Influence of altered gravity on the cytochemical localization of cytochrome oxidase activity in central and peripheral gravisensory systems in developing cichlid fish.

Cichlid fish larvae were reared from hatching to active free swimming under different gravity conditions: natural environment, increased acceleration in a centrifuge, simulated weightlessness in a clinostat and near weightlessness during space flight. Cytochrome oxidase activity was analyzed semiquantitatively on the ultrastructural level as a marker of regional neuronal activity in a primary, vestibular brainstem nucleus and in gravity receptive epithelia in the inner ear. Our results show, that gravity seems to be positively correlated with cytochrome oxidase activity in the magnocellular nucleus of developing fish brain. In the inner ear the energy metabolism is decreased under microgravity concerning utricle but not saccule. Hypergravity has no effect on cytochrome oxidase activity in sensory inner ear epithelia.     

Classification of gravity effects on “free” cells

When cell physiologists detect gravity related reactions of their objects it is often difficult to decide where the receptors for the observed effects are located. Answering this question is necessary for any further analysis of a detected gravity effect on cells. In previous papers we have discussed direct and indirect gravity effects in relation to the smallest functional units where the primary receptor, which interacts with gravity, is positioned inside and outside of such a unit, respectively. So, in a first approximation we can conclude that in a multicellular aquatic organism, which changes its metabolism in weightlessness, the primary receptors of gravity are located inside the cells of that organism. A special approach is necessary when free living cells, the density of which may be higher than the one of the (liquid) medium, or even cells living on a free surface are observed. In these two cases also indirect effects have to be taken into account, which will be demonstrated with the aid of the slime mold . Additionally the environment of the organisms can be changed directly and indirectly by gravity.     

Molecular developmental neurobiology of formation, guidance and survival of primary vestibular neurons.

Untangling the molecular and physiological interactions that generate the proper connections of the primary vestibular neurons in normal gravity requires two parallel approaches. One approach needs to use mutant mice to delineate the molecular basis of developmental mechanisms that govern ear development, including formation and differentiation of neurons and establishment of their peripheral and central connections. Beyond that and in addition to it, we need physiological investigations using microgravity and/or hypergravity, as well as absence of otoconia, to understand the role played by vestibular stimuli to fine tune connections of primary and secondary vestibular neurons. This paper provides an overview of some of the molecular mechanisms uncovered over the last few years that guide development, differentiation and survival of primary vestibular neurons of the mammalian ear. Briefly, several genes that are essential for primary neuron formation have been identified, all genes that govern embryonic survival are known and the first genes and mechanisms that guide formation of proper connections are being revealed. While still incomplete, the progress has been astounding and the completion of the mouse genome project will further accelerate the pace. Such data pave the way to put the research on the influence of altered gravity stimulation within a molecular framework.     

Gravitational response of the slime mold Physarum.

The acellular slime mold Physarum polycephalum is used as a model system to investigate the graviresponse of single cells which possess no receptors specialized for the perception of gravity. To obtain insights into the gravity-signal transduction mechanism the light response of the cell is used: Macroplasmodia of the slime mold show clear geo- and phototaxes. Gravity increases and white light decreases transiently the contraction frequency of plasmodial strands whereby both responses follow the same time pattern. Since mitochondria play a major role in changing the contraction rhythm in response to light and gravity stimuli, the simultaneous and subsequent inductions of the opposing light and gravity responses and their mutual influences on one another were investigated. The experiments were performed in weightlessness (0 g)--simulated on the fast-rotating clinostat as well as in actual weightlessness during the IML-1 Space Shuttle mission. The results indicate that mitochondria (chondriome) are part of the acceleration-stimulus reaction chain in Physarum. Two models for a direct gravireceptor mechanism are discussed.     

Gravity related research with fishes--perspectives in regard to the upcoming International Space Station, ISS.

