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The increasing availability of high-performance gradient systems in human MRI scanners has generated great interest in diffusion microstructural imaging applications such as axonal diameter mapping. Practically, sensitivity to axon diameter in diffusion MRI is attained at strong diffusion weightings b , where the deviation from the expected 1 / b scaling in white matter yields a finite transverse diffusivity, which is then translated into an axon diameter estimate. While axons are usually modeled as perfectly straight, impermeable cylinders, local variations in diameter (caliber variation or beading) and direction (undulation) are known to influence axonal diameter estimates and have been observed in microscopy data of human axons. In this study, we performed Monte Carlo simulations of diffusion in axons reconstructed from three-dimensional electron microscopy of a human temporal lobe specimen using simulated sequence parameters matched to the maximal gradient strength of the next-generation Connectome 2.0 human MRI scanner ( â² 500 mT/m). We show that axon diameter estimation is accurate for nonbeaded, nonundulating fibers; however, in fibers with caliber variations and undulations, the axon diameter is heavily underestimated due to caliber variations, and this effect overshadows the known overestimation of the axon diameter due to undulations. This unexpected underestimation may originate from variations in the coarse-grained axial diffusivity due to caliber variations. Given that increased axonal beading and undulations have been observed in pathological tissues, such as traumatic brain injury and ischemia, the interpretation of axon diameter alterations in pathology may be significantly confounded.
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Imagem de Difusão por Ressonância Magnética , Substância Branca , Humanos , Imagem de Difusão por Ressonância Magnética/métodos , Axônios/patologia , Imageamento por Ressonância Magnética , Microscopia EletrônicaRESUMO
The detection of long-distance pavement elevation undulation is the main data basis for pavement slope detection and flatness detection, and is also the data source for 3D modeling and quality evaluation of pavement surfaces. The traditional detection method is to use a level and manual coordination to measure; however, the detection accuracy is low and the detection speed is slow. In this paper, the high-speed non-contact vehicle-mounted road undulationelevation detection method is adopted, combined with the advantages of each sensor measurement; three methods are proposed to detect the road undulation elevation: rotary encoders, accelerometers, attitude sensor data fusion detection; GPS RTK detection; and Kalman filtering detection. Through modeling and experimental comparison, Kalman filter detection is not disturbed by the environment, and the detection accuracy is higher than the current international standard.
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Algoritmos , TecnologiaRESUMO
PREMISE: Reconstructing the light environment and architecture of the plant canopy from the fossil record requires the use of proxies, such as those derived from cell wall undulation, cell size, and carbon isotopes. All approaches assume that plant taxa will respond predictably to changes in light environments. However, most species-level studies looking at cell wall undulation only consider "sun" or "shade" leaves; therefore, we need a fully quantitative taxon-specific method. METHODS: We quantified the response of cell wall undulation, cell size, and carbon isotopes of Platanus occidentalis using two experimental setups: (1) two growth chambers at low and high light and (2) a series of outdoor growth experiments using green and black shade cloth at different densities. We then developed and applied a proxy for daily light integral (DLI) to fossil Platanites leaves from two early Paleocene floras from the San Juan Basin in New Mexico. RESULTS: All traits responded to light environment. Cell wall undulation was the most useful trait for reconstructing DLI in the geological record. Median reconstructed DLI from early Paleocene leaves was ~44 mol m-2 d-1 , with values from 28 to 54 mol m-2 d-1 . CONCLUSIONS: Cell wall undulation of P. occidentalis is a robust, quantifiable measurement of light environment that can be used to reconstruct the paleo-light environment from fossil leaves. The distribution of high DLI values from fossil leaves may provide information on canopy architecture; indicating that either (1) most of the canopy mass is within the upper portion of the crown or (2) leaves exposed to more sunlight are preferentially preserved.
