Schlieren photography on freely flying hawkmoth.

The aerodynamic force on flying insects results from the vortical flow structures that vary both spatially and temporally throughout flight. Due to these complexities and the inherent difficulties in studying flying insects in a natural setting, a complete picture of the vortical flow has been difficult to obtain experimentally. In this paper, Schlieren, a widely used technique for highspeed flow visualization, was adapted to capture the vortex structures around freely flying hawkmoth (Manduca). Flow features such as leading-edge vortex, trailing-edge vortex, as well as the full vortex system in the wake were visualized directly. Quantification of the flow from the Schlieren images was then obtained by applying a physics-based optical flow method, extending the potential applications of the method to further studies of flying insects.

Flight mechanics and control of escape manoeuvres in hummingbirds. II. Aerodynamic force production, flight control and performance limitations.

The superior manoeuvrability of hummingbirds emerges from complex interactions of specialized neural and physiological processes with the unique flight dynamics of flapping wings. Escape manoeuvring is an ecologically relevant, natural behaviour of hummingbirds, from which we can gain understanding into the functional limits of vertebrate locomotor capacity. Here, we extend our kinematic analysis of escape manoeuvres from a companion paper to assess two potential limiting factors of the manoeuvring performance of hummingbirds: (1) muscle mechanical power output and (2) delays in the neural sensing and control system. We focused on the magnificent hummingbird (Eugenes fulgens, 7.8 g) and the black-chinned hummingbird (Archilochus alexandri, 3.1 g), which represent large and small species, respectively. We first estimated the aerodynamic forces, moments and the mechanical power of escape manoeuvres using measured wing kinematics. Comparing active-manoeuvring and passive-damping aerodynamic moments, we found that pitch dynamics were lightly damped and dominated by the effect of inertia, while roll dynamics were highly damped. To achieve observed closed-loop performance, pitch manoeuvres required faster sensorimotor transduction, as hummingbirds can only tolerate half the delay allowed in roll manoeuvres. Accordingly, our results suggested that pitch control may require a more sophisticated control strategy, such as those based on prediction. For the magnificent hummingbird, we estimated that escape manoeuvres required muscle mass-specific power 4.5 times that during hovering. Therefore, in addition to the limitation imposed by sensorimotor delays, muscle power could also limit the performance of escape manoeuvres.

Flight mechanics and control of escape manoeuvres in hummingbirds. I. Flight kinematics.

Hummingbirds are nature's masters of aerobatic manoeuvres. Previous research shows that hummingbirds and insects converged evolutionarily upon similar aerodynamic mechanisms and kinematics in hovering. Herein, we use three-dimensional kinematic data to begin to test for similar convergence of kinematics used for escape flight and to explore the effects of body size upon manoeuvring. We studied four hummingbird species in North America including two large species (magnificent hummingbird, Eugenes fulgens, 7.8 g, and blue-throated hummingbird, Lampornis clemenciae, 8.0 g) and two smaller species (broad-billed hummingbird, Cynanthus latirostris, 3.4 g, and black-chinned hummingbirds Archilochus alexandri, 3.1 g). Starting from a steady hover, hummingbirds consistently manoeuvred away from perceived threats using a drastic escape response that featured body pitch and roll rotations coupled with a large linear acceleration. Hummingbirds changed their flapping frequency and wing trajectory in all three degrees of freedom on a stroke-by-stroke basis, likely causing rapid and significant alteration of the magnitude and direction of aerodynamic forces. Thus it appears that the flight control of hummingbirds does not obey the 'helicopter model' that is valid for similar escape manoeuvres in fruit flies. Except for broad-billed hummingbirds, the hummingbirds had faster reaction times than those reported for visual feedback control in insects. The two larger hummingbird species performed pitch rotations and global-yaw turns with considerably larger magnitude than the smaller species, but roll rates and cumulative roll angles were similar among the four species.

An at-scale tailless flapping wing hummingbird robot: II. Flight control in hovering and trajectory tracking.

