Structure of mammalian respiratory complex I.

Complex I (NADH:ubiquinone oxidoreductase), one of the largest membrane-bound enzymes in the cell, powers ATP synthesis in mammalian mitochondria by using the reducing potential of NADH to drive protons across the inner mitochondrial membrane. Mammalian complex I (ref. 1) contains 45 subunits, comprising 14 core subunits that house the catalytic machinery (and are conserved from bacteria to humans) and a mammalian-specific cohort of 31 supernumerary subunits. Knowledge of the structures and functions of the supernumerary subunits is fragmentary. Here we describe a 4.2-Å resolution single-particle electron cryomicroscopy structure of complex I from Bos taurus. We have located and modelled all 45 subunits, including the 31 supernumerary subunits, to provide the entire structure of the mammalian complex. Computational sorting of the particles identified different structural classes, related by subtle domain movements, which reveal conformationally dynamic regions and match biochemical descriptions of the 'active-to-de-active' enzyme transition that occurs during hypoxia. Our structures therefore provide a foundation for understanding complex I assembly and the effects of mutations that cause clinically relevant complex I dysfunctions, give insights into the structural and functional roles of the supernumerary subunits and reveal new information on the mechanism and regulation of catalysis

Cryo-EM structures of complex I from mouse heart mitochondria in two biochemically defined states.

Complex I (NADH:ubiquinone oxidoreductase) uses the reducing potential of NADH to drive protons across the energy-transducing inner membrane and power oxidative phosphorylation in mammalian mitochondria. Recent cryo-EM analyses have produced near-complete models of all 45 subunits in the bovine, ovine and porcine complexes and have identified two states relevant to complex I in ischemia-reperfusion injury. Here, we describe the 3.3-Å structure of complex I from mouse heart mitochondria, a biomedically relevant model system, in the 'active' state. We reveal a nucleotide bound in subunit NDUFA10, a nucleoside kinase homolog, and define mechanistically critical elements in the mammalian enzyme. By comparisons with a 3.9-Å structure of the 'deactive' state and with known bacterial structures, we identify differences in helical geometry in the membrane domain that occur upon activation or that alter the positions of catalytically important charged residues. Our results demonstrate the capability of cryo-EM analyses to challenge and develop mechanistic models for mammalian complex I

PHOTOGRAMMETRIC ACCURACY AND MODELING OF ROLLING SHUTTER CAMERAS

Unmanned aerial vehicles (UAVs) are becoming increasingly popular in professional mapping for stockpile analysis, construction site monitoring, and many other applications. Due to their robustness and competitive pricing, consumer UAVs are used more and more for these applications, but they are usually equipped with rolling shutter cameras. This is a significant obstacle when it comes to extracting high accuracy measurements using available photogrammetry software packages. In this paper, we evaluate the impact of the rolling shutter cameras of typical consumer UAVs on the accuracy of a 3D reconstruction. Hereto, we use a beta-version of the Pix4Dmapper 2.1 software to compare traditional (non rolling shutter) camera models against a newly implemented rolling shutter model with respect to both the accuracy of geo-referenced validation points and to the quality of the motion estimation. Multiple datasets have been acquired using popular quadrocopters (DJI Phantom 2 Vision+, DJI Inspire 1 and 3DR Solo) following a grid flight plan. For comparison, we acquired a dataset using a professional mapping drone (senseFly eBee) equipped with a global shutter camera. The bundle block adjustment of each dataset shows a significant accuracy improvement on validation ground control points when applying the new rolling shutter camera model for flights at higher speed (8m=s). Competitive accuracies can be obtained by using the rolling shutter model, although global shutter cameras are still superior. Furthermore, we are able to show that the speed of the drone (and its direction) can be solely estimated from the rolling shutter effect of the camera

QUALITY ASSESSMENT OF 3D RECONSTRUCTION USING FISHEYE AND PERSPECTIVE SENSORS

Recent mathematical advances, growing alongside the use of unmanned aerial vehicles, have not only overcome the restriction of roll and pitch angles during flight but also enabled us to apply non-metric cameras in photogrammetric method, providing more flexibility for sensor selection. Fisheye cameras, for example, advantageously provide images with wide coverage; however, these images are extremely distorted and their non-uniform resolutions make them more difficult to use for mapping or terrestrial 3D modelling. In this paper, we compare the usability of different camera-lens combinations, using the complete workflow implemented in Pix4Dmapper to achieve the final terrestrial reconstruction result of a well-known historical site in Switzerland: the Chillon Castle. We assess the accuracy of the outcome acquired by consumer cameras with perspective and fisheye lenses, comparing the results to a laser scanner point cloud