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Fotossíntese , Árvores , Isótopos de Carbono , Folhas de Planta , Luz SolarRESUMO
The saponin escin, extracted from horse chestnut seeds, forms adsorption layers with high viscoelasticity and low gas permeability. Upon deformation, escin adsorption layers often feature surface wrinkles with characteristic wavelength. In previous studies, we investigated the origin of this behavior and found that the substantial surface elasticity of escin layers may be related to a specific combination of short-, medium-, and long-range attractive forces, leading to tight molecular packing in the layers. In the current study, we performed atomistic molecular dynamics simulations of 441 escin molecules in a dense adsorption layer with an area per molecule of 0.49 nm2. We found that the surfactant molecules are less submerged in water and adopt a more upright position when compared to the characteristics determined in our previous simulations with much smaller molecular models. The number of neighbouring molecules and their local orientation, however, remain similar in the different-size models. To maintain their preferred mutual orientation, the escin molecules segregate into well-ordered domains and spontaneously form wrinkled layers. The same specific interactions (H-bonds, dipole-dipole attraction, and intermediate strong attraction) define the complex internal structure and the undulations of the layers. The analysis of the layer properties reveals a characteristic wrinkle wavelength related to the surface lateral dimensions, in qualitative agreement with the phenomenological description of thin elastic sheets.
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Escina/química , Água/química , Adsorção , Elasticidade , Ligação de Hidrogênio , Simulação de Dinâmica Molecular , Propriedades de Superfície , Tensoativos/química , ViscosidadeRESUMO
To study axonal microstructure with diffusion MRI, axons are typically modeled as straight impermeable cylinders, whereby the transverse diffusion MRI signal can be made sensitive to the cylinder's inner diameter. However, the shape of a real axon varies along the axon direction, which couples the longitudinal and transverse diffusion of the overall axon direction. Here we develop a theory of the intra-axonal diffusion MRI signal based on coarse-graining of the axonal shape by 3-dimensional diffusion. We demonstrate how the estimate of the inner diameter is confounded by the diameter variations (beading), and by the local variations in direction (undulations) along the axon. We analytically relate diffusion MRI metrics, such as time-dependent radial diffusivity Dâ¥(t)and kurtosis Kâ¥(t),to the axonal shape, and validate our theory using Monte Carlo simulations in synthetic undulating axons with randomly positioned beads, and in realistic axons reconstructed from electron microscopy images of mouse brain white matter. We show that (i) In the narrow pulse limit, the inner diameter from Dâ¥(t)is overestimated by about twofold due to a combination of axon caliber variations and undulations (each contributing a comparable effect size); (ii) The narrow-pulse kurtosis Kâ¥|tâ∞deviates from that in an ideal cylinder due to caliber variations; we also numerically calculate the fourth-order cumulant for an ideal cylinder in the wide pulse limit, which is relevant for inner diameter overestimation; (iii) In the wide pulse limit, the axon diameter overestimation is mainly due to undulations at low diffusion weightings b; and (iv) The effect of undulations can be considerably reduced by directional averaging of high-b signals, with the apparent inner diameter given by a combination of the axon caliber (dominated by the thickest axons), caliber variations, and the residual contribution of undulations.
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Axônios , Encéfalo/citologia , Imagem de Difusão por Ressonância Magnética , Modelos Neurológicos , Animais , Axônios/ultraestrutura , Encéfalo/ultraestrutura , Processamento de Imagem Assistida por Computador/métodos , Camundongos , Substância Branca/citologia , Substância Branca/ultraestruturaRESUMO
Diffusion MRI may enable non-invasive mapping of axonal microstructure. Most approaches infer axon diameters from effects of time-dependent diffusion on the diffusion-weighted MR signal by modeling axons as straight cylinders. Axons do not, however, propagate in straight trajectories, and so far the impact of the axonal trajectory on diameter estimation has been insufficiently investigated. Here, we employ a toy model of axons, which we refer to as the undulating thin fiber model, to analyze the impact of undulating trajectories on the time dependence of diffusion. We study time-dependent diffusion in the frequency domain and characterize the diffusion spectrum by its height, width, and low-frequency behavior (power law exponent). Results show that microscopic orientation dispersion of the thin fibers is the main parameter that determines the characteristics of the diffusion spectra. At lower frequencies (longer diffusion times), straight cylinders and undulating thin fibers can have virtually identical spectra. If the straight-cylinder assumption is used to interpret data from undulating thin axons, the diameter is overestimated by an amount proportional to the undulation amplitude and microscopic orientation dispersion of the fibers. At higher frequencies (shorter diffusion times), spectra from cylinders and undulating thin fibers differ. The low-frequency behavior of the spectra from the undulating thin fibers may also differ from that of cylinders, because the power law exponent of undulating fibers can reach values below 2 for experimentally relevant frequency ranges. In conclusion, we argue that the non-straight nature of axonal trajectories should not be overlooked when analyzing and interpreting diffusion MRI data.
