Molecular systematics and phylogenetics of the spider genus Mastigusa Menge, 1854 (Araneae, Cybaeidae)

The palearctic spider genus Mastigusa Menge, 1854 is characterized by a remarkable morphology and wide ecological variability, with free-living, cave dwelling and myrmecophile populations known. This genus has a long and tangled taxonomic history and was placed in different families in the past, all belonging to the “marronoid clade”, an informal grouping of families characterized by the lack of strong synapomorphies. Three species are currently recognized, but their identity and circumscription has been long debated. A molecular approach was never applied for trying to solve these uncertainties, and doubts still remain both about its phylogenetic placement and about the taxonomic status of the described species. For the first time the genus Mastigusa is included in a molecular phylogenetic analysis and strong support is found for its placement within the family Cybaeidae, in sister relationship with the genus Cryphoeca Thorell, 1870. An analysis of Mastigusa populations spanning across the distribution range of the genus identifies a high and previously overlooked genetic diversity, with six distinct genetic lineages showing a strong geographic pattern. Divergence times between Mastigusa and its sister genus and between the distinct Mastigusa lineages are estimated, and the groundwork is laid for a taxonomic revision of the species belonging to the genus

New association between red wood ant species (Formica rufa group) and the myrmecophilic spiders Mastigusa arietina and Thyreosthenius biovatus

Ants belonging to the Formica rufa species group, counting 10 representatives in Europe, are often referred to as red wood ants (RWAs). These dominant, mound building species are known to host in their nests an extremely diverse fauna of associated myrmecophilic arthropods, among which are the two W-Palaearctic spider species Mastigusa arietina (Thorell 1871) and Thyreosthenius biovatus (O. Pickard-Cambridge 1875). The actual host range of these spiders within the Formica rufa group is little known, due to the taxonomic uncertainties that have characterized RWAs in the past. We conducted a large-scale survey for assessing the occurrence of both spider species in association with different RWAs, with a focus on an accurate identification of the ant species. We recorded co-occurrence data for 5 European representatives of the Formica rufa group, and we reported for the first time on the co-occurrence of M. arietina with Formica aquilonia Yarrow 1955, Formica lugubris Zetterstedt 1838 and Formica paralugubris Seifert 1996, and of T. biovatus with F. aquilonia. We found no association between the rate of presence/absence of the two spiders and host ant species or sampling localities, which suggests a non-selective exploitation of RWA hosts by the two myrmecophilic spiders

First record of the genus Thyreosthenius (Araneae: Linyphiidae) from the Iberian Peninsula with notes on the host preference of the myrmecophilic T. biovatus

The presence of the spider genus Thyreosthenius Simon, 1884 (Linyphiidae) is for the first time confirmed in the Iberian Peninsula with an observation of the myrmecophile species T. biovatus (O. Pickard Cambridge, 1875). Four adult females and two sub-adult male specimens were collected inside mound nests belonging to the red wood ant species Formica lugubris Zetterstedt, 1838 in the Aragon and Catalonia regions of Spain. This represents the second known record of an occurrence of T. biovatus in association with F. lugubris, and the first for Continental Europe. In addition, the existing information on the host preference of this species is reviewed and discussed in relation to the new data from the Spanish Pyrenees

AID Overlapping and Polη Hotspots Are Key Features of Evolutionary Variation Within the Human Antibody Heavy Chain (IGHV) Genes

© Copyright © 2020 Tang, Bagnara, Chiorazzi, Scharff and MacCarthy. Somatic hypermutation (SHM) of the immunoglobulin variable (IgV) loci is a key process in antibody affinity maturation. The enzyme activation-induced deaminase (AID), initiates SHM by creating C → U mismatches on single-stranded DNA (ssDNA). AID has preferential hotspot motif targets in the context of WRC/GYW (W = A/T, R = A/G, Y = C/T) and particularly at WGCW overlapping hotspots where hotspots appear opposite each other on both strands. Subsequent recruitment of the low-fidelity DNA repair enzyme, Polymerase eta (Polη), during mismatch repair, creates additional mutations at WA/TW sites. Although there are more than 50 functional immunoglobulin heavy chain variable (IGHV) segments in humans, the fundamental differences between these genes and their ability to respond to all possible foreign antigens is still poorly understood. To better understand this, we generated profiles of WGCW hotspots in each of the human IGHV genes and found the expected high frequency in complementarity determining regions (CDRs) that encode the antigen binding sites but also an unexpectedly high frequency of WGCW in certain framework (FW) sub-regions. Principal Components Analysis (PCA) of these overlapping AID hotspot profiles revealed that one major difference between IGHV families is the presence or absence of WGCW in a sub-region of FW3 sometimes referred to as “CDR4.” Further differences between members of each family (e.g., IGHV1) are primarily determined by their WGCW densities in CDR1. We previously suggested that the co-localization of AID overlapping and Polη hotspots was associated with high mutability of certain IGHV sub-regions, such as the CDRs. To evaluate the importance of this feature, we extended the WGCW profiles, combining them with local densities of Polη (WA) hotspots, thus describing the co-localization of both types of hotspots across all IGHV genes. We also verified that co-localization is associated with higher mutability. PCA of the co-localization profiles showed CDR1 and CDR2 as being the main contributors to variance among IGHV genes, consistent with the importance of these sub-regions in antigen binding. Our results suggest that AID overlapping (WGCW) hotspots alone or in conjunction with Polη (WA/TW) hotspots are key features of evolutionary variation between IGHV genes

