Non-weight-bearing (NWB) activity [space flight and hindlimb suspension (HS)] results in the loss of soleus muscle mass, a slow-to-fast fiber-type conversion, and decreased beta-myosin heavy chain (beta-MHC) protein and mRNA expression. To identify beta-MHC promoter sequences required for decreased beta-MHC expression in response to HS, we have modified an existing noninvasive hindlimb unweighting model to accommodate the use of (transgenic) mice. After 2 wk of HS, body and muscle (soleus > gastrocnemius > plantaris) weights were decreased as was the proportion of histochemically classified type I fibers in HS soleus muscle. Northern blot analysis revealed decreases in endogenous mRNA representing beta-MHC, slow myosin light chain 1 and 2, and cardiac/slow troponin C, whereas those representing skeletal troponin C, muscle creatine kinase, and glyceraldehyde-3-phosphate dehydrogenase increased. Protein extracts prepared from HS soleus (SS) muscle of mice harboring transgenes comprised of 5.6 or 0.6 kilobase of wild type (wt) mouse beta-MHC promoter (beta 5.6 wt, beta 0.6wt) and those carrying the simultaneous mutation (mut) of the MCAT, C-rich, and beta e3 subregions (beta 5.6mut3, beta 0.6mut3) revealed decreases in chloramphenicol acetyltransferase (CAT) specific activity relative to respective controls. Decreased CAT mRNA was observed for transgene beta 5.6mut3, line 85. Two weeks of the simultaneous imposition of mechanical overload (synergist ablation) and HS (MOV/HS) countermanded the loss in absolute and normalized SS weight but did not decrease beta 0.6wt transgene expression. These transgenic results demonstrate that regulatory sequences within a 600-base pair beta-MHC promoter are sufficient to direct decreased transcription of beta-MHC transgenes after 2 wk of HS.
Abstract-We introduce visual constraint surfaces as a mechanism to effectively exploit visual constraints in the synthesis of uncertainty-tolerant robot motion plans. We first show how object features, together with their projections onto a camera image plane, define a set of visual constraint surfaces. These visual constraint surfaces can be used to effect visual guarded and visual compliant motions (which are analogous to guarded and compliant motion using force control). We then show how the backprojection approach to fine-motion planning can be extended to exploit visual constraints. Specifically, by deriving a configuration space representation of visual constraint surfaces, we are able to include visual constraint surfaces as boundaries of the directional backprojection. By examining the effect of visual constraints as a function of the direction of the commanded velocity, we are able to determine new criteria for critical velocity orientations, i.e. velocity orientations at which the topology of the directional backprojection might change.
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