During the entire evolution of life on Earth, the development of all organisms took place under constant gravity conditions, against which they achieved specific countermeasures for compensation and adaptation. On this background, it is still an open question to which extent altered gravity such as hypergravity (centrifuge) or microgravity (spaceflight) affects the normal individual development, either on the systemic level of the whole organism or on the level of individual organs or even single cells. The present review provides information on these questions, comprising gravistimulated effects on invertebrates and vertebrates (with the exception of mammals, since respective biomedically oriented reviews abound), focusing on developing fish as model systems, with special emphasis on the effect of altered gravity on the developing brain and vestibular system, comprising investigations on behaviour and plastic reactivities of the brain and inner ear. Clues and insights into the possible basic causes of space motion sickness-phenomena (SMS; a kinetosis) are provided as well as perspectives in regard to future work to be done including studies on the ISS concerning the analysis of gravistimulated effects on developmental issues (imprinting phase for graviperception?).     

The temporal variation of mean gravity of atmosphere

One of the precise widely used global Zenith Hydrostatic Delay (ZHD) model is based on the gravity value at the centroid of the atmospheric column at the station of observation and gravity value at the centroid is constant in this model for a specific location throughout the year. However, as the content and extent of atmosphere varies temporally, its centroid and consequently gravity value at the centroid also varies. Apart from this, the actual atmospheric condition of different region is not alike. Therefore, there is a need to develop a regional mean gravity model and development of such model has been discussed in this paper. To obtain the mean gravity model, first a regional model of centroid height of atmospheric column was developed as a function of the surface pressure and temperature. It was developed by multiple regressions between estimated centroid of the atmosphere and surface pressure, surface temperature using radiosonde data of five radiosonde stations spread over the Indian subcontinent. Three years radiosonde data from 2006 to 2008 was used for each station. The root mean square error in estimating centroid of the atmospheric column is about ±326 m, which is negligible considering the variability of the atmosphere and its content. The centroid height model has been used to formulate the mean gravity model, considering uniform lapse rate in gravity with height. It is found that proposed mean gravity model provides temporal variation of mean gravity values at the centroid and thus matches with the reality. The interesting advantage of the developed model is that the model shows diurnal variation of mean gravity. The accuracy of ZHD has shown of the order of about 0.3 mm using the developed regional mean gravity model. However, already developed ZHD model has shown a slight inferior result compared to the developed model. These models have shown accuracy of about 0.8 mm and 0.6 mm.     

Neuronal feedback between brain and inner ear for growth of otoliths in fish.

Previous investigations revealed that fish inner ear otolith growth (concerning otolith size and calcium-incorporation) depends on the amplitude and the direction of gravity, suggesting the existence of a (negative) feedback mechanism. In search for the regulating unit, the vestibular nerve was unilaterally transected in neonate swordtail fish (Xiphophorus helleri) which were subsequently incubated in the calcium-tracer alizarin-complexone. Calcium incorporation ceased on the transected head sides, indicating that calcium uptake is neurally regulated.     

An improved altimeter-derived gravity anomaly from shipborne gravity based on the mean sea surface height constraint factors method

Coastal marine gravity modeling faces challenges due to the degradation of the quality and poor coverage of altimeter data in coastal regions. The effective fusion of shipborne gravity data and altimeter-derived marine gravity data can make shipborne gravity data more useful for the accurate estimation of altimeter-derived coastal marine gravity. A mean sea surface height constraint factor (MSSHCF) method based on the ordinary kriging method and the remove-restore technique is proposed to fuse altimeter-derived gravity model with shipborne gravity data. In this method, all data are standardized during the interpolation process to reduce the error and mean sea surface as a vertical variable is added to the semi-variance function in ordinary kriging to obtain the residual shipborne gravity as corrected data source. The coastal marine gravity models V2.1 and V3.1 which fused altimeter-derived gravity data with shipborne gravity data and V1.1 without shipborne gravity data at a spatial resolution of 1′×1′ can be obtained. Validation experiments show that the accuracy of the gravity model V3.1 obtained by the MSSHCF method more closely agrees with the validated gravity model DTU17 and SS V31 than the model V2.1 obtained by the ordinary kriging interpolation method and the V1.1 model. Our results were validated against shipborne gravity data; the accuracy of model V3.1 was 4.95 % higher than the model V1.1 in South China Sea area A and 2.48 % higher in South China Sea area B. Meanwhile, the accuracy of model V3.1 was 2.07 % higher than model V2.1 in South China Sea area A and 2.42 % higher in South China Sea area B. The effects of distance from the coast and sea depth on the marine gravity model were also evaluated. The results show that the gravity model V3.1 has higher accuracy with the change in ocean distance and depth than the V2.1 and V1.1 gravity models. Thus, our study shows that the MSSHCF method effectively refines coastal altimeter-derived gravity using shipborne gravity data.     

