BaTboT: a biologically inspired flapping and morphing bat robot actuated by SMA-based artificial muscles

Bats are animals that posses high maneuvering capabilities. Their wings contain dozens of articulations that allow the animal to perform aggressive maneuvers by means of controlling the wing shape during flight (morphing-wings). There is no other flying creature in nature with this level of wing dexterity and there is biological evidence that the inertial forces produced by the wings have a key role in the attitude movements of the animal. This can inspire the design of highly articulated morphing-wing micro air vehicles (not necessarily bat-like) with a significant wing-to-body mass ratio. This thesis presents the development of a novel bat-like micro air vehicle (BaTboT) inspired by the morphing-wing mechanism of bats. BaTboT’s morphology is alike in proportion compared to its biological counterpart Cynopterus brachyotis, which provides the biological foundations for developing accurate mathematical models and methods that allow for mimicking bat flight. In nature bats can achieve an amazing level of maneuverability by combining flapping and morphing wingstrokes. Attempting to reproduce the biological wing actuation system that provides that kind of motion using an artificial counterpart requires the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators. Thus, NiTinol Shape Memory Alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. This antagonistic configuration of SMA-muscles response to an electrical heating power signal to operate. This heating power is regulated by a proper controller that allows for accurate and fast SMA actuation. Morphing-wings will enable to change wings geometry with the unique purpose of enhancing aerodynamics performance. During the downstroke phase of the wingbeat motion both wings are fully extended aimed at increasing the area surface to properly generate lift forces. Contrary during the upstroke phase of the wingbeat motion both wings are retracted to minimize the area and thus reducing drag forces. Morphing-wings do not only improve on aerodynamics but also on the inertial forces that are key to maneuver. Thus, a modeling framework is introduced for analyzing how BaTboT should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, an attitude controller is proposed. The attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands. This novel flight control approach is aimed at incrementing net body forces (Fnet) that generate propulsion. Mimicking the way how bats take advantage of inertial and aerodynamical forces produced by the wings in order to both increase lift and maneuver is a promising way to design more efficient flapping/morphing wings MAVs. The novel wing modulation strategy and attitude control methodology proposed in this thesis provide a totally new way of controlling flying robots, that eliminates the need of appendices such as flaps and rudders, and would allow performing more efficient maneuvers, especially useful in confined spaces. As a whole, the BaTboT project consists of five major stages of development: - Study and analysis of biological bat flight data reported in specialized literature aimed at defining design and control criteria. - Formulation of mathematical models for: i) wing kinematics, ii) dynamics, iii) aerodynamics, and iv) SMA muscle-like actuation. It is aimed at modeling the effects of modulating wing inertia into the production of net body forces for maneuvering. - Bio-inspired design and fabrication of: i) skeletal structure of wings and body, ii) SMA muscle-like mechanisms, iii) the wing-membrane, and iv) electronics onboard. It is aimed at developing the bat-like platform (BaTboT) that allows for testing the methods proposed. - The flight controller: i) control of SMA-muscles (morphing-wing modulation) and ii) flight control (attitude regulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BaTboT’s wings. - Experiments: it is aimed at quantifying the effects of properly wing modulation into aerodynamics and inertial production for maneuvering. It is also aimed at demonstrating and validating the hypothesis of improving flight efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Windtunnel experiments will be oriented to discuss and demonstrate how the wings can considerably affect the dynamics/aerodynamics of flight and how to take advantage of wing inertia modulation that the morphing-wings enable to properly change wings’ geometry during flapping. Resumen: Los murciélagos son mamíferos con una alta capacidad de maniobra. Sus alas están conformadas por docenas de articulaciones que permiten al animal maniobrar gracias al cambio geométrico de las alas durante el vuelo. Esta característica es conocida como (alas mórficas). En la naturaleza, no existe ningún especimen volador con semejante grado de dexteridad de vuelo, y se ha demostrado, que las fuerzas inerciales producidas por el batir de las alas juega un papel fundamental en los movimientos que orientan al animal en vuelo. Estas características pueden inspirar el diseño de un micro vehículo aéreo compuesto por alas mórficas con