Behavioural changes in Paramecium and Didinium exposed to short-term microgravity and hypergravity.

The swimming behaviour of two ciliate species, Paramecium caudatum and Didinium nasutum was analyzed under microgravity and hypergravity. In Paramecium the differences between former upward and downward swimming rates disappeared under weightlessness. At microgravity the swimming rates equalled those of horizontally swimming cells at 1g. In contrast, the swimming rates of Didinium increased under microgravity conditions, being larger than horizontal swimming rates at 1g. These findings are in accordance with a hypothesis of gravireception in ciliates based on electrophysiological data, which considers the different topology of mechanoreceptor channels in theses species. The hypothesis received further support by data recorded under hypergravity conditions.     

Swimming behavior of Paramecium--first results with the low-speed centrifuge microscope (NIZEMI).

The low-speed centrifuge microscope NIZEMI (= Nieder-Geschwindigkeits-Zentrifugen-Mikroskop) is an excellent tool with which to investigate the effects of slightly increased gravity in the fields of biology and material sciences. We investigated the swimming behavior of Paramecium in the NIZEMI, by aid of a computer-controlled image analysis system. In the range of acceleration (1 g to 5 g), cells retained their swimming capability, did not sediment, and even increased the precision of their negative gravitaxis but reduced their mean swimming velocity.     

Swimming behaviour of the upside-down swimming catfish (Synodontis nigriventris) at high-quality microgravity – A drop-tower experiment

The catfish Synodontis nigriventris often shows a unique swimming behaviour in being oriented upside-down. When swimming near a (e.g., vertical) substrate, however, the animals orient themselves with their ventral side towards this substrate. This tendency is called ventral substrate response (VSR). The VSR does not only override the upside-down swimming behaviour but also the dorsal light response and the ventral light response.     

Influence of long-term altered gravity on the swimming performance of developing cichlid fish: including results from the 2nd German Spacelab Mission D-2.

This study presents qualitative and quantitative data concerning gravity-dependent changes in the swimming behaviour of developing cichlid fish larvae (Oreochromis mossambicus) after a 9 resp. 10 days exposure to increased acceleration (centrifuge experiments), to reduced gravity (fast-rotating clinostat), changed accelerations (parabolic aircraft flights) and to near weightlessness (2nd German Spacelab Mission D-2). Changes of gravity initially cause disturbances of the swimming performance of the fish larvae. With prolonged stay in orbit a step by step normalisation of the swimming behaviour took place in the fish. After return to 1g earth conditions no somersaulting or looping could be detected concerning the fish, but still slow and disorientated movements as compared to controls occurred. The fish larvae adapted to earth gravity within 3-5 days. Fish seem to be in a distinct early developmental stages extreme sensitive and adaptable to altered gravity; However, elder fish either do not react or show compensatory behaviour e.g. escape reactions.     

Neuroplastic reactivity of fish induced by altered gravity conditions: a review of recent results.

A review is being presented concerning behavioural, biochemical, histochemical and electronmicroscopical data on the influence of altered gravitational forces on the swimming performance and on the neuronal differentiation of the brain of cichlid fish larvae and adult swordtail fish that had been exposed to hyper-gravity (3g in laboratory centrifuges), hypo-gravity (>10(-2) g in a fast-rotating clinostat) and to near weightlessness (10(-4) g aboard the Spacelab D-2 mission). After long-term alterations of gravity (and parallel light deprivation), initial disturbances in the swimming behaviour followed by a stepwise regain of normal swimming modes are induced. Parallel, neuroplastic reactivities on different levels of investigation were found, such as adaptive alterations of activities of various enzymes in whole brain as well as in specific neuronal integration centers and an intraneuronal reactivity on ultrastructural level in individual brain parts and in the sensory epithelia of the inner ear. Taken together, these data reveal distinct adaptive neuroplastic reactions of fish to altered gravity conditions.     

How gravity acts on Paramecium: new insights from free-fall experiments.