Flight control such as stable hovering and trajectory tracking of tailless flapping-wing micro aerial vehicles is a challenging task. Given the constraint on actuation capability, flight control authority is limited beyond sufficient lift generation. In addition, the highly nonlinear and inherently unstable vehicle dynamics, unsteady aerodynamics, wing motion caused body oscillations, and mechanism asymmetries and imperfections due to fabrication process, all pose challenges to flight control. In this work, we propose a systematic onboard control method to address such challenges. In particular, with a systematic comparative study, a nonlinear flight controller incorporating parameter adaptation and robust control demonstrates the preferred performances. Such a controller is designed to address time-varying system uncertainty in flapping flight. The proposed controller is validated on a 12-g at-scale tailless hummingbird robot equipped with two actuators. Maneuver experiments have been successfully performed by the proposed hummingbird robot, including stable hovering, waypoint and trajectory tracking, and stabilization under severe wing asymmetries.

Metabolomic and Transcriptomic Analysis Reveal the Role of Metabolites and Genes in Modulating Flower Color of Paphiopedilum micranthum.

Food-deceptive flowers primarily use visual signals (such as color) to mimic model plants and deceive insects into achieving pollination. Paphiopedilum micranthum is a food-deceptive orchid that has a pink labellum and two purple petals with a yellow base and has been proven to be pollinated by bumblebees. However, the chemical and molecular bases of the floral color are not well understood. We conducted targeted metabolite profiling and transcriptomic analysis to determine the color signal and its genetic basis in P. micranthum. We found that both anthocyanins and carotenoids contribute significantly to the formation of floral color that determines the color signal. Higher concentrations of anthocyanins (cyanidin and peonidin) and carotenoids (primarily lutein and zeaxanthin) were detected in the petal compared to the labellum. The upregulation of structural genes of CHS, F3'H, DFR and ANS on the anthocyanin biosynthesis pathway in petals was identified, as well as three genes of LCYE, BCH, and CCD4 on the carotenoid biosynthesis pathway. Furthermore, we discovered that three R2R3-MYBs and one bHLH transcription factors were co-expressed with the expression of different genes. These genes and transcription factors may be responsible for the spatial color difference of P. micranthum. Our study emphasizes that the color of this food-deceptive orchids is achieved through specific genes and transcription factors associated with the pigment biosynthesis pathway.

A Double-Layered Belief Rule Base Model for Driving Anger Detection Using Human, Vehicle, and Environment Characteristics: A Naturalistic Experimental Study.

"Road rage," namely, driving anger, has been becoming increasingly common in auto era. As "road rage" has serious negative impact on road safety, it has attracted great concern to relevant scholar, practitioner, and governor. This study aims to propose a model to effectively and efficiently detect driving anger states with different intensities for taking targeted intervening measures in intelligent connected vehicles. Forty-two private car drivers were enrolled to conduct naturalistic experiments on a predetermined and busy route in Wuhan, China, where drivers' anger can be induced by various incentive events like weaving/cutting in line, jaywalking, and traffic congestion. Then, a data-driven model based on double-layered belief rule base is proposed according to the accumulation of the naturalistic experiments data. The proposed model can be used to effectively detect different driving anger states as a function of driver characteristics, vehicle motion, and driving environments. The study results indicate that average accuracy of the proposed model is 82.52% for all four-intensity driving anger states (none, low, medium, and high), which is 1.15%, 1.52%, 3.53%, 5.75%, and 7.42%, higher than C4.5, BPNN, NBC, SVM, and kNN, respectively. Moreover, the runtime ratio of the proposed model is superior to that of those models except for C4.5. Hence, the proposed model can be implemented in connected intelligent vehicle for detecting driving anger states in real time.

The ecological adaptation of the unparalleled plastome character evolution in slipper orchids.

