In this experimental and theoretical study, we investigate the slithering of snakes on flat surfaces. Previous studies of slithering have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a theoretical model for slithering locomotion by observing snake motion kinematics and experimentally measuring the friction coefficients of snakeskin. Our predictions of body speed show good agreement with observations, demonstrating that snake propulsion on flat ground, and possibly in general, relies critically on the frictional anisotropy of their scales. We have also highlighted the importance of weight distribution in lateral undulation, previously difficult to visualize and hence assumed uniform. The ability to redistribute weight, clearly of importance when appendages are airborne in limbed locomotion, has a much broader generality, as shown by its role in improving limbless locomotion.friction ͉ locomotion ͉ snake L imbless creatures are slender and flexible, enabling them to use methods of locomotion that are fundamentally different from the more commonly studied flying, swimming, walking, and running used by similarly sized limbed or finned organisms. These methods can be as efficient as legged locomotion (1) and moreover are particularly versatile when moving over uneven terrain or through narrow crevices, for which the possession of limbs would be an impediment (2, 3). Limbless invertebrates such as slugs propel themselves by generating lubrication forces with their mucus-covered bodies; earthworms move by ratcheting: propulsion is achieved by engaging their hairs in the ground as they elongate and shorten their bodies (4, 5). Terrestrial snakes propel themselves by using a variety of techniques, including slithering by lateral undulation of the body, rectilinear progression by unilateral contraction/extension of their belly, concertina-like motion by folding the body as the pleats of an accordion, and sidewinding motion by throwing the body into a series of helices. This report will focus on lateral undulation, whose utility to locomotion by snakes has been previously described on the basis of push points: Snakes slither by driving their flanks laterally against neighboring rocks and branches found along the ground (6-11). This key assumption has informed numerous theoretical analyses (12-17) and facilitated the design of snake robots for search-and-rescue operations. Previous investigators (7,9,18,19) have suggested that the frictional anisotropy of the snake's belly scales might play a role in locomotion over flat surfaces. The details of this frictionbased process, however, remain to be understood; consequently, snake robots have been generally built to slither over flat surfaces by using passive wheels fixed to the body that resist lateral motion (18,(20)(21)(22). In this report, we present a theory for how snakes slither, or how wheelless snake robots can be designed to slither, on relatively featureless terrain, such as sand or bare rock, ...

SignificanceThe bacterial flagellar motor (BFM) is the rotary motor powering swimming of many motile bacteria. Many of the components of this molecular machine are dynamic, a property which allows the cell to optimize its behavior in accordance with the surrounding environment. A prime example is the stator unit, a membrane-bound ion channel that is responsible for applying torque to the rotor. The stator units are mechanosensitive, with the number of engaged units dependent on the viscous load on the motor. We measure the kinetics of the stators as a function of the viscous load and find that the mechanosensitivity of the BFM is governed by a catch bond: a counterintuitive type of bond that becomes stronger under force.

The bacterial flagellar motor (BFM) is responsible for driving bacterial locomotion and chemotaxis, fundamental processes in pathogenesis and biofilm formation. In the BFM, torque is generated at the interface between transmembrane proteins (stators) and a rotor. It is well established that the passage of ions down a transmembrane gradient through the stator complex provides the energy for torque generation. However, the physics involved in this energy conversion remain poorly understood. Here we propose a mechanically specific model for torque generation in the BFM. In particular, we identify roles for two fundamental forces involved in torque generation: electrostatic and steric. We propose that electrostatic forces serve to position the stator, whereas steric forces comprise the actual "power stroke." Specifically, we propose that ion-induced conformational changes about a proline "hinge" residue in a stator α-helix are directly responsible for generating the power stroke. Our model predictions fit well with recent experiments on a single-stator motor. The proposed model provides a mechanical explanation for several fundamental properties of the flagellar motor, including torque-speed and speed-ion motive force relationships, backstepping, variation in step sizes, and the effects of key mutations in the stator.