The swimming behaviour of Paramecium is affected by media of various specific gravities. At 1g, the negative gravitaxis of Paramecium virtually disappears in solutions the specific gravity of which is about the same as that of the organism (1.04). In solutions with a higher specific gravity (1.08), Paramecium becomes positively gravitactic. We recorded the swimming tracks of Paramecium in these media on videotape before, during and after free-falls. The records show that the density-dependent differences in the swimming behaviour disappeared immediately following the onset of the free-fall. The recorded tracks and distributions of cells in the experimental chambers were compared with computer-simulated traces and distributions based on gravitactic and gravikinetic models proposed for Paramecium. Our preliminary analysis favors a novel gravitactic mechanism involving modification of the ciliary movement The drop shaft at the Japan Microgravity Center, Hokkaido (JAMIC) was used for the free-fall experiments.     

Effect of hypergravity on carboanhydrase reactivity in inner ear ionocytes of developing cichlid fish.

It has been shown earlier that hypergravity slows down inner ear otolith growth in developing fish. Otolith growth in terms of mineralization mainly depends on the enzyme carboanhydrase (CA), which is responsible for the provision of the pH-value necessary for calcium carbonate deposition. Larval siblings of cichlid fish (Oreochromis mossambicus) were subjected to hypergravity (3 g, hg; 6 h) during development and separated into normally and kinetotically swimming individuals following the transfer to 1 g (i.e., stopping the centrifuge; kinetotically behaving fish performed spinning movements). Subsequently, CA was histochemically demonstrated in inner ear ionocytes (cells involved in the endolymphatic ion exchange) and enzyme reactivity was determined densitometrically. It was found that both the total macular CA-reactivity as well as the difference in reactivities between the left and the right maculae (asymmetry) were significantly lower (1) in experimental animals as compared to the 1 g controls and (2) in normally swimming hg-animals as compared to the kinetotically behaving hg-fish. The results are in complete agreement with earlier studies, according to which hypergravity induces a decrease of otolith growth and the otolithic calcium incorporation (visualized using the calcium-tracer alizarin complexone) of kinetotically swimming hg-fish was higher as compared to normally behaving hyper-g animals. The present study thus strongly supports the concept that a regulatory mechanism, which adjusts otolith size and asymmetry as well as otolithic calcium carbonate incorporation towards the gravity vector, acts via activation/deactivation of macular CA.     

Readaptation of fish to 1g after long-term microgravity: behavioural results from the STS 89 mission.

The swimming behaviour of adult and neonate swordtail fish Xiphophorus helleri was qualitatively analysed from video recordings taken throughout the STS 89 spaceshuttle mission from launch to landing and thereafter. After the flight, the swimming behaviour of neonate samples was quantitatively assessed in the course of the readaptation to 1g earth gravity at days 0, 1 and 4 after recovery. Regarding the swimming behaviour during the mission, the adult fish swam thigmotactically (i.e., responding to tactile stimuli) along the walls of their aquarium, but like the neonates, they did not show any aberrant behavioural patterns. This indicates that they could easily adapt themselves to microgravity. On mission day 9, however, looping responses (most probably initiated by mechanical disturbances) occurred indicating a continuously performed "C-start" escape response (the respective body bend looks like the letter "C"). Immediately after landing (observed in videos recorded onboard the space shuttle), the adults performed a head-up swimming beating heavily with the caudal and pectoral fins; this aberrant behaviour gradually decreased during the first hours after recovery.     

Effects of altered gravity on the swimming behaviour of fish.