变重力场中散体颗粒堆的安息角及接触力分布

为研究重力与散体颗粒堆安息角的关系,针对颗粒系统的随机性和离散性特点,通过三维离散单元法建立颗粒的运动模型,对颗粒在不同重力场中的堆积过程进行了模拟,得出了颗粒堆的安息角及接触力概率分布.结果表明:颗粒堆内接触力构成的力链呈非规则网络状,其中,接触力近似对数正态分布,约65%接触力低于平均值;接触点中约70%处于临界滑移,其余接触点切向力与法向力的比值为均匀分布;不同重力场中颗粒堆接触力的分布规律具有相似性,即接触力相对重力无量纲化之后,其分布函数高度相符;颗粒堆的微观结构具有随机性差异,但是安息角不受重力大小的影响.     

A drop-tower experiment to determine the threshold of gravity for inducing motion sickness in fish.

It has been repeatedly shown earlier that some fish of a given batch reveal motion sickness (a kinetosis) at the transition from 1 g to microgravity. In the course of parabolic aircraft flight experiments, it has been demonstrated that kinetosis susceptibility is correlated with asymmetric inner ear otoliths (i.e., differently weighed statoliths on the right and the left side of the head) or with genetically predispositioned malformed cells within the sensory epithelia of the inner ear. Hitherto, the threshold of gravity perception for inducing kinetotic behavior as well as the relative importance of asymmetric otoliths versus malformed epithelia for kinetosis susceptibility has yet not been determined. The following experiment using the ZARM drop-tower facility in Bremen, Germany, is proposed to be carried out in order to answer the aforementioned questions. Larval cichlid fish (Oreochromis mossambicus) will be kept in a camcorder-equipped centrifuge during the microgravity phases of the drops and thus receive various gravity environments ranging from 0.1 to 0.9 g. Videographed controls will be housed outside of the centrifuge receiving 0 g. Based on the video-recordings, animals will be grouped into kinetotically and normally swimming samples. Subsequently, otoliths will be dissected and their size and asymmetry will be measured. Further investigations will focus on the numerical quantification of inner ear supporting and sensory cells as well as on the quantification of inner ear carbonic anhydrase reactivity. A correlation between: (1) the results to be obtained concerning the g-loads inducing kinetosis and (2) the corresponding otolith asymmetry/morphology of sensory epithelia/carbonic anhydrase reactivity will further contribute to the understanding of the origin of kinetosis susceptibility. Besides an outline of the proposed principal experiments, the present study reports on a first series of drop-tower tests, which were undertaken to elucidate the feasibility of the proposal (especially concerning the question, if some 4.7 s of microgravity are sufficient to induce kinetotic behavior in larval fish).     

Light microscopic analysis of the gravireceptor in Xenopus larvae developed in hypogravity.

The paper describes an investigation of the influence of gravity on the early differentiation of gravity receptors in Xenopus embryos and larvae. There is evidence that the expression of crystals in the saccus endolymphaticus was statistically greater when the embryos developed in near weightlessness (hypogravity) than on earth. The function of these crystals is unknown but they may contribute to the functioning of the vestibular apparatus.     

