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Fig. 4. A–P in Morphology and Morphogenesis of a Chinese Population of the Soil Urostylid Ciliate, Extraholosticha sylvatica (Foissner, 1982) Li et al., 2017 (Ciliophora, Hypotrichia)

Fig. 4. A–P Photomicrographs of Extraholosticha sylvatica, during morphogenesis after protargol staining. (A, B) Ventral views of oral primordium of the opisthe. Arrow indicates the parental midventral cirri. (C) Dorsal view of an early divider, arrow shows dorsal kinety anlage. (D, H) Ventral views of early dividers, arrows show the development of the frontoventral-transverse cirral anlagen. (E) Ventral view of an early divider, to show the left marginal anlagen. (F) Ventral view of an early divider, arrow indicates the undulating membranes anlage. (G) Ventral view, arrow demonstrates that old adoral zone of membranelles was renewed in the rear part. (I, J) Ventral (I) and dorsal (J) views of a middle divider, to show the frontoventral-transverse cirral anlagen (arrow in I) and the fusing macronuclear nodule (arrow in J). (K) Ventral view of a late divider, arrow showing the dorsal kinety anlage. (L, M) Ventral views of a late divider, to show the old midventral pairs (arrow in L), as well as newly formed transverse cirri (arrow in M), pretransverse cirri (arrowheads), and midventral pairs (doublearrowhead). (N) Dorsal view, to show the caudal cirri (arrow). (O, P) Dorsal views, showing the micronuclei (arrow) and macronuclear nodule (P). LMA, left marginal anlagen; Ma, macronuclear nodules; Mi, micronuclei; OP, oral primordium; RMA, right marginal anlagen.

Fig. 1. A–I in Morphology and Morphogenesis of a Chinese Population of the Soil Urostylid Ciliate, Extraholosticha sylvatica (Foissner, 1982) Li et al., 2017 (Ciliophora, Hypotrichia)

Fig. 1. A–I Illustrations of Extraholosticha sylvatica after protargol staining (A–C) and photomicrographs from life (D–G) and after protargol staining (H, I). (A–C) Ventral (A) and dorsal (B, C) view to show the general infraciliature (A, B) and the nuclear apparatus (C). Arrow in A shows the frontoventral cirri behind the leftmost frontal cirrus. (D, E) Ventral views of slightly squeezed specimens, arrows show two collecting canals (D) and the contractile vacuole (E). (F) Dorsal view, arrows point to the cortical granules. (G) Posterior portion of body, to show crystals (arrow) and lipid granules. (H) Ventral view of a representative individual, with an arrow showing the frontoventral cirri behind the leftmost frontal cirrus. (I) Dorsal view, to demonstrate dorsal kineties. AZM, adoral zone of membranelles; BC, buccal cirrus; CC, caudal cirri; E, endoral; FC, frontal cirri; FTC, frontoterminal cirri; LMR, left marginal row; Ma, macronuclear nodules; Mi, micronuclei; MP, midventral pairs; P, paroral; PTVC, pretransverse cirri; RMR, right marginal row; TC, transverse cirri; 1–5, dorsal kineties. Scale bars = 75 μm (A–E, H, I); 6 μm (F); 20 μm (G).

Fig. 3. A–F in Morphology and Morphogenesis of a Chinese Population of the Soil Urostylid Ciliate, Extraholosticha sylvatica (Foissner, 1982) Li et al., 2017 (Ciliophora, Hypotrichia)

Fig. 3. A–F Morphogenesis of Extraholosticha sylvatica after protargol staining. (A, B) Ventral (A) and dorsal (B) view of a late divider. Arrowheads mark the dorsal kineties anlagen. (C, D) Ventral and dorsal view of a late divider. Note that two frontoterminal cirri (arrows in C), the pretransverse cirri (arrowheads in C), transverse cirri (double-arrowheads) and dorsal kineties anlagen (arrowheads in D) are formed in both the proter and the opisthe, as well as caudal cirri derived from the posterior end of dorsal kinety anlage 5 in both daughter cells (arrows in D). (E, F) Ventral (E) and dorsal (F) view of the same late specimen, to demonstrate that almost all the cirri have arrived their final place. Arrows denote the caudal cirri formed from dorsal kinety anlage 5 and arrowheads mark the dorsal kineties anlagen. DKA, dorsal kineties anlagen; LMA, left marginal anlagen; Ma, macronuclear nodules; Mi, micronuclei; RMA, right marginal anlagen. Scale bars = 75 μm (A–F).