Humans taking part in parabolic aircraft flights (PAFs) may suffer from space motion sickness-phenomena (SMS, a kinetosis). It has been argued that SMS during PAFs might not be based on microgravity alone but rather on changing accelerations from 0 g to 2 g. We test here the hypothesis that PAF-induced kinetosis is based on asymmetric statoliths (i.e., differently weighed statoliths on the right and the left side of the head), with asymmetric inputs to the brain being disclosed at microgravity. Since fish frequently reveal kinetotic behaviour during PAFs (especially so-called spinning movements and looping responses), we investigated (1) whether or not kinetotically swimming fish at microgravity would have a pronounced inner ear otolith asymmetry and (2) whether or not slow translational and continuously changing linear (vertical) acceleration on ground induced kinetosis. These latter accelerations were applied using a specially developed parabel-animal-container (PAC) to stimulate the cupular organs. The results suggest that the fish tested on ground can counter changing accelerations successfully without revealing kinetotic swimming patterns. Kinetosis could only be induced by PAFs. This finding suggests that it is indeed microgravity rather than changing accelerations, which induces kinetosis. Moreover, we demonstrate that fish swimming kinetotically during PAFs correlates with a higher otolith asymmetry in comparison to normally behaving animals in PAFs.     

Behavioural and biochemical investigations of the influence of altered gravity on the CNS of aquatic vertebrates during ontogeny.

Quantitative data are presented on the influences of hyper-gravity (3 +/- 1g) and of simulated weightlessness (approximately 0g) during early ontogeny of cichlid fish (Oreochromis mossambicus) and clawed toad (Xenopus laevis, Daudin) demonstrating changes in the swimming behaviour and the brain energy and plasma membrane metabolism. After return to 1g conditions, hyper-g reared fish and toads express the well known "loop-swimming" behaviour. By means of a computer based video analyzing system different types of swimming movements and velocities were quantitatively determined. Analyses of the brain energy and plasma-membrane metabolism of hyper-g fish larvae demonstrated an increase in energy availability (glucose 6Pi dehydrogenase, G-6P-DH), a decrease of cellular energy transformation (creatine kinase activity, CK) but no changes in energy consumptive processes (e.g. ATPases) and cytochrome oxidase activity (Cyt.-Ox). In contrast hypo-g fish larvae showed a slight increase in brain CK activity. In addition, unlike 1g controls, hyper-g fish larvae showed pronounced variations in the composition (=polarity) of sialoglycosphingolipids (=gangliosides), typical constituents of the nerve cell membranes, and a slight increase in the activity of sialidase, the enzyme responsible for ganglioside degradation.     

Influence of hypergravity on fish inner ear otoliths: II. Incorporation of calcium and kinetotic behaviour.

Larval siblings of cichlid fish (Oreochromis mossambicus) were subjected to hypergravity (hg; 3 g, 14 days) during development. Following the transfer to 1 g (i.e., stopping the centrifuge) they were separated into normally and kinetotically swimming individuals (the latter performed spinning movements). During hg, the animals were maintained in aquarium water containing alizarin-complexone (AC), a fluorescent calcium tracer. Densitometric measurements of AC uptake into inner ear otoliths (optical density of AC/micrometers2) revealed that the kinetotic individuals had incorporated significantly more AC/calcium than the normally behaving fish. Since the amount of otolithic calcium can be taken as an approximation for otolith weight, the present results indicate that the otoliths of kinetotically swimming samples were heavier than those of the normally behaving larvae, thus exhibiting a higher absolute weight asymmetry of the otoliths between the right vs. the left side of the body. This supports an earlier concept according to which otolith (or statolith) asymmetry is the cause for kinetoses such as human static space sickness.     

Hybrid optimization for multiple-impulse reconfiguration trajectories of satellite formation flying

A hybrid optimization method is developed for fuel-optimal reconfigurations of a group of satellites flying in formation. The genetic algorithm performs a global search to find two-impulse trajectories, and primer vector analysis finds multiple-impulsive local optimal trajectories with the two-impulse trajectories as initial guesses. Hybrid optimization finds globally optimal trajectories for formation reconfigurations, including formation resizing, reassignment and reorientation maneuvers. Multiple-impulse trajectories reduce the fuel consumption from the two-impulse trajectories by up to 4.4% for those maneuvers. In real missions, satellites can follow two-impulse trajectories to gain the advantage of a smaller number of impulses, with the cost of slightly more propellant. The qualitative characteristics of the optimal trajectories are analyzed from the number of optimal trajectories found by hybrid optimization.     