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Axônios/fisiologia , Imagem de Difusão por Ressonância Magnética , Simulação por Computador , Difusão , Método de Monte Carlo , Distribuição Normal , Análise Numérica Assistida por Computador , Reprodutibilidade dos Testes , Fatores de TempoRESUMO
PREMISE: Within closed-canopy forests, vertical gradients of light and atmospheric CO2 drive variations in leaf carbon isotope ratios, leaf mass per area (LMA), and the micromorphology of leaf epidermal cells. Variations in traits observed in preserved or fossilized leaves could enable inferences of past forest canopy closure and leaf function and thereby habitat of individual taxa. However, as yet no calibration study has examined how isotopic, micro- and macromorphological traits, in combination, reflect position within a modern closed-canopy forest or how these could be applied to the fossil record. METHODS: Leaves were sampled from throughout the vertical profile of the tropical forest canopy using the 48.5 m crane at the Daintree Rainforest Observatory, Queensland, Australia. Carbon isotope ratios, LMA, petiole metric (i.e., petiole-width2 /leaf area, a proposed proxy for LMA that can be measured from fossil leaves), and leaf micromorphology (i.e., undulation index and cell area) were compared within species across a range of canopy positions, as quantified by leaf area index (LAI). RESULTS: Individually, cell area, δ13 C, and petiole metric all correlated with both LAI and LMA, but the use of a combined model provided significantly greater predictive power. CONCLUSIONS: Using the observed relationships with leaf carbon isotope ratio and morphology to estimate the range of LAI in fossil floras can provide a measure of canopy closure in ancient forests. Similarly, estimates of LAI and LMA for individual taxa can provide comparative measures of light environment and growth strategy of fossil taxa from within a flora.
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Floresta Úmida , Árvores , Austrália , Calibragem , Fósseis , Fotossíntese , Folhas de Planta , QueenslandRESUMO
OBJECTIVE: Previous studies have shown a relation between growth and rupture of intracranial aneurysms. Additionally, several morphological characteristics are frequently measured to estimate rupture risk. Little is known about how the rupture risk is associated with morphological characteristic changes during growth. The aim of this study was to provide insights into how morphological characteristics, associated with rupture, change during an aneurysm's growth. METHODS: The authors retrospectively identified patients with longitudinal MRA images of unruptured growing aneurysms. The MRA images had an in-plane resolution of 0.2-0.5 mm and a slice thickness of 0.2-0.75 mm. Therefore, growth was defined as an increase of at least 0.5 mm in two directions or 1 mm in one direction. Using the MRA images, the authors semiautomatically segmented the aneurysm and the perianeurysmal vasculature. Twelve morphological characteristics were automatically measured. These characteristics were related to size (diameter, height, width, neck diameter, volume, surface area, aspect ratio, height-width ratio, and bottleneck factor) and shape (ellipticity index, nonsphericity index, and undulation index) of the aneurysm. Morphological characteristics before and after growth were compared using the Wilcoxon signed-rank test. RESULTS: The authors included 31 patients with 38 growing aneurysms. The aneurysms' growth was detected after a mean of 218 weeks (range 23-567 weeks). A significant increase was seen in all size-related characteristics, and the bottleneck factor also significantly increased (from a median of 1.00 [IQR 0.85-1.04] to 1.03 [IQR 0.93-1.18]), while the ellipticity index decreased (from a median of 0.26 [IQR 0.25-0.28] to 0.25 [IQR 0.24-0.26]). The changes in size ratios and shape indices varied largely among patients. Larger aneurysms more often showed an increase in shape ratios. CONCLUSIONS: Although aneurysm growth, size-related characteristics, bottleneck factor, and ellipticity index changed significantly during growth, most size ratios and shape indices showed inconsistent changes among aneurysms. This suggests that, for an accurate rupture prediction, morphological parameters need to be reassessed after growth.