redundantes grados de libertad, y cuya proporción entre la masa de sus alas y el cuerpo del robot sea significativa. Esta tesis doctoral presenta el desarrollo de un novedoso robot aéreo inspirado en el mecanismo de ala mórfica de los murciélagos. El robot, llamado BaTboT, ha sido diseñado con parámetros morfológicos muy similares a los descritos por su símil biológico Cynopterus brachyotis. El estudio biológico de este especimen ha permitido la definición de criterios de diseño y modelos matemáticos que representan el comportamiento del robot, con el objetivo de imitar lo mejor posible la biomecánica de vuelo de los murciélagos. La biomecánica de vuelo está definida por dos tipos de movimiento de las alas: aleteo y cambio de forma. Intentar imitar como los murciélagos cambian la forma de sus alas con un prototipo artificial, requiere el análisis de métodos alternativos de actuación que se asemejen a la biomecánica de los músculos que actúan las alas, y evitar el uso de sistemas convencionales de actuación como servomotores ó motores DC. En este sentido, las aleaciones con memoria de forma, ó por sus siglas en inglés (SMA), las cuales son fibras de NiTinol que se contraen y expanden ante estímulos térmicos, han sido usados en este proyecto como músculos artificiales que actúan como bíceps y tríceps de las alas, proporcionando la funcionalidad de ala mórfica previamente descrita. De esta manera, los músculos de SMA son mecánicamente posicionados en una configuración antagonista que permite la rotación de las articulaciones del robot. Los actuadores son accionados mediante una señal de potencia la cual es regulada por un sistema de control encargado que los músculos de SMA respondan con la precisión y velocidad deseada. Este sistema de control mórfico de las alas permitirá al robot cambiar la forma de las mismas con el único propósito de mejorar el desempeño aerodinámico. Durante la fase de bajada del aleteo, las alas deben estar extendidas para incrementar la producción de fuerzas de sustentación. Al contrario, durante el ciclo de subida del aleteo, las alas deben contraerse para minimizar el área y reducir las fuerzas de fricción aerodinámica. El control de alas mórficas no solo mejora el desempeño aerodinámico, también impacta la generación de fuerzas inerciales las cuales son esenciales para maniobrar durante el vuelo. Con el objetivo de analizar como el cambio de geometría de las alas influye en la definición de maniobras y su efecto en la producción de fuerzas netas, simulaciones y experimentos han sido llevados a cabo para medir cómo distintos patrones de modulación de las alas influyen en la producción de aceleraciones lineales y angulares. Gracias a estas mediciones, se propone un control de vuelo, ó control de actitud, el cual incorpora información inercial de las alas para la definición de referencias de aceleración angular. El objetivo de esta novedosa estrategia de control radica en el incremento de fuerzas netas para la adecuada generación de movimiento (Fnet). Imitar como los murciélagos ajustan sus alas con el propósito de incrementar las fuerzas de sustentación y mejorar la maniobra en vuelo es definitivamente un tópico de mucho interés para el diseño de robots aéros mas eficientes. La propuesta de control de vuelo definida en este trabajo de investigación podría dar paso a una nueva forma de control de vuelo de robots aéreos que no necesitan del uso de partes mecánicas tales como alerones, etc. Este control también permitiría el desarrollo de vehículos con mayor capacidad de maniobra. El desarrollo de esta investigación se centra en cinco etapas: - Estudiar y analizar el vuelo de los murciélagos con el propósito de definir criterios de diseño y control. - Formular modelos matemáticos que describan la: i) cinemática de las alas, ii) dinámica, iii) aerodinámica, y iv) actuación usando SMA. Estos modelos permiten estimar la influencia de modular las alas en la producción de fuerzas netas. - Diseño y fabricación de BaTboT: i) estructura de las alas y el cuerpo, ii) mecanismo de actuación mórfico basado en SMA, iii) membrana de las alas, y iv) electrónica abordo. - Contro de vuelo compuesto por: i) control de la SMA (modulación de las alas) y ii) regulación de maniobra (actitud). - Experimentos: están enfocados en poder cuantificar cuales son los efectos que ejercen distintos perfiles de modulación del ala en el comportamiento aerodinámico e inercial. El objetivo es demostrar y validar la hipótesis planteada al inicio de esta investigación: mejorar eficiencia de vuelo gracias al novedoso control de orientación (actitud) propuesto en este trabajo. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos son realizados utilizando un túnel de viento con la instrumentación necesaria para llevar a cabo las mediciones de desempeño respectivas. En los resultados se discutirá y demostrará que la inercia producida por las alas juega un papel considerable en el comportamiento dinámico y aerodinámico del sistema y como poder tomar ventaja de dicha característica para regular patrones de modulación de las alas que conduzcan a mejorar la eficiencia del robot en futuros vuelos.

