Dynamic Modeling of a Non-Uniform Flexible Tail for a Robotic Fish

In this paper, a non-uniform flexible tail of a fish robot was presented and the dynamic model was developed. In this model, the non-uniform flexible tail was modeled by a rotary slender beam. The hydrodynamics forces, including the reactive force and resistive force, were analyzed in order to derive the governing equation. This equation is a fourth-order in space and second-order in time Partial Differential Equation (PDE) of the lateral movement function. The coefficients of this PDE were not constants because of the non-uniform beams, so they were approximated by exponential functions in order to obtain an analytical solution. This solution describes the lateral movement of the flexible tail as a function of material, geometrical and actuator properties. Experiments were then carried out and compared to simulations. It was proved that the proposed model is suitable for predicting the real behavior of fish robots.     

Localized axis determinant in the early cleavage embryo of the goldfish, Carassius auratus

 The teleost dorsoventral axis cannot be distinguished morphologically before gastrulation. In order to examine whether the yolk cell affects axis determination, we bisect early cleavage embryos of the goldfish, Carassius auratus. When the vegetal yolk hemisphere is removed by bisection along the equatorial plane at the 2-cell stage, the embryos develop abnormally and exhibit a symmetrical morphology. No dorsal structures, such as notochord, somites and neural tube, differentiate and no embryonic shield is formed during gastrulation. In addition, no goosecoid mRNA is expressed before gastrulation. The frequency of abnormality decreases as the age at which the vegetal yolk hemisphere is removed increases. Most embryos removed at the 32-cell stage develop normally. Their morphological phenotype is similar to that of a Xenopus ventralized embryo generated by ultraviolet irradiation on the vegetal hemisphere soon after fertilization. We also observed that, when the embryos were bisected along the first cleavage plane at the 2-cell stage, the proportion of pairs of embryos of which one embryo developed normally was 44.8%. These results indicate that the vegetal yolk hemisphere of the early cleavage embryo of the goldfish contains axis determination factor(s), which are necessary for generation of dorsal structures. Furthermore, it is suggested that these determinant(s) are distributed asymmetrically within the vegetal yolk hemisphere. Received: 25 May 1996 / Accepted: 19 September 1996     

Sperm dimorphism in Nicotiana tabacum L.

Sperm cells of tobacco have been intensively studied as examples of isomorphic gametes in which major cellular and organellar parameters remain statistically indistinguishable in the two sperm cells. An examination of sperm cells late in maturation, however, displays that the sperm cell associated with the vegetative nucleus becomes statistically significantly smaller than the other sperm cell in tobacco. If late divergence occurs in the two sperms of other angiosperms, sperm dimorphism may be more prevalent than has previously been assumed and dimorphism may have a major influence on the pattern of double fertilization. Received: 15 December 2000 / Accepted: 4 May 2001     

Characterization of mesenchymal stem cells (MSCs) from human fetal lung: Potential differentiation of germ cells

Pluripotent mesenchymal stem-like cell lines were established from lungs of 3–4 months old aborted fetus. The cells present the high ex vivo expansion potential of MSC, a typical fibroblast-like morphology and proliferate up to 15 passages without displaying clear changes in morphology. Immunological localization and flow cytometry analyses showed that these cells are positive for OCT4, c-Kit, CD11, CD29, CD44, telomerase, CD106, CD105, CD166, and SSEA1, weakly expression or negative for SSEA1, SSEA3, SSEA4, CD34, CD105 and CD106. These cells can give rise to the adipogenic as evidenced by accumulation of lipid-rich vacuoles within cells identified by Oil-red O when they were induced with 0.5 mM isobutylmethylxanthine, 200 μM indomethacin, 10⁻⁶ M dexamethasone, and 10 μg/ml of insulin in high-glucose DMEM. Osteogenic lineage cells were generated in 0.1 μM dexamethasone, 50 μg/ml ascorbic acid, 10 mM β-glycerophosphate, which are shaped as the osteoblastic morphology, expression of alkaline phosphatase (AP), and the formation of a mineralized extracellular matrix identified by Alizarin Red staining. Neural cells are observed when the cultures were induced with 2-mercapometal, which are positive for nestin, NF-100, MBP and GFAP. Additionally, embryoid bodies (EBs) and sperm like cells are obtained in vitro differentiation of these lung MSCs induced with 10⁻⁵ M retinoic acid (RA). These results demonstrated that these MSCs are pluripotent and may provide an in vitro model to study germ-cell formation and also as a potential source of sperms for male infertility.     