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Aneurisma Intracraniano/patologia , Adulto , Idoso , Aneurisma Roto/patologia , Angiografia Cerebral , Progressão da Doença , Feminino , Humanos , Aneurisma Intracraniano/diagnóstico por imagem , Angiografia por Ressonância Magnética , Masculino , Pessoa de Meia-Idade , Estudos RetrospectivosRESUMO
Sprawling posture vertebrates have a flexible spine that bends the trunk primarily in the horizontal plane during locomotion. By coordinating cyclical lateral trunk flexion and limb movements, these animals are very mobile and show extraordinary maneuverability. The dynamic and static stability displayed in complex and changing environments are highly correlated with such lateral bending patterns. The axial dynamics of their compliant body can also be critical for achieving energy-efficient locomotion at high velocities. In this paper, lateral undulation is used to characterize the bending pattern. The production of ground reaction forces (GRFs) and the related center of mass (COM) dynamics during locomotion are the fundamental mechanisms to be considered. Mainly based on research on geckos, which show unrestricted movement in three-dimensional space, we review current knowledge on the trunk flexibility and waveforms of lateral trunk movement. We investigate locomotion dynamics and mechanisms underlying the lateral undulation pattern. This paper also provides insights into the roles of this pattern in obtaining flexible and efficient walking, running, and climbing. Finally, we discuss the potential application of lateral undulation patterns to bio-inspired robotics.
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Movimento , Postura , Coluna Vertebral , Animais , Fenômenos Biomecânicos , Lagartos/fisiologia , Movimento/fisiologia , Postura/fisiologia , Coluna Vertebral/fisiologiaRESUMO
The aquatic specializations of phocid seals have restricted their ability to locomote on land. The amphibious northern elephant seal, Mirounga angustirostris, is the second largest phocid seal in the world, with males reaching 2700â kg. Although elephant seals are proficient swimmers and deep divers, their extreme size and aquatic specializations limit terrestrial movement. The kinematics of terrestrial locomotion in northern elephant seals were analyzed from video recordings of animals observed on the beach of Año Nuevo State Reserve, CA, USA. The seals moved using a series of rhythmic undulations produced by dorsoventral spinal flexion. The traveling spinal wave moved anteriorly along the dorsal margin of the body with the chest, pelvic region and foreflippers serving as the main points of contact with the ground. The hindflippers were not used. The spinal wave and foreflippers were used to lift the chest off the ground as the body was pushed forward from the pelvis as the foreflippers were retracted to pull the body forward. Seals moved over land at 0.41-2.56â mâ s-1 (0.12-0.71â body lengths s-1). The frequency and amplitude of spinal flexions both displayed a direct increase with increasing speed. The duty factor for the pelvic region decreased with increasing velocity while the duty factor of the foreflipper remained constant. Kinematic data for elephant seals and other phocids were used in a biomechanical model to calculate the mechanical energy expended during terrestrial locomotion. The elephant seals were found to expend more energy when traveling over land for their size than smaller phocids. The unique method of terrestrial movement also exhibited greater energy expenditure on land than values for large quadrupeds. The trade-off for the northern elephant seal is that its massive size and morphology have well adapted it to an aquatic existence but limited its locomotor performance (i.e. speed, endurance) on land.