La mímesis biológica: una aproximación hacia un nuevo paradigma

Tras una serie de consideraciones sobre el papel de los paradigmas en Ciencia y Tecnología, se presenta uno de los posibles avances que podrá tener lugar en los próximos años, basado en el estudio de los sistemas biológicos como modelos para la realización de funciones concretas. Según se muestra, este nuevo planteamiento podría desarrollar una forma mucho más efectiva de consecución de objetivos que la actualmente obtenida con sistemas artificiales. Como ejemplo concreto se muestra el caso de la visión en los mamíferos

Modelo para la integración del trazado de infraestructuras lineales en el paisaje y el medio ambiente basado en SIG

El análisis de las diferentes alternativas en la planificación y diseño de corredores y trazados de carreteras debe basarse en la correcta definición de variables territoriales que sirvan como criterios para la toma de decisión y esto requiere un análisis ambiental preliminar de esas variables de calidad. En España, los estudios de viabilidad de nuevas carreteras y autovías están asociados a una fase del proceso de decisión que se corresponde con el denominado Estudio Informativo, el cual establece condicionantes físicos, ambientales, de uso del suelo y culturales que deben ser considerados en las primeras fases de la definición del trazado de un corredor de carretera. Así, la metodología más frecuente es establecer diferentes niveles de capacidad de acogida del territorio en el área de estudio con el fin de resumir las variables territoriales en mapas temáticos y facilitar el proceso de trazado de las alternativas de corredores de carretera. El paisaje es un factor limitante a tener en cuenta en la planificación y diseño de carreteras y, por tanto, deben buscarse trazados más sostenibles en relación con criterios estéticos y ecológicos del mismo. Pero este factor no es frecuentemente analizado en los Estudios Informativos e incluso, si es considerado, los estudios específicos de la calidad del paisaje (estético y ecológico) y de las formas del terreno no incorporan las recomendaciones de las guías de trazado para evitar o reducir los impactos en el paisaje. Además, los mapas de paisaje que se generan en este tipo de estudios no se corresponden con la escala de desarrollo del Estudio Informativo (1:5.000). Otro déficit común en planificación de corredores y trazados de carreteras es que no se tiene en cuenta la conectividad del paisaje durante el proceso de diseño de la carretera para prevenir la afección a los corredores de fauna existentes en el paisaje. Este déficit puede originar un posterior efecto barrera en los movimientos dispersivos de la fauna y la fragmentación de sus hábitats debido a la ocupación parcial o total de las teselas de hábitats con importancia biológica para la fauna (o hábitats focales) y a la interrupción de los corredores de fauna que concentran esos movimientos dispersivos de la fauna entre teselas. El objetivo principal de esta tesis es mejorar el estudio del paisaje para prevenir su afección durante el proceso de trazado de carreteras, facilitar la conservación de los corredores de fauna (o pasillos verdes) y la localización de medidas preventivas y correctoras en términos de selección y cuantificación de factores de idoneidad a fin de reducir los impactos visuales y ecológicos en el paisaje a escala local. Concretamente, la incorporación de valores cuantitativos y bien justificados en el proceso de decisión permite incrementar la transparencia en el proceso de diseño de corredores y trazados de carreteras. Con este fin, se han planteado cuatro preguntas específicas en esta investigación (1) ¿Cómo se seleccionan y evalúan los factores territoriales limitantes para localizar una nueva carretera por los profesionales españoles de planificación del territorio en relación con el paisaje? (2) ¿Cómo pueden ser definidos los corredores de fauna a partir de factores del paisaje que influyen en los movimientos dispersivos de la fauna? (3) ¿Cómo pueden delimitarse y evaluarse los corredores de fauna incluyendo el comportamiento parcialmente errático en los movimientos dispersivos de la fauna y el efecto barrera de los elementos antrópicos a una escala local? (4) ¿Qué y cómo las recomendaciones de diseño de carreteras relacionadas con el paisaje y las formas del terreno pueden ser incluidas en un modelo de Sistemas de Información Geográfica (SIG) para ayudar a los ingenieros civiles durante el proceso de diseño de un trazado de carreteras bajo el punto de vista de la sostenibilidad?. Esta tesis doctoral propone nuevas metodologías que mejoran el análisis visual y ecológico del paisaje utilizando indicadores y modelos SIG para obtener alternativas de trazado que produzcan un menor impacto en el paisaje. Estas metodologías fueron probadas en un paisaje heterogéneo con una alta tasa de densidad de corzo (Capreolus capreolus L.), uno de los grandes mamíferos más atropellados en la red de carreteras españolas, y donde está planificada la construcción de una nueva autovía que atravesará la mitad del área de distribución del corzo. Inicialmente, se han analizado las variables utilizadas en 22 estudios de proyectos de planificación de corredores de carreteras promovidos por el Ministerio de Fomento entre 2006 y 2008. Estas variables se agruparon según condicionantes físicos, ambientales, de usos del suelo y culturales con el fin de comparar los valores asignados de capacidad de acogida del territorio a cada variable en los diferentes estudios revisados. Posteriormente, y como etapa previa de un análisis de conectividad, se construyó un mapa de resistencia de los movimientos dispersivos del corzo en base a la literatura y al juicio de expertos. Usando esta investigación como base, se le asignó un valor de resistencia a cada factor seleccionado para construir la matriz de resistencia, ponderándolo y combinándolo con el resto de factores usando el proceso analítico jerárquico y los operadores de lógica difusa como métodos de análisis multicriterio. Posteriormente, se diseñó una metodología SIG para delimitar claramente la extensión física de los corredores de fauna de acuerdo a un valor umbral de ancho geométrico mínimo, así como la existencia de múltiples potenciales conexiones entre cada par de teselas de hábitats presentes en el paisaje estudiado. Finalmente, se realizó un procesado de datos Light Detection and Ranging (LiDAR) y un modelo SIG para calcular la calidad del paisaje (estético y ecológico), las formas del terreno que presentan características similares para trazar una carretera y la acumulación de vistas de potenciales conductores y observadores de los alrededores de la nueva vía. Las principales contribuciones de esta investigación al conocimiento científico existente en el campo de la evaluación del impacto ambiental en relación al diseño de corredores y trazados de carreteras son cuatro. Primero, el análisis realizado de 22 Estudios Informativos de planificación de carreteras reveló que los métodos aplicados por los profesionales para la evaluación de la capacidad de acogida del territorio no fue suficientemente estandarizada, ya que había una falta de uniformidad en el uso de fuentes cartográficas y en las metodologías de evaluación de la capacidad de acogida del territorio, especialmente en el análisis de la calidad del paisaje estético y ecológico. Segundo, el análisis realizado en esta tesis destaca la importancia de los métodos multicriterio para estructurar, combinar y validar factores que limitan los movimientos dispersivos de la fauna en el análisis de conectividad. Tercero, los modelos SIG desarrollados Generador de alternativas de corredores o Generator of Alternative Corridors (GAC) y Eliminador de Corredores Estrechos o Narrow Corridor Eraser (NCE) pueden ser aplicados sistemáticamente y sobre una base científica en análisis de conectividad como una mejora de las herramientas existentes para la comprensión el paisaje como una red