Numerous clinical cohorts are exposed to reduced skeletal loading and associated bone loss, including surgical patients, stroke and spinal cord injury victims, and women on bed rest during pregnancy. In this context, understanding disuse-related bone loss is critical to developing interventions to prevent fractures and the associated morbidity, mortality, and cost to the health care system. The aim of this pilot study was to use high-resolution peripheral QCT (HR-pQCT) to examine changes in trabecular and cortical microstructure and biomechanics during a period of non weight bearing (WB) and during recovery following return to normal WB. Surgical patients requiring a 6-week non-WB period (n = 12, 34.8 ± 7.7 yrs) were scanned at the affected and contralateral tibia prior to surgery, after the 6-week non-WB period, and 6 and 13 weeks after returning to full-WB. At the affected ultradistal tibia, integral vBMD (including both trabecular and cortical compartments) decreased with respect to baseline (−1.2%), trabecular number increased (+5.6%), while trabecular thickness (−5.4%), separation (−4.6%), and heterogeneity (−7.2%) decreased (all p<0.05). Six weeks after return to full-WB, trabecular structure measures reverted to baseline levels. In contrast, integral vBMD continued to decrease after 6 (−2.0%, p < 0.05) and 13 weeks (−2.5%, p = 0.07) of full-WB. At the affected distal site, the disuse period resulted in increased porosity (+16.1%, p < 0.005), which remained elevated after 6 weeks (+16.8%, p < 0.01) and after 13 weeks (+16.2%, p < 0.05). A novel topological analysis applied to the distal tibia cortex demonstrated increased number of canals with surface topology (“slabs” +21.7%, p < 0.01) and curve topology (“tubes” +15.0%, p < 0.05) as well as increased number of canal junctions (+21.4%, p < 0.05) following the disuse period. Porosity increased uniformly through increases in both pore size and number. Finite element analysis at the ultradistal tibia showed decreased stiffness and failure load (−2.8% and −2.4%, p < 0.01) following non-WB. These biomechanical predictions remained depressed following 6 and 13 weeks of full-WB. Finite element analysis at the distal site followed similar trends. Our results suggest that detectable microstructural and biomechanical degradation occurs – particularly within the cortical compartment – as a result of non-WB and persists following return to normal loading. A better understanding of these microstructural changes and their short- and long-term influence on biomechanics may have clinical relevance in the context of disuse-related fracture prevention.

Objective While the importance of cortical structure quantification is increasingly underscored by recent literature, conventional analysis techniques obscure potentially important regional variations in cortical structure. The objective of this study was to characterize the spatial variability in cortical geometry and microstructure at the distal radius and tibia using high resolution peripheral quantitative computed tomography (HR-pQCT). We show that spatially-resolved analysis is able to identify cortical sub-regions with increased sensitivity to the effects of gender and aging. Methods HR-pQCT scans of 146 volunteers (92 female/54 male) spanning a wide range of ages (20 - 78 years) were analyzed. For each subject, radius and tibia scans were obtained using a clinical HR-pQCT system. Measures describing geometry (cortical bone thickness (Ct.Th)), microstructure (porosity (Ct.Po), pore diameter (Ct.Po.Dm), pore size heterogeneity (Ct.Po.Dm SD)), and cortical bone density were calculated from the image data. Biomechanical parameters describing load and stress distribution were calculated using linear finite element analysis. Cortical quadrants were defined based on anatomic axes to quantify regional parameter variation. Subjects were categorized by gender, and age, and menopausal status for analysis. Results Significant regional variation was found in all geometric and microstructural parameters in both the radius and tibia. In general, the radius showed more pronounced and significant variations in all parameters as compared with the tibia. At both sites, Ct.Po displayed the greatest regional variations. Correlation coefficients for Ct.Po and Ct.Th with respect to load and stress distribution provided evidence of an association between regional cortical structure and biomechanics in the tibia. Comparing women to men, differences in Ct.Po were most pronounced in the anterior quadrant of the radius (36% lower in women (p<0.01)) and the posterior quadrant of the tibia (27% lower in women (p<0.01)). Comparing elderly to young women, differences in Ct.Po were most pronounced in the lateral quadrant of the radius (328% higher in elderly women (p<0.001)) and the anterior quadrant of the tibia (433% higher in elderly women (p<0.001)). Comparing elderly to young men, the most pronounced age differences were found in the anterior radius (205% higher in elderly men, (p<0.001)) and the anterior tibia (190% higher in elderly men (p<0.01)) All subregional Ct.Po differences provided greater sensitivity to gender and age effects than those based on the global means. Conclusion These results show significant regional variation in all geometric and microarchitectural parameters studied in both the radius and tibia. Quantification of region-specific parameters provided increased sensitivity in the analysis of age- and gender-related differences, in many cases providing statistically significant differentiation of groups where conventional global analysis failed to detect differences. These results suggest that regional an...

The bacterial flagellar motor (BFM) is the rotary motor which powers the swimming and swarming of many motile bacteria. The torque is provided by stator units, ion motive force powered ion channels known to assemble and disassemble dynamically in the BFM. This turnover is mechano-sensitive, with the number of engaged units dependent upon the viscous load experienced by the motor through the flagellum. However, the molecular mechanism driving BFM mechano-sensitivity is unknown. Here we directly measure the kinetics of arrival and departure of the stator units in individual wild-type motors via analysis of high-resolution recordings of motor speed, while dynamically varying the load on the motor via external magnetic torque. Obtaining the real-time stator stoichiometry before and after periods of forced motor stall, we measure both the number of active stator units at steady-state as a function of the load and the kinetic association and dissociation rates, by fitting the data to a reversible random sequential adsorption model. Our measurements indicate that BFM mechano-sensing relies on the dissociation rate of the stator units, which decreases with increasing load, while their association rate remains constant. This implies that the lifetime of an active stator unit assembled within the BFM increases when a higher force is applied to its anchoring point in the cell wall, providing strong evidence that a catch-bond mechanism can explain the mechano-sensitivity of the BFM.

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High porosity in the midcortical and periosteal layers in the high-risk T2D group suggests that these cortical zones might be particularly susceptible to T2D-induced toxicity and may reflect cortical microangiopathy.