Plastomes may have undergone adaptive evolution in the process of plant adaptation to diverse environments, whereby species may differ in plastome characters. Cypripedioideae successfully colonized distinct environments and could be an ideal group for studying the interspecific variation and adaptive evolution of plastomes. Comparative study of plastomes, ancestral state reconstruction, phylogenetic-based analysis, ecological niche modelling, and selective pressure analysis were conducted to reveal the evolutionary patterns of plastomes in Cypripedioideae and their relationship with environmental factors. The plastomes of the three evolved genera had reduced plastome size, increased GC content, and compacted gene content compared to the basal group. Variations in plastome size and GC content are proved to have clear relationships with climate regions. Furthermore, ecological niche modelling revealed that temperature and water factors are important climatic factors contributing to the distributional difference which is directly correlated with the climate regions. The temperature-sensitive genes ndh genes, infA, and rpl20 were found to be either lost/pseudogenized or under positive selection in the evolved groups. Unparalleled plastome character variations were discovered in slipper orchids. Our study indicates that variations in plastome characters have adaptive consequences and that temperature and water factors are important climatic factors that affect plastome evolution. This research highlights the expectation that plants can facilitate adaptation to different environmental conditions with the changes in plastome and has added critical insight for understanding the process of plastome evolution in plants.

The mechanics and control of pitching manoeuvres in a freely flying hawkmoth (Manduca sexta).

Insects produce a variety of exquisitely controlled manoeuvres during natural flight behaviour. Here we show how hawkmoths produce and control one such manoeuvre, an avoidance response consisting of rapid pitching up, rearward flight, pitching down (often past the original pitch angle), and then pitching up slowly to equilibrium. We triggered these manoeuvres via a sudden visual stimulus in front of free-flying hawkmoths (Manduca sexta) while recording the animals' body and wing movements via high-speed stereo videography. We then recreated the wing motions in a dynamically scaled model to: (1) associate wing kinematic changes with pitch torque production and (2) extract the open-loop dynamics of an uncontrolled moth. Next, we characterized the closed-loop manoeuvring dynamics from the observed flight behaviour assuming that hawkmoths use feedback control based on translational velocity, pitch angle and angular velocity, and then compared these with the open-loop dynamics to identify the control strategy used by the moth. Our analysis revealed that hawkmoths produce active pitch torque via changes in mean wing spanwise rotation angle. Additionally, body translations produce passive translational damping and pitch torque, both of which are linearly dependent on the translational velocity. Body rotations produce similar passive forces and torques, but of substantially smaller magnitudes. Our comparison of closed-loop and open-loop dynamics showed that hawkmoths rely largely on passive damping to reduce the body translation but use feedback control based on pitch angle and angular velocity to control their orientation. The resulting feedback control system remains stable with sensory delays of more than two wingbeats.

Submodularity of Distributed Join Computation.

We study distributed equi-join computation in the presence of join-attribute skew, which causes load imbalance. Skew can be addressed by more fine-grained partitioning, at the cost of input duplication. For random load assignment, e.g., using a hash function, fine-grained partitioning creates a tradeoff between load expectation and variance. We show that minimizing load variance subject to a constraint on expectation is a monotone submodular maximization problem with Knapsack constraints, hence admitting provably near-optimal greedy solutions. In contrast to previous work on formal optimality guarantees, we can prove this result also for self-joins and more general load functions defined as weighted sum of input and output. We further demonstrate through experiments that this theoretical result leads to an effective algorithm for the problem of minimizing running time, even when load is assigned deterministically.

Rescue of the albino phenotype by introducing a functional tyrosinase minigene into Kunming albino mice.

AIM: To use the tyrosinase minigene as a visual marker to perform microinjection training and improve the techniques related with transgene to greatly elevate the efficiency of gene transfer. METHODS: A mouse tyrosinase minigene, i.e., TyBS, in which the 2.25-kb authentic genomic 5' non-coding flanking sequence of mouse tyrosinase was fused to a mouse tyrosinase cDNA, was introduced into the fertilized eggs of outbred Kunming albino mice. RESULTS: Of the 11 animals that developed from the injected eggs, two mice (P1 and #8) exhibited pigmented hair (P1) and eyes (P1 and #8), as confirmed by PCR analysis for the tyrosinase minigene integrated into the genome. When founder P1 was bred to Kunming male mouse, six progeny out of 11 offspring inherited the transgene and the pigmented-eye phenotype. CONCLUSION: Taken together, these results suggest that this minigene encodes the active tyrosinase protein and that its 5' flanking region contains the sequences regulating the expression of mouse tyrosinase gene as expected. We have rescued the albino phenotype by introduction and expression of a functional tyrosinase minigene in the Kunming albino mouse and the transgene can be passed to subsequent generation. These findings also indicate that TyBS can be a useful visual marker gene in the co-transgenic experiments.