compuesta por nodos y enlaces interconectados. Así, ejecutando los modelos GAC y NCE de forma iterativa, pueden obtenerse corredores alternativos con similar probabilidad de ser utilizados por la fauna y sin que éstos presenten cuellos de botella. Cuarto, el caso de estudio llevado a cabo de prediseño de corredores y trazado de una nueva autovía ha sido novedoso incluyendo una clasificación semisupervisada de las formas del terreno, filtrando una nube de puntos LiDAR e incluyendo la nueva geometría 3D de la carretera en el Modelo Digital de Superficie (MDS). El uso combinado del procesamiento de datos LiDAR y de índices y clasificaciones geomorfológicas puede ayudar a los responsables encargados en la toma de decisiones a evaluar qué alternativas de trazado causan el menor impacto en el paisaje, proporciona una visión global de los juicios de valor más aplicados y, en conclusión, define qué medidas de integración paisajística correctoras deben aplicarse y dónde. ABSTRACT The assessment of different alternatives in road-corridor planning and layout design must be based on a number of well-defined territorial variables that serve as decision-making criteria, and this requires a high-quality preliminary environmental analysis of those quality variables. In Spain, feasibility studies for new roads and motorways are associated to a phase of the decision procedure which corresponds with the one known as the Informative Study, which establishes the physical, environmental, land-use and cultural constraints to be considered in the early stages of defining road corridor layouts. The most common methodology is to establish different levels of Territorial Carrying Capacity (TCC) in the study area in order to summarize the territorial variables on thematic maps and facilitate the tracing process of road-corridor layout alternatives. Landscape is a constraint factor that must be considered in road planning and design, and the most sustainable layouts should be sought based on aesthetic and ecological criteria. However this factor is not often analyzed in Informative Studies and even if it is, baseline studies on landscape quality (aesthetic and ecological) and landforms do not usually include the recommendations of road tracing guides designed to avoid or reduce impacts on the landscape. The resolution of the landscape maps produced in this type of studies does not comply with the recommended road design scale (1:5,000) in the regulations for the Informative Study procedure. Another common shortcoming in road planning is that landscape ecological connectivity is not considered during road design in order to avoid affecting wildlife corridors in the landscape. In the prior road planning stage, this issue could lead to a major barrier effect for fauna dispersal movements and to the fragmentation of their habitat due to the partial or total occupation of habitat patches of biological importance for the fauna (or focal habitats), and the interruption of wildlife corridors that concentrate fauna dispersal movements between patches. The main goal of this dissertation is to improve the study of the landscape and prevent negative effects during the road tracing process, and facilitate the preservation of wildlife corridors (or green ways) and the location of preventive and corrective measures by selecting and quantifying suitability factors to reduce visual and ecological landscape impacts at a local scale. Specifically the incorporation of quantitative and well-supported values in the decision-making process provides increased transparency in the road corridors and layouts design process. Four specific questions were raised in this research: (1) How are territorial constraints selected and evaluated in terms of landscape by Spanish land-planning practitioners before locating a new road? (2) How can wildlife corridors be defined based on the landscape factors influencing the dispersal movements of fauna? (3) How can wildlife corridors be delimited and assessed to include the partially erratic movements of fauna and the barrier effect of the anthropic elements at a local scale? (4) How recommendations of road design related to landscape and landforms can be included in a Geographic Information System (GIS) model to aid civil engineers during the road layout design process and support sustainable development? This doctoral thesis proposes new methodologies that improve the assessment of the visual and ecological landscape character using indicators and GIS models to obtain road layout alternatives with a lower impact on the landscape. These methodologies were tested on a case study of a heterogeneous landscape with a high density of roe deer (Capreolus capreolus L.) –one of the large mammals most commonly hit by vehicles on the Spanish road network– and where a new motorway is planned to pass through the middle of their distribution area. We explored the variables used in 22 road-corridor planning projects sponsored by the Ministry of Public Works between 2006 and 2008. These variables were grouped into physical, environmental, land-use and cultural constraints for the purpose of comparing the TCC values assigned to each variable in the various studies reviewed. As a prior stage in a connectivity analysis, a map of resistance to roe deer dispersal movements was created based on the literature and experts judgment. Using this research as a base, each factor selected to build the matrix was assigned a resistance value and weighted and combined with the rest of the factors using the analytic hierarchy process (AHP) and fuzzy logic operators as multicriteria assessment (MCA) methods. A GIS methodology was designed to clearly delimit the physical area of wildlife corridors according to a geometric threshold width value, and the multiple potential connections between each pair of habitat patches in the landscape. A Digital Surface Model Light Detection and Ranging (LiDAR) dataset processing and a GIS model was performed to determine landscape quality (aesthetic and ecological) and landforms with similar characteristics for the road layout, and the cumulative viewshed of potential drivers and observers in the area surrounding the new motorway. The main contributions of this research to current scientific knowledge in the field of environmental impact assessment for road corridors and layouts design are four. First, the analysis of 22 Informative Studies on road planning revealed that the methods applied by practitioners for assessing the TCC were not sufficiently standardized due to the lack of uniformity in the cartographic information sources and the TCC valuation methodologies, especially in the analysis of the aesthetic and ecological quality of the landscape. Second, the analysis in this dissertation highlights the importance of multicriteria methods to structure, combine and validate factors that constrain wildlife dispersal movements in the connectivity analysis. Third, the “Generator of Alternative Corridors (GAC)” and “Narrow Corridor Eraser (NCE)” GIS models developed can be applied systematically and on a scientific basis in connectivity analyses to improve existing tools and understand landscape as a network composed of interconnected nodes and links. Thus, alternative corridors with similar probability of use by fauna and without bottlenecks can be obtained by iteratively running GAC and NCE models. Fourth, our case study of new motorway corridors and layouts design innovatively included semi-supervised classification of landforms, filtering of LiDAR point clouds and new 3D road geometry on the Digital Surface Model (DSM). The combined used of LiDAR data processing and geomorphological indices and classifications can help decision-makers assess which road layouts produce lower impacts on the landscape, provide an overall insight into the most commonly applied value judgments, and in conclusion, define which corrective measures should be applied in terms of landscaping, and where.