Fig. 2. A–H in Morphology and Morphogenesis of a Chinese Population of the Soil Urostylid Ciliate, Extraholosticha sylvatica (Foissner, 1982) Li et al., 2017 (Ciliophora, Hypotrichia)

Fig. 2. A–H Morphogenesis in Extraholosticha sylvatica, after protargol staining. (A, B) Ventral views of an early divider, to show the newly formed oral primordium. Arrow shows that midventral pairs take part in the formation of oral primordium. (C, D) Ventral (C) and dorsal (D) view of an early divider. Arrow in (C) shows frontoventral-transverse cirral anlagen, arrowheads show the undulating membranes anlagen in the proter and the opisthe, while arrows in (D) note that the dorsal kineties anlagen are formed in old structure. (E) Ventral view of an early divider. Arrow shows the frontoventral-transverse cirral anlagen and arrowheads mark the undulating membranes anlagen in the proter and the opisthe. (F) Ventral view of an early divider. Note that the frontoventral-transverse cirral anlagen are developing (arrow), the posterior part of the old adoral zone of membranelles is renewed (arrowhead), the vertical split of the undulating membranes anlage (double-arrowhead) in the proter. (G, H) Ventral (G) and dorsal (H) view of a middle divider, arrow depicts newly formed frontoventral transverse cirri and arrowheads mark the leftmost frontal cirrus and the frontoventral cirri separated from the undulating membranes anlagen in both proter and opisthe. DKA, dorsal kineties anlagen; LMA, left marginal anlagen; Ma, macronuclear nodules; Mi, micronuclei; OP, oral primordium; RMA, right marginal anlagen. Scale bars = 75 μm (A–H).

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Fig. 10 in A mosaic of conserved and novel modes of gene expression and morphogenesis in mesoderm and muscle formation of a larval bivalve

Fig. 10 Muscle systems in bivalve lineages. a Bivalve phylogeny (after Combosch et al. (2017)) with larval muscle systems in various clades.?: unknown, numbers: number of paired retractors/adductors,>: set of paired mantle retractors, a.m.: after metamorphosis. Colour code indicates individual muscle systems. Comparative analysis implies that five major muscle systems were present in the last common ancestor (LCA) of autobranch bivalve larvae: The velum musculature including three or four pairs of velum retractors and a velum muscle ring, the larval retractors (one or two pairs), the adductor system containing the anterior as well as the posterior adductor,

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Fig. 5 in A mosaic of conserved and novel modes of gene expression and morphogenesis in mesoderm and muscle formation of a larval bivalve

Fig. 5 Expression of myosin II heavy chain (Dro-mhc_c1) and myogenesis in Dreissena rostriformis veliger larvae. Lateral view in all images, anterior faces upwards and dorsal to the left except in c which is a dorso-anterior view, e and f which are anterior views (dorsal is up), and i which is a posterior view (dorsal is up). Arrowheads indicate the stomodaeum. Scale bar equals 20 µm. Brightfield images of the gene expression (a and e) and confocal images (b–d and f–i) with F-actin (yellow–red), cilia (green), and cell nuclei staining (cyan). a Expression of Dro-mhc_c1 is in the central and dorsal mesoderm. Velum (ve). b First distinct muscle bundles are the dorsal velum retractor (dv), the ventral velum retractor (vv), and the larval retractor (lr). First appearance of the velum muscle ring (vr), the (pal-

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Fig. 3 in A mosaic of conserved and novel modes of gene expression and morphogenesis in mesoderm and muscle formation of a larval bivalve

Fig. 3 Expression of myosin II heavy chain (Dro-mhc_c1) and immunofluorescence staining in Dreissena rostriformis trochophore larvae. Anterior is up. Arrowheads indicate the stomodaeum, sf marks the shell field, dotted line outlines the region of the prototroch (pt). Scale bar equals 20 µm. Brightfield images (a, b) of the gene expression and confocal images (c, d) with F-actin (red), cilia (green; pt: prototroch; tt: telotroch), and cell nuclei staining (cyan). a Dro-mhc_c1 expression is first present in the anterior mesoderm. b Anterior mesodermal expression in dorsal view. c First F-actinpositive domain in the mesoderm below the shell field in the dorso-median region. d Slightly further developed trochophore larva showing two developing myofilaments in the median region. A, anterior; D, dorsal; P, posterior; V, ventral