Rapid manufacturing of color-based hemispherical soft tactile fingertips

Tactile sensing can provide access to information about the contact (i.e. slippage, surface feature, friction), which is out of reach of vision but crucial for manipulation. To access this information, a dense measurement of the deformation of soft fingertips is necessary. Recently, tactile sensors that rely on a camera looking at a deformable membrane have demonstrated that a dense measurement of the contact is possible. However, their manufacturing can be time-consuming and labor-intensive. Here, we show a new design method that uses multi-color additive manufacturing and silicone casting to efficiently manufacture soft marker-based tactile sensors that are able to capture with high-resolution the three-dimensional deformation field at the interface. Each marker is composed of two superimposed color filters. The subtractive color mixing encodes the normal deformation of the membrane, and the lateral deformation is found by centroid detection. With this manufacturing method, we can reach a density of 400 markers on a 21 mm radius hemisphere, allowing for regular and dense measurement of the deformation. We calibrated and validated the approach by finding the curvature of objects with a threefold increase in accuracy as compared to previous implementations. The results demonstrate a simple yet effective approach to manufacturing artificial fingertips for capturing a rich image of the tactile interaction at the location of contact

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Biomimetic machines able to integrate with natural and social environments will find ubiquitous applications, from biodiversity conservation to elderly daily care. Although artificial actuators have reached the contraction performances of muscles, the versatility and grace of the movements realized by the complex arrangements of muscles remain largely unmatched. Here, we present a class of pneumatic artificial muscles, named GeometRy-based Actuators that Contract and Elongate (GRACE). The GRACEs consist of a single-material pleated membrane and do not need any strain-limiting elements. They can contract and extend by design, as described by a mathematical model, and can be realized at different dimensional scales and with different materials and mechanical performances, enabling a wide range of lifelike movements. The GRACEs can be fabricated through low-cost additive manufacturing and even built directly within functional devices, such as a pneumatic artificial hand that is fully three-dimensionally printed in one step. This makes the prototyping and fabrication of pneumatic artificial muscle-based devices faster and more straightforward

Mode regularization of the susy sphaleron and kink: zero modes and discrete gauge symmetry

To obtain the one-loop corrections to the mass of a kink by mode regularization, one may take one-half the result for the mass of a widely separated kink-antikink (or sphaleron) system, where the two bosonic zero modes count as two degrees of freedom, but the two fermionic zero modes as only one degree of freedom in the sums over modes. For a single kink, there is one bosonic zero mode degree of freedom, but it is necessary to average over four sets of fermionic boundary conditions in order (i) to preserve the fermionic Z$_2$ gauge invariance $\psi \to -\psi$, (ii) to satisfy the basic principle of mode regularization that the boundary conditions in the trivial and the kink sector should be the same, (iii) in order that the energy stored at the boundaries cancels and (iv) to avoid obtaining a finite, uniformly distributed energy which would violate cluster decomposition. The average number of fermionic zero-energy degrees of freedom in the presence of the kink is then indeed 1/2. For boundary conditions leading to only one fermionic zero-energy solution, the Z$_2$ gauge invariance identifies two seemingly distinct `vacua' as the same physical ground state, and the single fermionic zero-energy solution does not correspond to a degree of freedom. Other boundary conditions lead to two spatially separated $\omega \sim 0$ solutions, corresponding to one (spatially delocalized) degree of freedom. This nonlocality is consistent with the principle of cluster decomposition for correlators of observables.Comment: 32 pages, 5 figure

A Soft Continuum Robotic Arm with a Climbing Plant‐Inspired Adaptive Behavior for Minimal Sensing, Actuation, and Control Effort

A key challenge in designing soft continuum robotic arms is the realization of intelligent behavior while minimizing sensing, actuation, and control effort. This work investigates how soft continuum arms can benefit from mimicking the distribution of flexural rigidity of searcher stems in climbing plants to accomplish this goal. A modeling approach is presented to tune both the structural design and the tactile sensor design of a soft continuum arm inspired by the flexural rigidity distribution of Mandevilla cf. splendens' searcher stems. The resulting soft continuum arm, named Mandy, can detect suitable supports along its length and twining around them using a single sensor and actuator. Through simulations and experiments, it is shown such behavior cannot be achieved with a soft continuum arm possessing uniform structural stiffness and a standard tactile sensor design. Thus, the significance of investing greater effort in structural design, leveraging biological data, to improve the design of soft continuum arms with more compact actuation and sensing hardware, is highlighted.A quantitative biomimetic approach allows for building soft continuum arms inspired by twining climbing plants. Designed to mimic the flexural rigidity of terminal stems of Mandevilla cf. splendens, the robot detects the presence of a support and twines around it, without requiring a central computing unit.image (c) 2023 WILEY-VCH Gmb

Local Casimir Energy For Solitons

Direct calculation of the one-loop contributions to the energy density of bosonic and supersymmetric phi-to-the-fourth kinks exhibits: (1) Local mode regularization. Requiring the mode density in the kink and the trivial sectors to be equal at each point in space yields the anomalous part of the energy density. (2) Phase space factorization. A striking position-momentum factorization for reflectionless potentials gives the non-anomalous energy density a simple relation to that for the bound state. For the supersymmetric kink, our expression for the energy density (both the anomalous and non-anomalous parts) agrees with the published central charge density, whose anomalous part we also compute directly by point-splitting regularization. Finally we show that, for a scalar field with arbitrary scalar background potential in one space dimension, point-splitting regularization implies local mode regularization of the Casimir energy density.Comment: 18 pages. Numerous new clarifications and additions, of which the most important may be the direct derivation of local mode regularization from point-splitting regularization for the bosonic kink in 1+1 dimension