Autonomous navigation for lunar final approach based on gravity gradient measurements

Lunar final approach navigation is critical for pin-point lunar landing in future missions. This study investigates the use of lunar gravity gradient measurements for autonomous navigation of a lunar probe during the final approach phase. As the spacecraft approaches the Moon, the strength of gravity gradient signals improves. A spaceborne gravity gradiometer can precisely measure local gravity gradients, and the latest lunar gravity model GL1500E is used to provide reference values. The employed truncation degree and order of the gravity model are increased stepwise considering the decreasing altitude of the spacecraft in order to reach a compromise between computational costs and model accuracy. An iterative Kalman filter is developed for coupled orbit and attitude estimation using gravity gradient measurements and attitude quaternions obtained from star sensors. A simulated spacecraft with a gradiometer noise level of 0.01 E is considered. Simulation results show that the spacecraft’s position converges rapidly and achieves an accuracy of less than 100 m at the last epoch.     

非等间距显式算法在重力波非线性传播数值模拟中的初步应用

采用3阶TVD型显式时间积分方法,建立了2维可压缩大气中重力波非线性传播的非等间距显式数值模式.对小振幅重力波传播过程的模拟结果表明,该模式能够很好地再现小振幅重力波的传播过程,并能保持能量守恒关系和各扰动量之间的相位关系,与线性重力波理论预测的结果吻合很好.对有限振幅重力波的模拟结果表明,与格点数相同的等间距网格中的模拟结果相比,采用非等间距网格能够以更高的分辨率模拟重力波的不稳定传播直到破碎的整个过程;在非等间距网格中的模拟结果与在加密一倍的等间距网格中的模拟结果相同,说明了用非等间距网格模拟重力波的饱和与破碎过程是正确的,并且采用非等间距网格能够大大减少计算量.      

基于计算力矩法的眼内手术机器人的重力补偿

为了提高一种具有远程运动中心(RCM)机构的眼内手术机器人的定位精度和稳定性,在建立机器人坐标系的基础上,通过动力学等效,对机器人各构件质心瞬态位置进行分析。根据拉格朗日方程建立机器人动力学模型。提出基于计算力矩法的重力补偿方法。在此基础上,通过MATLAB/Simulink软件对重力补偿模型进行仿真。比较独立比例微分(PD)控制方法及重力补偿方法的各关节运动响应曲线,表明重力补偿模型可有效补偿重力项;同时,分析重力补偿模型响应曲线与期望曲线的误差,证明重力补偿模型具有较高的补偿精度和可行性。     

The amphibian egg as a model system for analyzing gravity effects.

Amphibian eggs provide several advantageous features as a model system for analyzing the effects of gravity on single cells. Those features include large size, readily tracked intracellular inclusions, and ease of experimental manipulation. Employing novel gravity orientation as a tool, a substantial data base is being developed. That information is being used to construct a 3-D model of the frog (Xenopus laevis) egg. Internal cytoplasmic organization (rather than surface features) are being emphasized. Several cytoplasmic compartments (domains) have been elucidated, and their behavior in inverted eggs monitored. They have been incorporated into the model, and serve as a point of departure for further inquiry and speculation.     

Crickets in space: morphological, physiological and behavioral alterations induced by space flight and hypergravity.

"Crickets in Space" was a Neurolab experiment by which the balance between genetic programs and the gravitational environment for the development of a gravity sensitive neuronal system was studied. The model character of crickets was justified by their external gravity receptors, identified position-sensitive interneurons (PSI) and gravity-related compensatory head response, and by the specific relation of this behavior to neuronal arousal systems activated by locomotion. These advantages allowed to study the impact of modified gravity on cellular processes in a complex organism. Eggs, 1st, 4th and 6th stage larvae of Acheta domesticus were used. Post-flight experiments revealed a low susceptibility of the behavior to micro- and hypergravity while the physiology of the PSI was significantly affected. Immunocytological investigations revealed a stage-dependent sensitivity of thoracic GABAergic motoneurons to 3 g-conditions concerning their soma sizes but not their topographical arrangement. The morphology of neuromuscular junctions was not affected by 3 g-hypergravity. Peptidergic neurons from cerebral sensorimotor centers revealed no significant modifications by microgravity (micro g). The contrary physiological and behavioral results indicate a facilitation of 1 g-readaptation originating from accessory gravity, proprioceptive and visual sense organs. Absence of anatomical modifications point to an effective time window of micro g or 3 g-expo-sure related to the period of neuronal proliferation. The analysis of basic mechanisms of how animals and man adapt to altered gravitational conditions will profit from a continuation of the project "Crickets in Space".     