Contributions of extracellular and intracellular Ca2+ to regulation of sperm motility: Release of intracellular stores can hyperactivate CatSper1 and CatSper2 null sperm

In order to fertilize, mammalian sperm must hyperactivate. Hyperactivation is triggered by increased flagellar Ca(2+), which switches flagellar beating from a symmetrical to an asymmetrical pattern by increasing bending to one side. Thimerosal, which releases Ca(2+) from internal stores, induced hyperactivation in mouse sperm within seconds, even when extracellular Ca(2+) was buffered with BAPTA to approximately 30 nM. In sperm from CatSper1 or CatSper2 null mice, which lack functional flagellar alkaline-activated calcium currents, 50 microM thimerosal raised the flagellar bend amplitudes from abnormally low levels to normal pre-hyperactivated levels and, in 20-40% of sperm, induced hyperactivation. Addition of 1 mM Ni(2+) diminished the response. This suggests that intracellular Ca(2+) is abnormally low in the null sperm flagella. When intracellular Ca(2+) was reduced by BAPTA-AM in wild-type sperm, they exhibited flagellar beat patterns more closely resembling those of null sperm. Altogether, these results indicate that extracellular Ca(2+) is required to supplement store-released Ca(2+) to produce maximal and sustained hyperactivation and that CatSper1 and CatSper2 are key elements of the major Ca(2+) entry pathways that support not only hyperactivated motility but possibly also normal pre-hyperactivated motility.     

Sperm chromatin structural integrity in normospermic boars is not related to semen storage and fertility after routine AI

Standard semen parameters are limited in their capacity to distinguish subfertile boars and to assess storage influences on liquid preserved boar semen. The evaluation of sperm chromatin structural integrity could have potential as a diagnostic tool in AI practice. This study assessed whether the determination of sperm DNA integrity adds a useful diagnostic tool for selection of boar ejaculates in routine AI procedure and assessment of storage effects in diluted semen. Special emphasis was laid on the standard spermatological characterization of semen samples in parallel with the determination of the DNA fragmentation index (DFI) through the sperm chromatin structure assay (SCSA). Six hundred ninety two (692) ejaculates from 79 Piétrain boars in an AI center were analyzed for motility, morphology and DFI over a period of 24 weeks. 95.5% of the semen samples had a DFI < 5% with low distribution of variation for DFI due to boar and ejaculate (< 5%). 61.3% of ejaculates with DFI > 5% showed values below thresholds for sperm motility or morphology. Based on field data from 13,239 inseminations, fertility of boars with temporarily elevated DFI was not impaired (P > 0.05). 24 randomly selected diluted semen samples did not show a significant increase of DFI during 168 h storage (P > 0.05). In a further experiment, 42 diluted semen samples from 14 normospermic boars were assessed for motility, membrane integrity (PI, FITC-PNA) and SCSA parameters. Three single ejaculates showed an increase of DFI at 120 and 168 h storage time. This was accompanied by a pronounced loss of both motility and membrane integrity. In conclusion, the evaluation of sperm chromatin structural integrity by the SCSA has only limited value for identifying sperm deficiencies in normospermic fresh or stored boar semen. Temporarily elevated DFIs seem not to be indicative of subfertility in normospermic boars.     