Zebrafish como organismo-modelo para análises de efeitos comportamentais e toxicológicas da cetamina empregando cromatografia em fase gasosa e estatística multivariada

A cetamina é uma droga amplamente utilizada e o seu uso inadequado tem sido associado à graves consequências para a saúde humana. Embora as propriedades farmacológicas deste agente em doses terapêuticas sejam bem conhecidas, existem poucos estudos sobre os efeitos secundários induzidos por doses não-terapêuticas, incluindo os efeitos nos estados de ansiedade e agressividade. Neste contexto, os modelos animais são uma etapa importante na investigação e elucidação do mecanismo de ação a nível comportamental. O zebrafish (Danio rerio) é um novo organismo-modelo, interessante e promissor, uma vez que apresenta alta similaridade fisiológica, genética e neuroquímica com seres humanos, respostas comportamentais bem definidas e rápida absorção de compostos de interesse em meio aquoso além de apresentar uma série de vantagens em relação aos modelos mamíferos tais como manutenção de baixo custo, prática e executável em espaços reduzidos. Nesse sentido, faz-se necessário a execução de ensaios comportamentais em conjunto com análises estatísticas robustas e rápidas tais como ANOVA e Métodos Multivariados; e também o desenvolvimento de métodos analíticos sensíveis, precisos e rápidos para determinação de compostos de interesse em matrizes biológicas provenientes do animal. Os objetivos do presente trabalho foram a investigação dos efeitos da cetamina sobre a ansiedade e a agressividade em zebrafish adulto empregando Testes de Claro-Escuro e Testes do Espelho e métodos estatísticos univariados (ANOVA) e multivariados (PCA, HCA e SIMCA) assim como o desenvolvimento de método analítico para determinação da cetamina em matriz biológica proveniente do animal, empregando Extração Líquido-Líquido e Cromatografia em Fase Gasosa acoplada ao Detector de Nitrogênio-Fósforo (GC-NPD). Os resultados comportamentais indicaram que a cetamina produziu um efeito significativo dose-dependente em zebrafish adulto na latência à área clara, no número de cruzamentos entre as áreas e no tempo de exploração da área clara. Os resultados das análises SIMCA e PCA mostraram uma maior similaridade entre o grupo controle e os grupos de tratamento expostos às doses mais baixas (5 e 20 mg L-1) e entre os grupos expostos às doses de 40 e 60 mg L-1. Na análise por PCA, dois componentes principais responderam por 88,74% de toda a informação do sistema, sendo que 62,59% da informação cumulativa do sistema foi descrito pela primeira componente principal. As classificações HCA e SIMCA seguiram uma evolução lógica na distribuição das amostras por classes. As doses mais altas de cetamina induziram uma distribuição mais homogênea das amostras enquanto as doses mais baixas e o controle resultaram em distribuições mais dispersas. No Teste do Espelho, a cetamina não induziu efeitos significativos no comportamento dos animais. Estes resultados sugerem que a cetamina é modulador de comportamentos ansiosos, sem efeitos indutores de agressividade. Os resultados da validação do método cromatográfico indicaram uma extração com valores de recuperação entre 33,65% e 70,89%. A curva de calibração foi linear com valor de R2 superior a 0,99. O limite de detecção (LOD) foi de 1 ng e o limite de quantificação (LOQ) foi de 5 ng. A exatidão do método cromatográfico manteve-se entre - 24,83% e - 1,258%, a precisão intra-ensaio entre 2,67 e 14,5% e a precisão inter-ensaio entre 1,93 e 13,9%.

Efeitos da hiperprolactinemia sobre a inflamação alérgica pulmonar em ratos Wistar