opencc-by-4.0Feb 2018View details →

Robust and Adaptive Robot Self-Assembly Based on Vascular Morphogenesis

Self-assembly is the aggregation of simple parts into complex patterns as frequently observed in nature. Following this inspiration, creating programmable systems of self-assembly that achieve similar complexity and robustness with robots is challenging. As role model we pick the growth of natural plants that adapts to environmental conditions and is robust to disturbances, such as changes due to dynamic environments and cut parts. We program a robot swarm to self-assemble into tree-like shapes and to efficiently adapt to the environment. Our approach is inspired by the vascular morphogenesis of plants, that is the patterned formation of vascular tissue to transport fluids and nutrients internally. The aggregated robots establish an internal network of resource sharing, allowing them to make rational decisions collectively about where to add and where to remove robots. As an effect, the growth is adaptive to an environmental feature (here, light) and robust to changes in a dynamic environment. The robot swarm is able to self-repair by regrowing lost parts. We successfully validate and benchmark our approach in a number of robot swarm experiments showing adaptivity, robustness, and self-repair.

opencc-by-4.0May 2018View details →

Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-like Vascular Morphogenesis

For self-assembly, robot swarms can be programmed to form predefined shapes.  However, if the swarm is required to adapt the assembled shapes to dynamic features of the environment at runtime, then the shapes' structures need to be dynamic, too.  Prerequisite for adaptation is exploration and detection of changes followed by appropriate rearrangements of the assembled structure.  We study a self-assembling robot swarm forming trees to explore its environment and searching for bright areas.  The tree-formation process is inspired by the vascular morphogenesis of natural plants.  Detecting light produces a virtual resource shared within the tree, helping to drop useless branches while reinforcing efficient paths between bright areas and the tree root. We successfully verify our self-assembly approach in several swarm robot experiments in a dynamic environment showing that the robot swarm can collectively discriminate between light sources at different distances and of different qualities.

Fig. 9. T. thermophila cells immunostained with monoclonal anti-cdc14A in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 9. T. thermophila cells immunostained with monoclonal anti-cdc14A antibody. Cs and nCS – apical couplets of basal bodies for proter and opisthe, respectively; Ma – macronucleus. Other explanations as in Figs 1 and 8. Bar: 10 µm, bar in D for B–D.

Fig. 7. T. thermophila cells immunostained with the antiserum against component B in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 7. T. thermophila cells immunostained with the antiserum against component B of epiplasm. DF – staining around the deep fibers. Other explanations as in Fig. 1. Bar: 10 µm.

Fig. 2 in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 2. Localization of nuclei in control and roscovitine treated T. tetrmophila. The cells were immunostained with the anti-centrin 20H5 antibody and stained with DAPI. A and B – control cells in the VI stage of morphogenesis, and early cytokinesis, respectively; C and D – roscovitine treated cells (4 h) in the VI stage of morphogenesis and in cytokinesis respectively. Arrows – micronuclei (in the C micronucleus in opisthe is out of focus). Bar: 10 µm.

Fig. 4. Postdivider cells after 5.5 h in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 4. Postdivider cells after 5.5 h of roscovitine treatment. Cells were immunostained with anti-centrin 20H5 antibody. A and A' – ventral and dorsal views of the same proter cell with remnants of the OA2; B–C opisthe cells, B – opisthe with ARF on dorsal side, C – opisthe with remnants of oral structures; D and D' – ventral and dorsal views of the same cell; E and E' – ventral and dorsal views of the same opisthe during pinching off the OA. Other explanations as in Fig. 1. Bar: 10 µm for A–E'.

Fig. 5 in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 5. Mean cell sizes, positions of OA1, OA2 and fission zone in control and in roscovitine treated cells. Upper panel: early and late control dividers, lower panel: early dividers after 3.5 h roscovitine treatment, late dividers after 3.5 and 5.5 h roscovitine treatment. The shape of cells is represented by elipses. Solid horizontal lines – cells "equator", dotted horizontal lines – positions of the fission furrow. All sizes and distances were drawn to the same scale. Bar: 10 µm. The measurements represent means of at least 10 specimens for each cell sample.

Fig. 6 in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 6. Correlation of length of proters and shift of the fission zone in relation to OA2 induced by roscovitine in late dividers. The shift of the fission zone was measured as a difference between length of the proters and distance from cell apex to the anterior end of the OA2 (ordinate). Each point in this diagram represent individual cell. Open symbols – untreated cells, close symbols – cells treated with roscovitine for 3.5 and 5.5 h (pooled).

Fig. 10 in Effects of Roscovitine on Schedule of Divisional Morphogenesis, Basal Bodies Proliferation and Cell Divisions in Tetrahymena thermophila

Fig. 10. Western blot of T. thermophila fractions with monoclonal antibody anti-cdc14A. H – homogenate, S – supernatant, C – cortical fraction (pellet).