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Tamanho Corporal , Locomoção/fisiologia , Focas Verdadeiras/fisiologia , Animais , Fenômenos Biomecânicos , California , Metabolismo Energético , Meio Ambiente , Masculino , Modelos Biológicos , MovimentoRESUMO
Squid, which swim using a coupled fin/jet system powered by muscular hydrostats, pose unique challenges for the study of locomotion. The high flexibility of the fins and complex flow fields generated by distinct propulsion systems require innovative techniques for locomotive assessment. For this study, we used proper orthogonal decomposition (POD) to decouple components of the fin motions and defocusing digital particle tracking velocimetry (DDPTV) to quantify the resultant 3D flow fields. Kinematic footage and DDPTV data were collected from brief squid, Lolliguncula brevis [3.1-6.5â cm dorsal mantle length (DML)], swimming freely in a water tunnel at speeds of 0.39-7.20â DMLâ s-1 Both flap and wave components were present in all fin motions, but the relative importance of the wave components was higher for arms-first swimming than for tail-first swimming and for slower versus higher speed swimming. When prominent wave components were present, more complex interconnected vortex ring wakes were observed, while fin movements dominated by flapping resulted in more spatially separated vortex ring patterns. Although the jet often produced the majority of the thrust for steady rectilinear swimming, our results demonstrated that the fins can contribute more thrust than the jet at times, consistently produce comparable levels of lift to the jet during arms-first swimming, and can boost overall propulsive efficiency. By producing significant drag signatures, the fins can also aid in stabilization and maneuvering. Clearly, fins play multiple roles in squid locomotion, and when coupled with the jet, allow squid to perform a range of swimming behaviors integral to their ecological success.
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Nadadeiras de Animais/fisiologia , Decapodiformes/fisiologia , Locomoção , Animais , Fenômenos Biomecânicos , Cinética , Movimento (Física) , Reologia , NataçãoRESUMO
While emergent behaviours have long been reported for air-breathing osteichthyians, only recently have researchers undertaken quantitative analyses of terrestrial locomotion. This review summarizes studies of sustained periodic terrestrial movements by air-breathing fishes and quantifies the contributions of the paired appendages and the axial body to forward propulsion. Elongate fishes with axial-based locomotion, e.g. the ropefish Erpetoichthys calabaricus, generate an anterior-to-posterior wave of undulation that travels down the axial musculoskeletal system and pushes the body against the substratum at multiple points. In contrast, appendage-based locomotors, e.g. the barred mudskipper Periophthalmus argentilineatus, produce no axial bending during sustained locomotion, but instead use repeated protraction-retraction cycles of the pectoral fins to elevate the centre of mass and propel the entire body anteriorly. Fishes that use an axial-appendage-based mechanism, e.g. walking catfishes Clarias spp., produce side-to-side, whole-body bending in co-ordination with protraction-retraction cycles of the pectoral fins. Once the body is maximally bent to one side, the tail is pressed against the substratum and drawn back through the mid-sagittal plane, which elevates the centre of mass and rotates it about a fulcrum formed by the pectoral fin and the ground. Although appendage-based terrestrial locomotion appears to be rare in osteichthyians, many different species appear to have converged upon functionally similar axial-based and axial-appendage-based movements. Based on common forms observed across divergent taxa, it appears that dorsoventral compression of the body, elongation of the axial skeleton or the presence of robust pectoral fins can facilitate effective terrestrial movement by air-breathing fishes.
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Peixes/fisiologia , Locomoção/fisiologia , Respiração , Ar , Animais , Fenômenos Biomecânicos , Peixes/anatomia & histologiaRESUMO
PURPOSE: The choroidal thickening and serous retinal detachments that characterize Vogt-Koyanagi-Harada (VKH) disease can be imaged in detail using spectral domain optical coherence tomography (SD-OCT). Whether specific qualitative and quantitative SD-OCT features at presentation were associated with visual outcomes in a randomized controlled trial comparing methotrexate to mycophenolate for steroid-sparing control of uveitis were evaluated. METHODS: An exploratory subanalysis of data from the FAST trial in which SD-OCT images from VKH participants were analyzed for presence/absence of bacillary detachments, retinal pigment epithelium (RPE) folds, and internal limiting membrane (ILM) fluctuations was performed. A modified RPE undulation index was calculated to provide a quantifiable surrogate marker for choroidal folds. RESULTS: SD-OCT images were available from 158 eyes with VKH. At baseline, bacillary detachments were present in 23.5% of eyes, RPE folds in 22.8% of eyes, and ILM fluctuations in 35.2% of eyes. For each 0.1 unit increase in modified RPE undulation index, there was an associated 0.13 increase in mean logMAR BSCVA at baseline. None of the SD-OCT features were associated with BSCVA at the 6-month primary endpoint. Indeed, mean final BSCVA was similar in those with and without the SD-OCT features of interest at baseline, and was between 0.1 and 0.2 logMAR (Snellen visual acuity 20/25 to 20/30). CONCLUSIONS: While eyes with VKH may present with a variety of SD-OCT imaging pathology prior to starting immunosuppression with methotrexate or mycophenolate mofetil, final visual outcome in our study was excellent. With appropriate immunosuppression, good visual outcomes are possible in VKH.ClinicalTrials.gov Identifier NCT01829295Date of Registration: April 11, 2013.
