Gestagens and glucocorticoids in chicken eggs

Avian eggs contain a variety of steroid hormones, which have been attributed as a tool for maternal phenotypic engineering. The majority of studies focuses on androgens, but also significant amounts of progesterone as well as other steroid hormones have been measured. The question if corticosterone is also present in eggs of chickens is currently under debate. The only analytical validation performed so far has failed to demonstrate corticosterone in the yolk of chickens, suggesting that antibodies for corticosterone measurement cross-react with other steroids present in the yolk. In order to investigate this assumption and to characterise potential cross-reacting hormones in more detail, we performed high-performance liquid chromatographic (HPLC) analyses of chicken yolk extracts and determined the concentration of immunoreactive corticosterone, progesterone and cortisol. The progesterone antibody revealed several immunoreactive substances, including progesterone, pregnenolone and two substances with lower polarity. The corticosterone enzyme immunoassay detected immunoreactive substances at exactly the same elution positions as the progesterone assay and a very small peak at the elution position of corticosterone. Immunoreactive cortisol was not found. In addition, inner and outer regions of the yolk sphere were analysed separately via HPLC. We found different concentrations of immunoreactive substances between the inner and outer yolk regions, probably reflecting the steroidogenic activity of the follicle cells during oocyte growth. We conclude that in homogenised yolk extracts without previous clean-up, the measured corticosterone concentrations may actually reflect those of progesterone and its precursors, most probably being 5 alpha- and 5 beta-pregnanes and pregnenolone. (C) 2009 Elsevier Inc. All rights reserved

Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators

Safety is essential for robots in unknown environments, especially when there is physical Human-Robot Interaction (pHRI). Control over energy, or passivity, is an effective safety mechanism. However, when the control algorithm is implemented in a discrete-time computer, computation and communication delays readily lead to loss of passivity and to instability. In this paper, a way to make the actuators aware of the energy that they inject into the system is presented. Passivity and stability are then always guaranteed, even in situations of total communication loss. These Embedded Energy-Aware Actuators are a model-free passivity and safety layer that make complex robotic systems dependable, well-behaved and safe. The proposed method is validated in simulation and experiments

Control of a variable stiffness joint for catching a moving object

The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method

Manipulation of primary sex ratio in birds:Lessons from the Homing Pigeon (<i>Columba livia domestica</i>)

Across various animal taxa not only the secondary sex ratio but also the primary sex ratio (at conception) shows significant deviations from the expected equal proportions of sons and daughters. Birds are especially intriguing to study this phenomenon as avian females are the heterogametic sex (ZW); therefore sex determination might be under direct control of the mother. Avian sex ratios vary in relation to environmental or maternal condition, which can also affect the production of maternal steroids that in turn are involved in reproduction and accumulate in the developing follicle before meiosis. As the proximate mechanisms underlying biased primary sex ratio are largely elusive, we explored how, and to what extent, maternal steroid hormones may be involved in affecting primary or secondary sex ratio in clutches of various species of pigeons. First we demonstrated a clear case of seasonal change in sex ratio in first eggs both in the Rock Pigeon (Columba livia) and in a related species, the Wood Pigeon (Columba palumbus), both producing clutches of two eggs. In the Homing Pigeon (Columba livia domestica), domesticated from the Rock Pigeon, testosterone treatment of breeding females induced a clear male bias, while corticosterone induced a female bias in first eggs and we argue that this is in line with sex allocation theory. We next analyzed treatment effects on follicle formation, yolk mass, and yolk hormones, the latter both pre- and post-ovulatory, in order to test a diversity of potential mechanisms related to both primary and secondary sex ratio manipulation. We conclude that maternal plasma hormone levels may affect several pre- ovulatory mechanisms affecting primary sex ratio, whereas egg hormones are probably involved in secondary sex ratio manipulation only.</p