基于模糊逻辑的移动机器人沿墙行为精准控制

针对移动机器人自身的非线性和环境噪声的不确定性,设计了一个基于虹外传感嚣的模糊控制器,并在实验环境中采用多项式拟合方法对红外传感器进行了校正,得到了传感器的校正模型,提高了移动机器入在室内环境中沿墙导航的精度。基于KHEPERA II移动机器人的实验结果表明,校正后的移动机器人在沿墙导航过程中其宥更好的稳定性和鲁棒性,以及更高的效率。     

Genetic transmission of migratory behavior into a nonmigratory bird population

Summary Crossbreeding experiments with blackcaps from a nonmigratory population (of the Cape Verde Islands) and a migratory population (from southern Germany) demonstrated that the urge to migrate as well as orientation behavior can be transmitted rapidly into a nonmigratory bird population and thus have a substantial genetic basis.     

Sexual behavior mutants revisited: molecular and cellular basis of Drosophila mating

The study of Drosophila melanogaster by a combination of forward genetics with specific mutants, and reverse genetics, in which a given gene is expressed in an appropriate brain area to test its effect on behavior, provides a unique opportunity to explore the causal relationship between a particular gene, its function in the cell and the behavioral outcome at the organismic level. Enhanced male-to-male courtship has been shown to occur as a result of mutations in several different genes. For example, the Voila mutant exhibits intense GAL4 reporter expression in the tarsal gustatory sensilla, suggesting the importance of tapping by a male on the female abdomen with his forelegs. Feminization of parts of the antennal lobe and mushroom body by targeted expression of a female-determining gene transformer ⁺ (tra ⁺) drives the male to court other males. Mutations in the tra target gene fruitless (fru), which is expressed in the antennal lobe as well as the suboesophageal ganglion (the gustatory inputs are processed here), also induce homosexual courtship in males. These results suggest that sensory inputs mediated and/or processed by the tarsal receptors, suboesophageal ganglion, antennal lobe and mushroom body contribute to the regulation of male–female courtship. Mosaic analysis localized the neural center for male courtship behavior to the posterior dorsal brain, in which the sensory information processed by the aforementioned neural structures may be integrated. Another mosaic study mapped the neural center for female sexual behavior, as measured by her receptiveness to copulation, to the anterior dorsal brain. The issue as to how the mutations that reduce female sexual receptiveness, e.g. dissatisfaction (dsf), spinster (spin) and chaste (cht), affect the structure and/or function of this neural center deserves to be addressed urgently. Received 27 April 1999; received after revision 21 June 1999; accepted 8 July 1999     

Adhesion molecules and animal development

Summary In recent years considerable progress has been made in the identification and characterization of molecules that mediate cell adhesion during animal development. This review attempts to pick out from the vast amount of information in this rapidly expanding field some of the key features of adhesion molecules, to present ideas about their role in development, and to indicate the directions in which the field is now moving.     

Functional aspects of animal microRNAs

MicroRNAs (miRNAs) are a recently discovered family of small regulatory molecules that function by modulating protein production. There are approximately 500 known mammalian miRNA genes, and each miRNA may regulate hundreds of different protein-coding genes. Mature miRNAs bind to target mRNAs in a protein complex known as the miRNA-induced silencing complex (miRISC), sometimes referred to as the miRNP (miRNA-containing ribonucleoprotein particles), where mRNA translation is inhibited or mRNA is degraded. These actions of miRNAs have been shown to regulate several developmental and physiological processes including stem cell differentiation, haematopoiesis, cardiac and skeletal muscle development, neurogenesis, insulin secretion, cholesterol metabolism and the immune response. Furthermore, aberrant expression has been implicated in a number of diseases including cancer and heart disease. The role of miRNAs in these developmental, physiological and pathological processes will be reviewed. Received 3 August 2007; received after revision 3 October 2007; accepted 5 October 2007     