Objetivo: Foi investigada a hipótese da hiperprolactinemia modular a resposta inflamatória alérgica pulmonar em ratos machos e em fêmas lactantes sem tratamento de domperidona. Métodos: Em ratos machos, a hiperprolactinemia foi de curta duração (5 dias) induzida pela domperidona (5,1 mg.kg-1 por dia, i.p). A resposta alérgica foi gerada por sensibilização e desafios inalatórios com ovoalbumina. Foi feita contagem de leucócitos totais e diferenciados do lavado bronco alveolar (BAL), lavado medular femoral (BFL) e sangue; a percentagem de produção de muco e colageno no pulmão, níveis de corticosterona e prolactina e citocinas TNF-α, IL-4, IL-6, IL-10, em explantes de pulmão e IFNg no BAL, foram medidos. Pela citometria foram avaliadaos os receptores de prolactina; Resultados: Hiperprolactinemia de curta duração feita antes do desafio inalatório disminuiu a resposta alérgica pulmonar na contagem de leucócitos no lavado broncoalveolar. Esse tratamento reduziu a celularidade no BFL e a percentagem de muco e aumentou a expressão de citocinas IL-4, IL-6, IL-10, TNFα e da expressão do IFNg. Níveis altos de prolactina diminuiram o número de eosinófilos ao pulmão no BAL. Pela citometria revelou-se que além de ter menor número de granulócitos migrados ao pulmão, estes apresentaram maior expressão do número de receptores por granulócito para prolactina no grupo tratado com domperidona. Alterações similares foram reveladas em fêmeas lactantes como foi a diminuição nos leucócitos do BAL, e no número de células do BFL. O tratamento profilático diminuiu a resposta alérgica tanto no grupo hiperprolactinêmico como no grupo veículo. O tratamento feito após o desafio inalatório não evidenciou alterações relevantes nas variáveis medidas. Conclusões: A hiperprolactinemia de curta duração, feita após a sensibilização e antes da inalação diminui a resposta inflamatória no pulmão em ratos. Os resultados deste estudo demonstram que a hiperprolactinemia induzida antes do desafio antigênico diminue a inflamação alérgica pulmonar. Assim, é provável que a prolactina endógena tenha um papel relevante como um imunomodulador da asma. Este estudo aponta a possibilidade futura do uso da domperidona para pacientes asmáticos. Durante a primavera muitas espécies de mamíferos têm seus filhotes e ocorre abundância de fatores alergenos no ar. Logo, um fator endógeno que favoreça a proteção de fêmeas durante a lactação, tal como a hiperprolactinemia, tem elevado valor adaptativo

Otimização da inativação fotodinâmica de E. coli por fotossensibilizadores veiculados por nanopartículas de sílica

A nanotecnologia tem sido aplicada para o desenvolvimento de materiais para diversas aplicações inclusive na inativação de patógenos. As nanopartículas de sílica (npSi) destacam-se pela alta área superficial, facilidade na alteração da superfície para aumento da eficiência adsortiva, penetrabilidade e toxicidade para bactérias gram-negativas sendo biocompatíveis para células de mamíferos e mais foto-estáveis que a maioria dos compostos orgânicos. Devido as suas vantagens, as npSi podem ser usadas para veicular fotossensibilizadores (FSs) uma vez que permitem sua utilização em solução aquosa em que os FSs geralmente são insolúveis. Além disso, o uso de FSs em vez de antibióticos, permite a inativação microbiológica pela Terapia Fotodinâmica sem que as bactérias adquiram resistência por mecanismos genéticos. Esse processo ocorre pela interação entre um FS, luz e oxigênio molecular produzindo oxigênio singleto que é extremamente reativo danificando estruturas celulares. O objetivo desse estudo foi otimizar a fotoinativação dinâmica de E .coli utilizando Azul de Metileno (AM) e Azul de Toluidina O (ATO) veiculados por npSi. As npSi foram preparadas pela metodologia sol-gel, caracterizadas por microscopia eletrônica de varredura (MEV) e submetidas à adsorção de AM e ATO em sua superfície. A presença de AM e ATO na superfície das npSi foram analisadas por espectroscopia no infravermelho; espectroscopia de fluorescência por raio-X e análise termogravimétrica. O planejamento experimental, iniciado pelo fatorial 23 e modelado ao composto central em busca das condições ótimas foi adotado pela primeira vez nessa aplicabilidade, visando a fotoinativação de E. coli empregando AM e ATO em solução e em seguida com npSi. AM e ATO veiculados por npSi permitem a fotoinativação em concentrações mais baixas de FS (20 e 51% respectivamente), causando desestruturação da integridade bacteriana demonstrada por MEV. Os resultados sugerem que a veiculação de AM e ATO por npSi é extremamente efetiva para a fotoinativação dinâmica de E. coli e que o planejamento composto central pode levar à completa inativação das bactérias.

Tauroursodeoxycholic acid prevents retinal degeneration in transgenic P23H rats

Purpose. To evaluate the preventive effect of tauroursodeoxycholic acid (TUDCA) on photoreceptor degeneration, synaptic connectivity and functional activity of the retina in the transgenic P23H rat, an animal model of autosomal dominant retinitis pigmentosa (RP). Methods. P23H line-3 rats were injected with TUDCA once a week from postnatal day (P)21 to P120, in parallel with vehicle-administered controls. At P120, functional activity of the retina was evaluated by electroretinographic (ERG) recording. The effects of TUDCA on the number, morphology, integrity, and synaptic connectivity of retinal cells were characterized by immunofluorescence confocal microscopy. Results. The amplitude of ERG a- and b-waves was significantly higher in TUDCA-treated animals under both scotopic and photopic conditions than in control animals. In the central area of the retina, TUDCA-treated P23H rats showed threefold more photoreceptors than control animals. The number of TUNEL-positive cells was significantly smaller in TUDCA-treated rats, in which photoreceptor morphology was preserved. Presynaptic and postsynaptic elements, as well as the synaptic contacts between photoreceptors and bipolar or horizontal cells, were preserved in TUDCA-treated P23H rats. Furthermore, in TUDCA-treated rat retinas, the number of both rod bipolar and horizontal cell bodies, as well as the density of their synaptic terminals in the outer plexiform layer, was greater than in control rats. Conclusions. TUDCA treatment was capable of preserving cone and rod structure and function, together with their contacts with their postsynaptic neurons. The neuroprotective effects of TUDCA make this compound potentially useful for delaying retinal degeneration in RP.