Effects of gamma-ray and high energy carbon ion irradiation on swimming velocity of Euglena gracilis.

The effects of gamma-ray and high energy carbon ion irradiation on the swimming velocity of the photosynthetic flagellate Euglena gracilis strain Z were studied, focusing on a dose-effect relationship. Cells were exposed to 60Co gamma-rays at 6 doses of 10, 15, 20, 40, 100 and 200 Gy for water, and also to 290 MeV/amu carbon ions from the Heavy Ion Medical Accelerator in Chiba at 7 doses (5, 10, 15, 20, 50, 100 and 200 Gy for water). The swimming velocity was measured by a biomonitoring system, called ECOTOX. The swimming velocities of Euglena gracilis cells were significantly decreased by >40 Gy gamma-rays and >5 Gy carbon ions, respectively. The 50% effective doses for inhibition, 34 +/- 4 Gy (gamma-rays) and 13 +/- 1 Gy (290 MeV/amu carbon ions), were estimated from the best fit to data of the logistic model. The relative biological effectiveness (2.6 +/- 0.4) was calculated by the ratio of 50% effective doses. The inhibition of the swimming velocity of the cells irradiated with gamma-rays was still present after 3 days, while recovery of the swimming velocity was shown in the cells exposed to 290 MeV/amu carbon ions. It is suggested that ionizing radiation inhibits ATP production and/or increases frictional drag on beating of the flagellum, thus decreasing swimming velocity.     

某RLV飞行器投放轨迹的设计与分析

对于可重复使用发射式飞行器RLV(Reusable Launch Vehicles)设计投放轨迹,并作轨迹特性分析.根据投放几何和飞行器性能约束确定目标轨迹,将轨迹分为四个阶段,分别为:消耗多余能量的S型转弯段;改变飞行器航向并转向航向校正圆柱HAC (Heading Alignment Cylinder)的过渡飞行段;航向校正圆柱段;进一步调整能量以满足终端要求的着陆前飞行段.在各段衔接处设置窗口检查,在轨迹仿真过程中对轨迹进行进一步调整,得到投放轨迹.作为导航和控制的参考轨迹,还对飞行器进行了沿轨迹的操稳性分析和检查.结果表明所建立的轨迹设计方法能够提供满意的精度;轨迹对常值扰动敏感,对高频扰动不敏感.     

两种手形对游泳推进效率影响的数值模拟

针对采用何种手形游泳能产生较高的推进效率,运用计算流体力学(CFD,Computational Fluid Dynamics)方法,建立了国内某女运动员手掌和前臂在五指并拢和五指分开两种手形的三维非结构网格模型;计算了90°攻角划水时两种不同手形的手掌和前臂在不同来流速度下的推进阻力、推进升力及其系数值,依据计算结果对手周围的流场进行了分析,研究了不同手形对游泳推进效率的影响.结果表明压差阻力是推进阻力的主要组成部分,在90°攻角划水时五指并拢具有更高推进效率.      

Short-term responses of gravitaxis to altered gravity in Paramecium.

Negative gravitaxis of Paramecium almost disappeared in solutions having specific gravity about the same as that of the organisms (1.04). The taxis turned to positive in solutions of specific gravity 1.08. Using a drop shaft at the Japan Microgravity Center, Hokkaido (JAMIC) we examined how swimming behaviour in these media was modified by changing gravitational conditions before, during and after free-fall. Tracks of swimming cells recorded on videotape indicate that the swimming cells continued upward and downward shift depending on the specific gravity of the external medium under 1-g conditions and these vertical displacements disappeared immediately after the moment of launch. The effectiveness of changing gravity to induce displacement of the cells seems to depend on the orientation of the cells to gravity. These results suggest a corelation between vertical displacement of the cell through the medium and a gravitactic mechanism in Paramecium.     