Interpreting Aristotle on mixture: problems about elemental composition from Philoponus to Cooper

Aristotle’s On generation and corruption raises a vital question: how is mixture, or what we would now call chemical combination, possible? It also offers an outline of a solution to the problem and a set of criteria that a successful solution must meet. Understanding Aristotle’s solution and developing a viable peripatetic theory of chemical combination has been a source of controversy over the last two millennia. We describe seven criteria a peripatetic theory of mixture must satisfy: uniformity, recoverability, potentiality, equilibrium, alteration, incompleteness, and the ability to distinguish mixture from generation, corruption, juxtaposition, augmentation, and alteration. After surveying the theories of Philoponus (d. 574), Avicenna (d. 1037), Averroes (d. 1198), and John M. Cooper (fl. circa 2000), we argue for the merits of Richard Rufus of Cornwall’s theory. Rufus (fl. 1231-1256) was a little known scholastic philosopher who became a Franciscan theologian in 1238, after teaching Aristotelian natural philosophy as a secular master in Paris. Lecturing on Aristotle’s De generatione et corruptione, around the year 1235, he offered his students a solution to the problem of mixture that we believe satisfies Aristotle’s seven criteria.     

Decoding the Hedgehog signal in animal development

The Hedgehog (Hh) family of secreted proteins plays essential roles in a myriad of developmental processes via a complex signaling cascade conserved in species ranging from insects to mammals. In many developmental contexts, Hh acts as long-range morphogen to control distinct cellular outcomes as a function of its concentration. Here we review the current understanding of the Hh signaling mechanisms that govern the establishment of the Hh gradient and the transduction of the Hh signal with an emphasis on the intracellular signaling cascade from the receptor to the nuclear effector. We discuss how graded Hh signals are transduced to govern distinct developmental outcomes. Received 28 October 2005; received after revision 6 February 2006; accepted 15 February 2006     

Transgenic animal models of sickle cell disease

An animal model which allows study of chronic processes occurring in sickle cell disease has finally been realized with the development of several lines of transgenic mice which express high levels of ^s or ^s-variants in their red cells. The red cells of all mouse lines exhibit characteristic sickle shapes on deoxygenation and most lines have enlarged spleens and mildly elevated reticulocytes in adult mice; both of these properties are suggestive of enhanced red cell destruction and erythropoiesis. However, all lines examined to date have normal hemoglobin levels in adult mice. In one mouse line under ambient conditions, retinopathy and abnormal renal function have been observed and in the same line under hypoxic conditions, anemia, irreversibly sickled cell formation, and urine concentrating defect have been observed. The current mouse lines will allow some aspects of sickle cell disease to be studied, but sigificant improvements can still be made in the transgenic mouse model.     

ER-to-Golgi transport and cytoskeletal interactions in animal cells

The endoplasmic reticulum (ER)-Golgi system has been studied using biochemical, genetic, electron and light microscopic techniques. We now understand many aspects of trafficking from the ER to the Golgi apparatus, including some of the signals and mechanisms for selective retention and retrieval of ER resident proteins and export of cargo proteins. Proteins that leave the ER emerge in export complexes or ER exit sites and accumulate in pleiomorphic transport carriers referred to sometimes as VTCs or intermediate compartments. These structures then transit from the ER to the Golgi apparatus along microtubules using the dynein/dynactin motor and fuse with the cis cisterna of the Golgi apparatus. Many proteins (including vSNAREs, ERGIC53/p58 and the KDEL receptor) must cycle back to the ER from pre-Golgi intermediates or the Golgi. We will discuss both the currently favored model that this cycling occurs via 50-nm COPI-coated vesicles and in vivo evidence that suggests retrograde trafficking may occur via tubular structures.     