Rotenone induces degeneration of photoreceptors and impairs the dopaminergic system in the rat retina

Rotenone is a widely used pesticide and a potent inhibitor of mitochondrial complex I (NADH-quinone reductase) that elicits the degeneration of dopaminergic neurons and thereby the appearance of a parkinsonian syndrome. Here we have addressed the alterations induced by rotenone at the functional, morphological and molecular levels in the retina, including those involving both dopaminergic and non-dopaminergic retinal neurons. Rotenone-treated rats showed abnormalities in equilibrium, postural instability and involuntary movements. In their outer retina we observed a loss of photoreceptors, and a reduced synaptic connectivity between those remaining and their postsynaptic neurons. A dramatic loss of mitochondria was observed in the inner segments, as well as in the axon terminals of photoreceptors. In the inner retina we observed a decrease in the expression of dopaminergic cell molecular markers, including loss of tyrosine hydroxylase immunoreactivity, associated with a reduction of the dopaminergic plexus and cell bodies. An increase in immunoreactivity of AII amacrine cells for parvalbumin, a Ca2+-scavenging protein, was also detected. These abnormalities were accompanied by a decrease in the amplitude of scotopic and photopic a- and b-waves and an increase in the b-wave implicit time, as well as by a lower amplitude and greater latency in oscillatory potentials. These results indicate that rotenone induces loss of vision by promoting photoreceptor cell death and impairment of the dopaminergic retinal system.

Safranal, a saffron constituent, attenuates retinal degeneration in P23H rats

Saffron, an extract from Crocus sativus, has been largely used in traditional medicine for its antiapoptotic and anticarcinogenic properties. In this work, we investigate the effects of safranal, a component of saffron stigmas, in attenuating retinal degeneration in the P23H rat model of autosomal dominant retinitis pigmentosa. We demonstrate that administration of safranal to homozygous P23H line-3 rats preserves both photoreceptor morphology and number. Electroretinographic recordings showed higher a- and b-wave amplitudes under both photopic and scotopic conditions in safranal-treated versus non-treated animals. Furthermore, the capillary network in safranal-treated animals was preserved, unlike that found in untreated animals. Our findings indicate that dietary supplementation with safranal slows photoreceptor cell degeneration and ameliorates the loss of retinal function and vascular network disruption in P23H rats. This work also suggests that safranal could be potentially useful to retard retinal degeneration in patients with retinitis pigmentosa.

Gene cloning, molecular modeling, and phylogenetics of serine protease P32 and serine carboxypeptidase SCP1 from nematophagous fungi Pochonia rubescens and Pochonia chlamydosporia

The fungi Pochonia chlamydosporia and Pochonia rubescens are parasites of nematode eggs and thus are biocontrol agents of nematodes. Proteolytic enzymes such as the S8 proteases VCP1 and P32, secreted during the pathogenesis of nematode eggs, are major virulence factors in these fungi. Recently, expression of these enzymes and of SCP1, a new putative S10 carboxypeptidase, was detected during endophytic colonization of barley roots by these fungi. In our study, we cloned the genomic and mRNA sequences encoding P32 from P. rubescens and SCP1 from P. chlamydosporia. P32 showed a high homology with the serine proteases Pr1A from the entomopathogenic fungus Metarhizium anisopliae and VCP1 from P. chlamydosporia (86% and 76% identity, respectively). However, the catalytic pocket of P32 showed differences in the amino acids of the substrate-recognition sites compared with the catalytic pockets of Pr1A and VCP1 proteases. Phylogenetic analysis of P32 suggests a common ancestor with protease Pr1A. SCP1 displays the characteristic features of a member of the S10 family of serine proteases. Phylogenetic comparisons show that SCP1 and other carboxypeptidases from filamentous fungi have an origin different from that of yeast vacuolar serine carboxypeptidases. Understanding protease genes from nematophagous fungi is crucial for enhancing the biocontrol potential of these organisms.

Calcineurin expression and activity is regulated by the intracellular redox status and under hypertension in human neutrophils

Calcineurin (protein phosphatase 2B) (CN) comprises a family of serine/threonine phosphatases that play a pivotal role in signal transduction cascades in a variety of cells, including neutrophils. Angiotensin II (Ang II) increases both activity and de novo synthesis of CN in human neutrophils. This study focuses on the role that intracellular redox status plays in the induction of CN activity by Ang II. Both de novo synthesis of CN and activity increase promoted by Ang II were downregulated when cells were treated with l-buthionine-(S,R)-sulfoximine, an inhibitor of synthesis of the antioxidant glutathione. We have also investigated the effect of pyrrolidine dithiocarbamate and phenazine methosulfate, which are antioxidant and oxidant compounds, respectively, and concluded that the intracellular redox status of neutrophils is highly critical for Ang II-induced increase of CN expression and activity. Results obtained in neutrophils from hypertensive patients were very similar to those obtained in these cells on treatment with Ang II. We have also addressed the possible functional implication of CN activation in the development of hypertension. Present findings indicate that downregulation of hemoxygenase-1 expression in neutrophils from hypertensive subjects is likely mediated by CN, which acts by hindering translocation to the nucleus of the transcription factor NRF2. These data support and extend our previous results and those from other authors on modulation of CN expression and activity levels by the intracellular redox status.

