intracellular store(s), a rapid Ca2+ entry from the extracellular space, and a more sustained Ca2+ entry from the extracellular space. Cholecystokinin induced a rapid increase in cytoplasmic Ca2+ ([Ca2+]i) as estimated with fura-2 and aequorin. This rise was reduced but not abolished upon removal of extracellular Ca2+, suggesting that both Ca2+ entry from the extracellular space and Ca2+ mobilization from the intracellular store(s) contribute to the initial, fast component of the Ca2+ transient. A second, more sustained component of the Ca2+ transient induced by cholecystokinin was abolished by lanthanum. TPA and OAG induced a biphasic Ca2+ transient that could be detected only with aequorin. The late, sustained component of this response was again abolished by lanthanum as well as by removal of extracellular Ca2+. It appears that the late component of the Ca2+ transient is dependent on Ca2+ influx from the extracellular space and is too localized to be detected by fura-2. Prestimulation of cells with TPA or OAG prevented the aequorin transient caused by cholecystokinin and vice versa, suggesting that TPA, OAG and cholecystokinin activate the same pathways of Ca2+ entry into the cytosol from the intracellular store(s) or the extracellular space. The stimulation-sensitive Ca2+ pool was examined with electron probe X-ray microanalysis. It appears to be restricted to an area enriched in secretory granules or peripheral endoplasmic reticulum just beneath the apical plasma membrane and in close association with the microtubular-microfilamentous system.(ABSTRACT TRUNCATED AT 400 WORDS)     

A comparison of biologically variable ventilation to recruitment manoeuvres in a porcine model of acute lung injury

BackgroundBiologically variable ventilation (return of physiological variability in rate and tidal volume using a computer-controller) was compared to control mode ventilation with and without a recruitment manoeuvre – 40 cm H₂O for 40 sec performed hourly; in a porcine oleic acid acute lung injury model.MethodsWe compared gas exchange, respiratory mechanics, and measured bronchoalveolar fluid for inflammatory cytokines, cell counts and surfactant function. Lung injury was scored by light microscopy. Pigs received mechanical ventilation (F_IO₂ = 0.3; PEEP 5 cm H₂O) in control mode until PaO₂ decreased to 60 mm Hg with oleic acid infusion (PaO₂/F_IO₂ <200 mm Hg). Additional PEEP to 10 cm H₂O was added after injury. Animals were randomized to one of the 3 modes of ventilation and followed for 5 hr after injury.ResultsPaO₂ and respiratory system compliance was significantly greater with biologically variable ventilation compared to the other 2 groups. Mean and mean peak airway pressures were also lower. There were no differences in cell counts in bronchoalveolar fluid by flow cytometry, or interleukin-8 and -10 levels between groups. Lung injury scoring revealed no difference between groups in the regions examined. No differences in surfactant function were seen between groups by capillary surfactometry.ConclusionsIn this porcine model of acute lung injury, various indices to measure injury or inflammation did not differ between the 3 approaches to ventilation. However, when using a low tidal volume strategy with moderate levels of PEEP, sustained improvements in arterial oxygen tension and respiratory system compliance were only seen with BVV when compared to CMV or CMV with a recruitment manoeuvre.