Biological and physical evidence for gravitational waves

Cellular and Molecular Life Sciences -     

Olfactory navigation in birds

Summary Many bird species rely on an osmotactic mechanism to find food sources even at a considerable distance. Pigeons also rely on local odours for homeward orientation, and they integrate those perceived during passive transportation with those at the release site. It is possible to design experiments in which birds are given false olfactory information, and predictions about the effects of this can be made and tested. Pigeons build up their olfactory map by associating wind-borne odours with the directions from which they come; this was shown by experiments which aimed at preventing, limiting or altering this association. Some objections have been made to this conclusion; namely that even anosmic pigeons are sometimes homeward oriented, that they may be demotivated in flying or disturbed in their general behaviour, and that olfactory cues may be only one component of pigeo's navigational repertoire. The most recent experiments, however, confirm that pigeons derive directional information from atmospheric odouts. The lack of any knowledge about the chemical nature and distribution of the odorants which allow pigeons to navigate hinders progress in this area of research.     

Rapid characterization and partial purification of various animal amine oxidases

Summary The use of chromatofocusing to obtain a rapid characterization of tissue amine oxidases from various mammals is proposed. This technique yields partially purified enzymes well suited for immunological studies. Chromatofocusing can be also used in a three-step purification of pig kidney diamine oxidase.Acknowledgments. This work has been in part supported by CNR, Special Project Chimica Fine Contract No. 80.02.107.95.     

Rheological behavior of mammalian cells

Rheological properties of living cells determine how cells interact with their mechanical microenvironment and influence their physiological functions. Numerous experimental studies have show that mechanical contractile stress borne by the cytoskeleton and weak power-law viscoelasticity are governing principles of cell rheology, and that the controlling physics is at the level of integrative cytoskeletal lattice properties. Based on these observations, two concepts have emerged as leading models of cytoskeletal mechanics. One is the tensegrity model, which explains the role of the contractile stress in cytoskeletal mechanics, and the other is the soft glass rheology model, which explains the weak power-law viscoelasticity of cells. While these two models are conceptually disparate, the phenomena that they describe are often closely associated in living cells for reasons that are largely unknown. In this review, we discuss current understanding of cell rheology by emphasizing the underlying biophysical mechanism and critically evaluating the existing rheological models. Received 25 May 2008; received after revision 19 June 2008; accepted 1 July 2008     

Is there directional smelling?

The aim of the present study was to establish the crucial precondition for directional smelling, i.e. the ability of humans to discriminate between odorous stimuli perceived either from the right or from the left side. When the pure odorants hydrogen sulphide or vanillin were used as stimulants localization was random. On the other hand stimulation with carbon dioxide or menthol yielded identification rates of more than 96%. These results established the fact that directional orientation, considering single momentary odorous sensations, can only be assumed, when the olfactory stimulants simultaneously excite the trigeminal somatosensory system.     

Structural studies of discoidal lipoprotein A-I

Apolipoprotein A-I (apoA-I) is a major exchangeable apolipoprotein of high-density lipoproteins (HDLs), and plays an important role in reverse cholesterol transport. This process involves transport of cholesterol from peripheral tissues to the liver for processing, thereby eliminating excess cholesterol from the body. The function of apoA-I and its interaction with other components of HDL, including lecithin-cholesterol acyltransferase, seems to be closely linked to its structural plasticity. ApoA-I is likely to undergo changes in its structure and orientation between the various HDL subclasses and, therefore, knowledge of the precise structure of apoA-I is essential for understanding its role in the antiatherogenic properties of HDL. This review focuses on the role of apoA-I in reverse cholesterol transport and the work done by various groups to determine the structure of apoA-I in discoidal HDL particles.     