Transcription of liver X receptor is down-regulated by 15-deoxy-Δ12,14-prostaglandin J2 through oxidative stress in human neutrophils

Liver X receptors (LXRs) are ligand-activated transcription factors of the nuclear receptor superfamily. They play important roles in controlling cholesterol homeostasis and as regulators of inflammatory gene expression and innate immunity, by blunting the induction of classical pro-inflammatory genes. However, opposite data have also been reported on the consequences of LXR activation by oxysterols, resulting in the specific production of potent pro-inflammatory cytokines and reactive oxygen species (ROS). The effect of the inflammatory state on the expression of LXRs has not been studied in human cells, and constitutes the main aim of the present work. Our data show that when human neutrophils are triggered with synthetic ligands, the synthesis of LXRα mRNA became activated together with transcription of the LXR target genes ABCA1, ABCG1 and SREBP1c. An inflammatory mediator, 15-deoxy-Δ12,14-prostaglandin J2 (15dPGJ2), hindered T0901317-promoted induction of LXRα mRNA expression together with transcription of its target genes in both neutrophils and human macrophages. This down-regulatory effect was dependent on the release of reactive oxygen species elicited by 15dPGJ2, since it was enhanced by pro-oxidant treatment and reversed by antioxidants, and was also mediated by ERK1/2 activation. Present data also support that the 15dPGJ2-induced serine phosphorylation of the LXRα molecule is mediated by ERK1/2. These results allow to postulate that down-regulation of LXR cellular levels by pro-inflammatory stimuli might be involved in the development of different vascular diseases, such as atherosclerosis.

The ubiquitin-proteasome system in retinal health and disease

The ubiquitin–proteasome system (UPS) is the main intracellular pathway for modulated protein turnover, playing an important role in the maintenance of cellular homeostasis. It also exerts a protein quality control through degradation of oxidized, mutant, denatured, or misfolded proteins and is involved in many biological processes where protein level regulation is necessary. This system allows the cell to modulate its protein expression pattern in response to changing physiological conditions and provides a critical protective role in health and disease. Impairments of UPS function in the central nervous system (CNS) underlie an increasing number of genetic and idiopathic diseases, many of which affect the retina. Current knowledge on the UPS composition and function in this tissue, however, is scarce and dispersed. This review focuses on UPS elements reported in the retina, including ubiquitinating and deubiquitinating enzymes (DUBs), and alternative proteasome assemblies. Known and inferred roles of protein ubiquitination, and of the related, SUMO conjugation (SUMOylation) process, in normal retinal development and adult homeostasis are addressed, including modulation of the visual cycle and response to retinal stress and injury. Additionally, the relationship between UPS dysfunction and human neurodegenerative disorders affecting the retina, including Alzheimer's, Parkinson's, and Huntington's diseases, are dealt with, together with numerous instances of retina-specific illnesses with UPS involvement, such as retinitis pigmentosa, macular degenerations, glaucoma, diabetic retinopathy (DR), and aging-related impairments. This information, though still basic and limited, constitutes a suitable framework to be expanded in incoming years and should prove orientative toward future therapy design targeting sight-affecting diseases with a UPS underlying basis.

RNA-Seq expression profile of genes related to neurodegenerative disorders affecting the human retina

Human neurodegenerative diseases, such as Parkinson’s disease (PD) and the neuromuscular disorders called dystroglycanopathies (DGPs), cause retinal impairments. We have used RNA-Seq technology to catalog all known genes linked to PD and DGPs expressed in the human retina and quantitate their mRNA levels in terms of FPKM. We have also characterized their expression profiles in the retina by determining their exonic, intronic and exon-intron junction expression levels, as well as the alternative splicing pattern of particular genes. We believe these data could pave the way toward understanding the molecular bases of sight deficiencies associated with neurodegenerative disorders.

Alterations in energy metabolism, neuroprotection and visual signal transduction in the retina of parkinsonian, MPTP-treated monkeys

Parkinson disease is mainly characterized by the degeneration of dopaminergic neurons in the central nervous system, including the retina. Different interrelated molecular mechanisms underlying Parkinson disease-associated neuronal death have been put forward in the brain, including oxidative stress and mitochondrial dysfunction. Systemic injection of the proneurotoxin 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP) to monkeys elicits the appearance of a parkinsonian syndrome, including morphological and functional impairments in the retina. However, the intracellular events leading to derangement of dopaminergic and other retinal neurons in MPTP-treated animal models have not been so far investigated. Here we have used a comparative proteomics approach to identify proteins differentially expressed in the retina of MPTP-treated monkeys. Proteins were solubilized from the neural retinas of control and MPTP-treated animals, labelled separately with two different cyanine fluorophores and run pairwise on 2D DIGE gels. Out of >700 protein spots resolved and quantified, 36 were found to exhibit statistically significant differences in their expression levels, of at least ±1.4-fold, in the parkinsonian monkey retina compared with controls. Most of these spots were excised from preparative 2D gels, trypsinized and subjected to MALDI-TOF MS and LC-MS/MS analyses. Data obtained were used for protein sequence database interrogation, and 15 different proteins were successfully identified, of which 13 were underexpressed and 2 overexpressed. These proteins were involved in key cellular functional pathways such as glycolysis and mitochondrial electron transport, neuronal protection against stress and survival, and phototransduction processes. These functional categories underscore that alterations in energy metabolism, neuroprotective mechanisms and signal transduction are involved in MPTPinduced neuronal degeneration in the retina, in similarity to mechanisms thought to underlie neuronal death in the Parkinson’s diseased brain and neurodegenerative diseases of the retina proper.