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Many animals move using lateral undulations, but snakes are noteworthy for using this type of locomotion in an unusual diversity of environments, including trees in which both the spacing and orientation of branches vary considerably. Despite branches providing discrete locations for snakes to generate propulsive forces during lateral undulation, the consequences of branch spacing for the locomotion of snakes are poorly understood. Hence, we determined maximal speeds and kinematics of an arboreal snake (Boiga irregularis) crawling on horizontal and vertical cylinders with pegs that simulated different spacing between secondary branches. Peg spacing, perch orientation and their two-way interaction term had widespread, significant effects on both performance and kinematics. For the horizontal surfaces, maximal locomotor speed occurred with intermediate peg spacing, and it was nearly twice as fast as for both the smallest and largest peg spacings. By contrast, the locomotor speed of snakes on the vertical surfaces was unaffected by peg spacing, and was uniformly slower than that for the horizontal surfaces. For both perch orientations, the number of pegs touched by the snake decreased as peg spacing increased, and while touching only one peg the snakes crawled with apparent ease and steady speed. The snakes crawled vertically with only one peg as quickly as they did using 2-10 pegs. Pegs on a horizontal cylinder are probably important both for propulsion of snakes and prevention of long-axis rolling, whereas pegs protruding from vertical cylinders and those protruding from horizontal planar surfaces are probably used almost exclusively for propulsion.
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Colubridae/fisiologia , Meio Ambiente , Locomoção , Animais , Fenômenos Biomecânicos , Distribuição Aleatória , Gravação de VideoteipeRESUMO
Surface undulation was formed while growing InGaN/GaN multi-quantum wells on a semi-polar m-plane (1-100) sapphire substrate. Two distinct facets, parallel to 112¯2 and 011¯1, were formed in the embedded multi-quantum wells (MQWs). The structural and luminescence characteristics of the two facets were investigated using transmission electron microscopy equipped with cathodoluminescence. Those well-defined quantum wells, parallel and slanted to the growth plane, showed distinct differences in indium incorporation from both the X-ray yield and the contrast difference in annular darkfield images. Quantitative measurements of concentration in 011¯1 MQWs show an approximately 4 at% higher indium incorporation compared to the corresponding 112¯2 when the MQWs were formed under the same growth condition.
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We consider the effect of non-cylindrical axonal shape on axonal diameter mapping with diffusion MRI. Practical sensitivity to axon diameter is attained at strong diffusion weightings b, where the deviation from the 1/b scaling yields the finite transverse diffusivity, which is then translated into axon diameter. While axons are usually modeled as perfectly straight, impermeable cylinders, the local variations in diameter (caliber variation or beading) and direction (undulation) have been observed in microscopy data of human axons. Here we quantify the influence of cellular-level features such as caliber variation and undulation on axon diameter estimation. For that, we simulate the diffusion MRI signal in realistic axons segmented from 3-dimensional electron microscopy of a human brain sample. We then create artificial fibers with the same features and tune the amplitude of their caliber variations and undulations. Numerical simulations of diffusion in fibers with such tunable features show that caliber variations and undulations result in under- and over-estimation of axon diameters, correspondingly; this bias can be as large as 100%. Given that increased axonal beading and undulations have been observed in pathological tissues, such as traumatic brain injury and ischemia, the interpretation of axon diameter alterations in pathology may be significantly confounded.