Model-as-replica,model-as-instrument: Representational power and contextual versatility in animal models

Existing scholarship on animal models tends to foreground either of the two major roles research organisms play in different epistemic contexts, treating their representational and instrumental roles separately. Based on an empirical case study, this article explores the changing relationship between the two epistemic roles of a research organism over the span of a decade, while the organism was used to achieve various knowledge ends. This rat model was originally intended as a replica of human susceptibility to cardiac arrest. In a fortunate stroke of serendipity, however, the experimenters detected the way mother-infant interactions regulated the pups’ resting cardiac rate. This intriguing outcome thus became the model’s new representational target and began driving the development of an experimental system. Henceforth, the model acquired an instrumental function, serving to detect and measure system-specific differences. Its subsequent development involved creating stimulus-response measures to explain and theorize those differences. It was this instrumental use of the model that pushed the experimenters into unchartered territory and conferred to the model an ability to adapt to varied epistemic contexts. Despite the prominence of this instrumental role, however, the model’s representational power continued to guide research. The model’s representational target was widened beyond heart rate to reflect other functional phenomena, such as behavioral activity and sleep/wake rhythm. The rat model was thus transformed from an experimental organism designed to instantiate cardiac regulation to a model organism taken to represent the development of a whole, intact animal under the regulatory influence of maternal care. This article examines this multifaceted transformation within the context of the salient shifts in modeling practice and variations in the model’s representational power. It thus explores how the relationship between the representational and instrumental uses of the model changed with respect to the varying exigencies of the investigative context, foregrounding its contextual versatility.     

Cattle grazing behavior regulates tick populations

Summary Analysis of field population data showed that host-seeking larvae of the tickBoophilus microplus were less successful in attaching to their hosts when larval densities were high. Experimental results showed that cattle hosts detected and avoided high densities of larvae in pasture. The finding reveals a previously unknown population-regulating mechanism for ticks, which are important pests of livestock.Acknowledgment. The authors wish to thank G. Maywald, D. Stegeman, R. Tozer, A. Voll, G. Milne and J. Osborne who helped with the observations. The Australian Meat Research Committee (AMRC) and the Australian Centre for International Agricultural Research (ACIAR) provided some financial support for the project and A. Edwards assisted greatly with the photography.     

Development of behavior and learning inAplysia

Summary A set of fundamental issues in neuroethology concerns the neural mechanisms underlying behavior and behavioral plasticity. We have recently analyzed these issues by combining a simple systems approach in the marine molluscAplysia with a developmental analysis aimed at examining the emergence and maturation of different forms of behavior and learning. We have focussed on two kinds of questions: 1) How are specific neural circuits developmentally assembled to mediate different types of behaviors? and 2) how is plasticity integrated with these circuits to give rise to different forms of learning? From our analysis of the development of learning and memory inAplysia, several themes have emerged: 1) Different forms of learning emerge according to different developmental timetables. 2) Cellular analogs of learning have the same developmental timetables as their respective forms of behavioral learing. 3) An analysis of non-decremented responses prior to the emergence of sensitization reveals a novel inhibitory process on both behavioral and cellular levels. 4) Sensitization emerges simultaneously in diverse response systems, suggesting an underlying general process. 5) A widespread proliferation of central neurons occurs in the same developmental stage as the emergence of sensitization, raising the possibility that some aspect of the trigger for neuronal proliferation may also contribute to the expression of sensitization.     

Opioids and behavior: genetic aspects

Summary Three animal models, based on genetic differences in endogenous opioid peptides and opioid receptors, are described. Obese mice and rats, whose pituitary opioid content is elevated, may be used to investigate eating disorders. Recombinant inbred strains of mice, which differ in brain opioid receptors and analgesic responsiveness, can be used for study of opioid-and nonopioid-mediated mechanisms of pain inhibition. Individual reactivity to opioids can be examined in C57BL/6 and DBA/2 inbred strains of mice. A model that combines a variety of opioid effects is offered and suggests the existence of a genetically determined dissociation of opioid effects on locomotor activity and pain inhibition. In addition, stimulatory locomotor responses in the C57BL/6 reaction type are linked to a high risk of drug addiction and facilitatory effects on adaptive processes, while high analgesic potency in the DBA/2 reaction type is accompanied by a low proneness to drug abuse and amnesic properties of opioids.