Generation of the regulatory protein rtTA transgenic mice.

AIM: To translate Tet-on system into a conditional mouse model, in which hepatitis B or C virus (HBV or HCV) gene could be spatiotemporally expressed to overcome "immune tolerance" formed during the embryonic development and "immune escape" against hepatitis virus antigen(s), an effector mouse, carrying the reverse tetracycline-responsive transcriptional activator (rtTA) gene under the tight control of liver-specific human apoE promoter, is required to be generated. METHODS: To address this end, rtTA fragment amplified by PCR was effectively inserted into the vector of pLiv.7 containing apoE promoter to create the rtTA expressing vector, i.e., pApoE-rtTA. ApoE-rtTA transgenic fragment (-6.9 kb) released from pApoE-rtTA was transferred into mice by pronucleus injection, followed by obtaining one transgene (+) founder animal from microinjection through PCR and Southern blot analysis. RESULTS: rtTA transgene which could be transmitted to subsequent generation (F1) derived from founder was expressed in a liver-specific fashion. CONCLUSION: Taken together, these findings demonstrate that rtTA transgenic mice, in which rtTA expression is appropriately targeted to the murine liver, are successfully produced, which lays a solid foundation to 'off-on-off' regulate expression of target gene (s) (e.g., HBV and/or HCV) in transgenic mice mediated by Tet-on system.

Three-dimensional vortex wake structure of flapping wings in hovering flight.

Flapping wings continuously create and send vortices into their wake, while imparting downward momentum into the surrounding fluid. However, experimental studies concerning the details of the three-dimensional vorticity distribution and evolution in the far wake are limited. In this study, the three-dimensional vortex wake structure in both the near and far field of a dynamically scaled flapping wing was investigated experimentally, using volumetric three-component velocimetry. A single wing, with shape and kinematics similar to those of a fruitfly, was examined. The overall result of the wing action is to create an integrated vortex structure consisting of a tip vortex (TV), trailing-edge shear layer (TESL) and leading-edge vortex. The TESL rolls up into a root vortex (RV) as it is shed from the wing, and together with the TV, contracts radially and stretches tangentially in the downstream wake. The downwash is distributed in an arc-shaped region enclosed by the stretched tangential vorticity of the TVs and the RVs. A closed vortex ring structure is not observed in the current study owing to the lack of well-established starting and stopping vortex structures that smoothly connect the TV and RV. An evaluation of the vorticity transport equation shows that both the TV and the RV undergo vortex stretching while convecting downwards: a three-dimensional phenomenon in rotating flows. It also confirms that convection and secondary tilting and stretching effects dominate the evolution of vorticity.

Volumetric visualization of the near- and far-field wake in flapping wings.

The flapping wings of flying animals create complex vortex wake structure; understanding its spatial and temporal distribution is fundamental to animal flight theory. In this study, we applied the volumetric 3-component velocimetry to capture both the near- and far-field flow generated by a pair of mechanical flapping wings. For the first time, the complete three-dimensional wake structure and its evolution throughout a wing stroke were quantified and presented experimentally. The general vortex wake structure maintains a quite consistent form: vortex rings in the near field and two shear layers in the far field. Vortex rings shed periodically from the wings and are linked to each other in successive strokes. In the far field, the shed vortex rings evolve into two parallel shear layers with dominant vorticity convected from tip and root vortices. The shear layers are nearly stationary in space compared to the periodic vortex rings shed in the near field. In addition, downwash passes through the centers of the vortex rings and extends downward between the two shear layers.

Modulation of leading edge vorticity and aerodynamic forces in flexible flapping wings.