Super-helix model: a physiological model for gravitaxis of Paramecium.

A new model explaining the gravitactic behavior of Paramecium is derived on the basis of its mechanism of gravity sensing. Paramecium is know to have depolarizing mechanoreceptor ion channels in the anterior and hyperpolarizing channels in the posterior of the cell. This arrangement may lead to bidirectional changes of the membrane potential due to the selective deformation of the anterior and posterior cell membrane responding to the orientation of the cell with respect to the gravity vector; i.e., negative- and positive-going shifts of the potential due to the upward and downward orientation, respectively. The orientation dependent changes in membrane potential, in combination with the close coupling between the membrane potential and ciliary locomotor activity, may allow the changes in swimming direction along the otherwise simple helical swimming path in the following manner: an upward shift of the axis of helical swimming occurs by decreasing the pitch angle due to channel-dependent hyperpolarization in upward-orienting cells, and an upward shift of the swimming helix occurs by increasing the cell's pitch angle due to depolarization in downward-orienting cells. Computer simulation of the model demonstrated that the cell can swim upward along the "super-helical" trajectory consisting of a small helix winding helically along an axis parallel to the gravity vector.     

一种小推力借力飞行转移轨道初始设计方法

提出一种基于正弦指数函数的小推力借力飞行转移轨道初始设计方法。建立极坐标形式的正弦指数函数表达式,用于模拟小推力转移轨道,并用绕圈参数和飞行路径角对转移轨道的参数进行表征;在约束条件下对转移轨道参数进行离散化处理,求解转移轨道与目标星投射轨道在参考面内的交点,计算到达目标轨道时刻的极角,进而得出小推力转移轨道的初始设计参数;设计了地球—木星的火星借力小推力转移轨道,仿真结果验证了该方法在小推力转移轨道初始设计中的快速性与准确性。     

Two-phase framework for near-optimal multi-target Lambert rendezvous

This paper proposes a two-phase framework to obtain a near-optimal solution of multi-target Lambert rendezvous problem. The objective of the problem is to determine the minimum-cost rendezvous sequence and trajectories to visit a given set of targets within a maximum mission duration. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary solutions, which provides candidate rendezvous trajectories. The second phase formulates a variant of traveling salesman problem (TSP) using the elementary solutions prepared in the first phase and determines the final rendezvous sequence and trajectories of the multi-target rendezvous problem. The validity of the proposed optimization framework is demonstrated through an asteroid exploration case study.     

Multiobjective genetic optimization of Earth–Moon trajectories in the restricted four-body problem

In this paper, optimal trajectories of a spacecraft traveling from Earth to Moon using impulsive maneuvers (ΔV maneuvers) are investigated. The total flight time and the summation of impulsive maneuvers ΔV are the objective functions to be minimized. The main celestial bodies influencing the motion of the spacecraft in this journey are Sun, Earth and Moon. Therefore, a three-dimensional restricted four-body problem (R4BP) model is utilized to represent the motion of the spacecraft in the gravitational field of these celestial bodies. The total ΔV of the maneuvers is minimized by eliminating the ΔV required for capturing the spacecraft by Moon. In this regard, only a mid-course impulsive maneuver is utilized for Moon ballistic capture. To achieve such trajectories, the optimization problem is parameterized with respect to the orbital elements of the ballistic capture orbits around Moon, the arrival date and a mid-course maneuver time. The equations of motion are solved backward in time with three impulsive maneuvers up to a specified low Earth parking orbit. The results show high potential and capability of this type of parameterization in finding several Pareto-optimal trajectories. Using the non-dominated sorting genetic algorithm with crowding distance sorting (NSGA-II) for the resulting multiobjective optimization problem, several trajectories are discovered. The resulting trajectories of the presented scheme permit alternative trade-off studies by designers incorporating higher level information and mission priorities.