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Lateral phase separation within lipid bilayer membranes has attracted considerable attention in the fields of biophysics and cell biology. Living cells organize laterally segregated compartments, such as raft domains in an ordered phase, and regulate their dynamic structures under isothermal conditions to promote cellular functions. Model membrane systems with minimum components are powerful tools for investigating the basic phenomena of membrane phase separation. With the use of such model systems, several physicochemical characteristics of phase separation have been revealed. This review focuses on the isothermal triggering of membrane phase separation from a physical point of view. We consider the free energy of the membrane that describes lateral phase separation and explain the experimental results of model membranes to regulate domain formation under isothermal conditions. Three possible regulation factors are discussed: electrostatic interactions, chemical reactions and membrane tension. These findings may contribute to a better understanding of membrane lateral organization within living cells that function under isothermal conditions and could be useful for the development of artificial cell engineering.
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Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish.
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Nanofluids have become important working fluids for many engineering applications as they have better thermal properties than traditional liquids. Thus, this paper addresses heat transfer rates and entropy generation for a Fe3O4/MWCNT-water hybrid nanoliquid inside a three-dimensional triangular porous cavity with a rotating cylinder. The studied cavity is heated by a hot wavy wall at the bottom and subjected to a magnetic field. This problem is solved numerically using the Galerkin finite element method (GFEM). The influential parameters considered are the rotating cylinder speed, Hartmann number (Ha), Darcy number (Da), and undulation number of the wavy wall. The results showed that higher Da and lower Ha values improved the heat transfer rates in the cavity, which was demonstrated by a higher Nusselt number and flow fluidity. The entropy generation due to heat losses was also minimized for the enhanced heat transfer rates. The decrease in Ha from 100 and 0 improved the heat transfer by about 8%, whereas a high rotational speed and high Da values yield optimal results. For example, for Ω = 1000 rad/s and Da = 10-2, the enhancement in the average Nusselt number is about 38% and the drop in the Bejan number is 65% compared to the case of Ω = 0 rad/s and Da = 10-5. Based on the applied conditions, it is recommended to have a high Da, low Ha, one undulation for the wavy wall, and high rotational speed for the cylinder in the flow direction.
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We aimed to test a set of epidermal traits in two legume species with contrasting chemical, physical, and micromorphological leaf-surface features to assess which ones would determine higher PM retention. For that, we performed a biomonitoring study in southeastern Brazil at the Steel Valley Metropolitan Region, where there is predominance of steel industry and one of the largest vehicle fleets in the country. A reference station was installed at a neighboring park. We evaluated leaf-surface roughness at two hierarchical levels, leaf wettability, epidermal-cell anticlinal-wall undulation, epidermal-cell perimeter, and the micromorphology and chemical composition of epicuticular waxes. Particle retention was significantly higher in Paubrasilia echinata than in Libidibia ferrea var. leiostachya, the former of which has lower roughness given by both the epidermal tissue (macro-roughness; 0.6 vs 2.6 µm) and epicuticular waxes (micro-roughness; 68 vs 220 nm), higher leaf wettability (82° vs 143°), lower epidermal-cell undulation index (1.2 vs 1.8), lower epidermal-cell perimeter (93 vs 146 µm), wax deposition in the form of a smooth layer (as opposed to densely aggregated rosettes of vertical platelets), and more polar wax chemical constitution (68% vs 47% of polar compounds). While all of the assessed traits contributed to particle retention, canonical loadings revealed that macro-roughness was the trait that contributed the most to the retention of PM2.5 (ca = 1.47; r = -0.56), PM10 (ca = 1.08; r = -0.61), PM100 (ca = -4.95; r = -0.39) and TSP (ca = 0.98; r = -0.62), although this trait was shown by factor analysis to be secondary in distinguishing between species (0.92 contribution to the second axis). Our findings shed new light on the criteria that should be considered when selecting species for green infrastructure aiming to reduce urban air pollution, as well as on novel possibilities for PM biomonitoring in the tropics.