Investigation on Fertilization of Cephalotaxus

The structure of spermatogenous cell of Cephalotaxus is unique among the gymnosperms. While towards the mature stage, its nucleus is close to one side of the spermatogenous cell, and on the other side there is abundant and prominent . cytoplasm, which contain a group of the aggregate cytoplasms of radial arrangement similar to blepharoplast of spermatogenous cell of Ginkgo. But, there are two opposite blepharoplasts at either side of the nucleus in Ginkgo, and while there is only one blephareplast at one side in Cephalotaxus. This is one feature of the sexual process in Cephalotaxus. When the pollen tubes approach the top of the archegonia, the division of the spermatogenous cell takes place and there are two almost similar sperm cells both in size and morphology. It is interesting to note that the cytoplasm of the sperm cell contains certain granules of nucleolus-like structure, which appears to be a rare phenomenon among the gymnosperms. This is another feature of the sexual process in Cephalotaxus. These two features are the important characters of Cephalotaxaceae. The egg morphology of Cephalotaxus is also unique among the conifers, its outline looks like a carrot. The upper part of the egg is rather wide and is about 85 to 108 μm in width. On the other hand, the opposite end is gradually becoming narrow and about 910 to 1100 μm in total length. So the ratio of the length and width in the egg of Cephalotaxus is about 10:1. The structure of the egg in Celhalotaxus fortunei and C. oliveri have the following common feature: 1. When their eggs mature the cytoplasm of the egg at lower part of the nucleus possesses deep- staining and fine granules of 2 to 3 groups of aggregate cytoplasm. 2. During maturation of the egg, some of the granules of nucleolus-like structure are scattered in the cytoplasm. As fer- tilization takes place the number of these granules reaches the peak. This condition has been encountered in the egg of Amentotaxus argotaenia. Therefore we could conclude that they are closely related between Cephloraxaceae and Taxaceae. The fertilization of Cephalotaxus fortunei occured on May 10 to 24 (1983), and that of C. oliveri took place on May 28 to June 13 (1983). The fertilization of the genus belong to the type of undergoing mitosis prior to complete fuse of both male and female nuclei. This type of fertilization has been found only in Pinaceae and Cephalotaxaceae. After fertilization the structure of fertilized egg becomes prominent in polar organization. In other words, the cytop- lasm at upper part of the fertilized egg becomes highly vacuolated and that at lower portion, conversely, is rich in abundant proteinous vacuoles and certain granules of nucleolus-like structure dispersed in the cytoplasm. Because the division and differentiation of the proembryo are proceeding at the base of the archegonium, the large inclusions and the nucleolus-like granules may be involved in the nourishing and development of the proembryo.     

The uterovaginal sperm host glands of the quail (Coturnix coturnix japonica)

Summary Ultrastructural and ultrahistochemical studies were performed on the uterovaginal sperm host glands of the quail (Coturnix coturnix japonica). The proximal parts of the glandular necks are lined by a pseudostratified epithelium, consisting of high columnar ciliated cells and small, irregular shaped, basal cells.The true glandular epithelium is composed only of columnar cells with microvilli on their luminal end. A characteristic luminal feature is a large lipid droplet in the perinuclear region. In the subplasmalemmal region numerous tubular profiles are seen which could represent a cellular resorption system.To evaluate the absorptive capacity of the Uterovaginal sperm host glands, tracer studies with HRP, ferritin, lanthanum and ruthenium red were undertaken. Since between 5 min and 3 h after injection no absorption could be found with the techniques mentioned, it is suggested that phagocytosis of spermatozoa by the glandular epithelium is not likely to occur.     

Centenary on S.G.Nawaschin's Discovery of Double Fertilization: Retrospects and Prospects

A review on the double fertilization in angiosperm is addressed at its centennial discovery by S.G. Nawaschen. Studies in the first 50 years mainly by light microscopy had defined this process of double fertilization as a general characteristic in angiosperms. In the later 50 years research works in this field have been greatly advanced on account of the developing new techniques especially the electron-microscopy. The topics in this review include: (1) The growth of pollen tube entering the embryo sac: role of the synergid in the pollen tube receiption and signals from the degenerated synergid. (2) The arrival of male gametes to female gametes: structure and function of the male germ unit, the function of cytoskeleton in the delivery of sperm cells. (3) Gametic fusion: the structure and function of the female germ unit, gametic membrane fusion, karyogamy, DNA contents in sperm and egg nuclei, the relationship between the karyogamy and cell cycle, sperm dimorphism and preferential fertilization, and spermegg recognition. Future directions for the research of double fertilization are also recommended.