In diverse biological flight systems, the leading edge vortex has been implicated as a flow feature of key importance in the generation of flight forces. Unlike fixed wings, flapping wings can translate at higher angles of attack without stalling because their leading edge vorticity is more stable than the corresponding fixed wing case. Hence, the leading edge vorticity has often been suggested as the primary determinant of the high forces generated by flapping wings. To test this hypothesis, it is necessary to modulate the size and strength of the leading edge vorticity independently of the gross kinematics while simultaneously monitoring the forces generated by the wing. In a recent study, we observed that forces generated by wings with flexible trailing margins showed a direct dependence on the flexural stiffness of the wing. Based on that study, we hypothesized that trailing edge flexion directly influences leading edge vorticity, and thereby the magnitude of aerodynamic forces on the flexible flapping wings. To test this hypothesis, we visualized the flows on wings of varying flexural stiffness using a custom 2D digital particle image velocimetry system, while simultaneously monitoring the magnitude of the aerodynamic forces. Our data show that as flexion decreases, the magnitude of the leading edge vorticity increases and enhances aerodynamic forces, thus confirming that the leading edge vortex is indeed a key feature for aerodynamic force generation in flapping flight. The data shown here thus support the hypothesis that camber influences instantaneous aerodynamic forces through modulation of the leading edge vorticity.

Aerodynamic effects of flexibility in flapping wings.

Recent work on the aerodynamics of flapping flight reveals fundamental differences in the mechanisms of aerodynamic force generation between fixed and flapping wings. When fixed wings translate at high angles of attack, they periodically generate and shed leading and trailing edge vortices as reflected in their fluctuating aerodynamic force traces and associated flow visualization. In contrast, wings flapping at high angles of attack generate stable leading edge vorticity, which persists throughout the duration of the stroke and enhances mean aerodynamic forces. Here, we show that aerodynamic forces can be controlled by altering the trailing edge flexibility of a flapping wing. We used a dynamically scaled mechanical model of flapping flight (Re approximately 2000) to measure the aerodynamic forces on flapping wings of variable flexural stiffness (EI). For low to medium angles of attack, as flexibility of the wing increases, its ability to generate aerodynamic forces decreases monotonically but its lift-to-drag ratios remain approximately constant. The instantaneous force traces reveal no major differences in the underlying modes of force generation for flexible and rigid wings, but the magnitude of force, the angle of net force vector and centre of pressure all vary systematically with wing flexibility. Even a rudimentary framework of wing veins is sufficient to restore the ability of flexible wings to generate forces at near-rigid values. Thus, the magnitude of force generation can be controlled by modulating the trailing edge flexibility and thereby controlling the magnitude of the leading edge vorticity. To characterize this, we have generated a detailed database of aerodynamic forces as a function of several variables including material properties, kinematics, aerodynamic forces and centre of pressure, which can also be used to help validate computational models of aeroelastic flapping wings. These experiments will also be useful for wing design for small robotic insects and, to a limited extent, in understanding the aerodynamics of flapping insect wings.

Power distribution in the hovering flight of the hawk moth Manduca sexta.

We investigated inertial and aerodynamic power consumption during hovering flight of the hawk moth Manduca sexta. The aerodynamic power was estimated based on the aerodynamic forces and torques measured on model hawk-moth wings and hovering kinematics. The inertial power was estimated based on the measured wing mass distribution and hovering kinematics. The results suggest that wing inertial power (without consideration of muscle efficiency and elastic energy storage) consumes about half of the total power expenditure. Wing areal mass density was measured to decrease sharply from the leading edge toward the trailing edge and from the wing base to the wing tip. Such a structural property helps to minimize the wing moment of inertia given a fixed amount of mass. We measured the aerodynamic forces on the rigid and flexible wings, which were made to approximate the flexural stiffness (EI) distribution and deformation of moth wings. It has been found that wings with the characteristic spanwise and chordwise decreasing EI (and mass density) are beneficial for power efficiency while generating aerodynamic forces comparative to rigid wings. Furthermore, negative work to aid pitching in stroke reversals from aerodynamic forces was found, and it showed that the aerodynamic force contributes partially to passive pitching of the wing.

Wingbeat time and the scaling of passive rotational damping in flapping flight.