模拟三维重力波传播过程的并行数值模式

从三维大气运动的基本控制方程出发, 基于MPI消息传递接口和区域分解的思想, 建立了模拟三维可压缩大气中重力波传播过程的并行数值模式. 在对垂直方向进行区域分解的基础上, 针对跳点网格的特点, 以垂直速度主格点线为子区域的下边界, 状态变量主格点线为子区域的上边界进行区域分解. 利用MPI消息传递接口来传递计算各子区域中变量时所要用到的相邻子区域上相应变量, 从而顺利地完成对整个计算域的并行计算. 根据线性重力波理论, 通过模拟小振幅重力波的传播过程对所建模式进行了验证. 结果表明, 模式可以很好地模拟小振幅重力波在三维空间中的传播过程, 模拟的重力波振幅随着传播高度的增加以指数形式增长, 对能量传播路径以及有效扰动位能和扰动动能的模拟结果均与理论预测的结果吻合很好. 另外, 随着进程个数的增加, 完成相同的计算量所用的计算时间也显著减少. 这表明本文建立的并行数值模式不但能够很好的模拟重力波的传播过程, 而且能够有效地节约计算时间.      

精确动力学模型中的行星引力辅助轨道设计

轨道设计分为初步设计和精确模型迭代两步,初步设计基于等效脉冲模型,用圆锥曲线拼接法确定时间窗口和引力辅助产生的速度脉冲。精确模型中引力辅助看作是一个连续的过程,将简化模型得到的引力辅助双曲线轨道化为行星心目标B平面参数,以地心逃逸速度作为设计变量,通过微分修正的方法进行求解。通过算例对比分析了简化模型和精确模型设计结果之间的关系,结果表明,引力辅助脉冲等效模型精度较好。     

The Nonlinear Model of the Response of Airglow to Gravity Waves

In this paper, we develope a time-dependent, nonlinear, photochemical-dynamical 2-D model which is composed of 3 models: dynamical gravity wave model, middle atmospheric photochemical model, and airglow layer photochemical model. We use the model to study the effect of the gravity wave propagation on the airglow layer. The comparison between the effects of the different wavelength gravity wave on the airglow emission distributions is made. When the vertical wavelength of the gravity wave is close to or is shorter than the thickness of the airglow layer, the gravity wave can make complex structure of the airglow layer, such as the double and multi-peak structures of the airglow layers. However, the gravity wave that has long vertical wavelength can make large scale perturbation of the airglow emission distribution.     

Effect of gravity field on the nonequilibrium/nonlinear chemical oscillation reactions.

Biological systems have evolved for a long time under the normal gravity. The Belousov-Zhabotinsky (BZ) reaction is a nonlinear chemical system far from the equilibrium that may be considered as a simplified chemical model of the biological systems so as to study the effect of gravity. The reaction solution is comprised of bromate in sulfuric acid as an oxidizing agent, 1,4-cyclohexanedione as an organic substrate, and ferroin as a metal catalyst. Chemical waves in the BZ reaction-diffusion system are visualized as blue and red patterns of ferriin and ferroin, respectively. After an improvement to the tubular reaction vessels in the experimental setup, the traveling velocity of chemical waves in aqueous solutions was measured in time series under normal gravity, microgravity, hyper-gravity, and normal gravity using the free-fall facility of JAMIC (Japan Microgravity Center), Hokkaido, Japan. Chemical patterns were collected as image data via CCD camera and analyzed by the software of NIH image after digitization. The estimated traveling velocity increased with increasing gravity as expected. It was clear experimentally that the traveling velocity of target patterns in reaction diffusion system was influenced by the effect of convection and correlated closely with the gravity field.