Flying animals exhibit remarkable capabilities for both generating maneuvers and stabilizing their course and orientation after perturbation. Here we show that flapping fliers ranging in size from fruit flies to large birds benefit from substantial damping of angular velocity through a passive mechanism termed flapping counter-torque (FCT). Our FCT model predicts that isometrically scaled animals experience similar damping on a per-wingbeat time scale, resulting in similar turning dynamics in wingbeat time regardless of body size. The model also shows how animals may simultaneously specialize in both maneuverability and stability (at the cost of efficiency) and provides a framework for linking morphology, wing kinematics, maneuverability, and flight dynamics across a wide range of flying animals spanning insects, bats, and birds.

[siRNAs targetting sphingomyelin phosphodiesterase 1 protect mouse oocytes from apoptosis].

OBJECTIVE: To investigate the potential of siRNAs targeting sphingomyelin phosphodiesterase 1 (SMPD1) in protecting the oocytes from apoptosis, and explore new approaches to female fertility preservation. METHODS: Chemically synthesized siRNA targeting SMPD1 were introduced into mouse oocytes retrieved by hyperstimulation, and the cell apoptosis was analyzed by comic assay 48 and 72 h later. RESULTS: In the oocytes without any siRNA injection, oocyte DNA damage occurred after 24 h, and large amount of DNA fragments migrated from the cells 48 h later. In oocytes injected with siRNA003, DNA migration decreased significantly as compared with the control and the other two groups injected with siRNA001 and siRNA002 (P<0.01). CONCLUSION: siRNA targeting SMPD1 may protect the oocytes from apoptosis, and has the potential for use in future female fertility preservation.

Temporal control of Cre recombinase-mediated in vitro DNA recombination by Tet-on gene expression system.

Conditional gene expression and gene deletion are important experimental approaches for examining the functions of particular gene products in mouse models. These strategies exploiting Cre-mediated site-specific DNA recombination have been incorporated into transgenic and gene-targeting procedures to allow in vivo manipulation of DNA in embryonic stem cells (ES cells) or living animals. The Cre/lox P system has become widely used in conditional gene targeting, conditional gene repair and activation, inducible chromosome translocation, and chromosome engineering. In this project, we have employed the universal transgenic system and the liver-specific promoter system for tightly temporal and liver-specific control of Cre gene expression in mice that (1) integrates the advantages of the Tet-on gene expression system and Cre/lox P site-mediated gene activation, and (2) simplifies the scheme of animal crosses through a combination of two control elements in a single transgene. A liver-specific apoE promoter was inserted into the promoter cloning site upstream of the rtTA cassette of pCore construct to generate the transgene construct pApoErtTA-tetO-Cre, followed by demonstrating stringent regulation of doxycycline (Dox)-induced Cre-mediated recombination in the lox P-flanked transcription STOP cassette-modified BEL-7402 cells. That is to say, in the absence of Dox, the Cre gene is not expressed and will not induce site-specific recombination between two lox P sites, whereas on exposure to Dox, the Cre gene will be expressed and the recombination will occur. Together, these data indicate that the Tet-on gene expression system is able to successfully and stringently control Cre expression in vitro, which lays a solid foundation for efficient and spatio-temporal Cre gene activation in transgenic mice.

Temporal and tight hepatitis C virus gene activation in cultured human hepatoma cells mediated by a cell-permeable Cre recombinase.

Conditional gene expression has greatly facilitated the examination of the functions of particular gene products. Using the Cre/lox P switching expression system, we plan to develop efficient conditional transgene activation of hepatitis C virus core protein (HCV-C) cDNA (nucleotide 342-914) in the transgenic mice to overcome "immune tolerance" formed during the embryonic period and "immune escape" against hepatitis virus antigen in our project. To use this system in vivo, the dormant transgenic construct, i.e., pApoE-SCS-EGFP-HCV-C, was generated using techniques of standard molecular biology. The liverspecific human apoE promoter was here used to target expression of genes of interest (EGFP and HCV-C) to murine liver. Prior to generating the transgenic mice, the availability of Cre/lox P system and construct functionality were successfully verified by a cell-free recombination system and via checking the expression of EGFP and HCV-C in the human hepatoma cells at the mRNA and protein levels. These results suggest that the Cre/lox P system could tightly control expression of EGFP and HCV-C in vitro, which laid a solid foundation to conditionally activate expression of target gene(s) in transgenic mice by Cre-mediated site-specific recombination.