抗原变异可使得多种致病微生物易于逃避宿主免疫应答。表达在感染红细胞表面的恶性疟原虫红细胞表面蛋白1（PfPMP1）与感染红细胞、内皮细胞、树突状细胞以及胎盘的单个或多个受体作用，在黏附及免疫逃避中起关键的作用。每个单倍体基因组var基因家族编码约60种成员，通过启动转录不同的var基因变异体为抗原变异提供了分子基础。

疟原虫var基因转换速率变化导致抗原变异[英]／Paul H, Robert P, Christodoulou Z, et al//Proc Natl Acad Sci U S A

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

/pdf/design-fabrication-and-control-of-soft-robots-51z07seyl1.pdf

Design, fabrication and control of soft robots

LTP and LTD: an embarrassment of riches.

The boundary layer equations for plane, incompressible, and steady flow are 

$$\matrix{ {u{{\partial u} \over {\partial x}} + v{{\partial u} \over {\partial y}} = - {1 \over \varrho }{{\partial p} \over {\partial x}} + v{{{\partial ^2}u} \over {\partial {y^2}}},} \cr {0 = {{\partial p} \over {\partial y}},} \cr {{{\partial u} \over {\partial x}} + {{\partial v} \over {\partial y}} = 0.} \cr }$$

Boundary Layer Theory

The glutamate receptors mediate excitatory neurotransmission in the brain and are important in memory acquisition, learning, and some neurodegenerative disorders. This receptor family is classified in three groups: the N-methyl-D-aspartate (NMDA), alpha-amino-3-hydroxy-5-methyl-4-isoxazolepropionate (AMPA)-kainate, and metabotropic receptors. Recent molecular studies have shown that many receptor subtypes exist in all three groups of the receptors and exhibit heterogeneity in function and expression patterns. This article reviews the molecular and functional diversity of the glutamate receptors and discusses their implications for integrative brain function.

https://science.sciencemag.org/content/sci/258/5082/597.full.pdf

Molecular diversity of glutamate receptors and implications for brain function.

Electrical activity in cerebellar cultures determines Purkinje cell dendritic growth patterns

Insects could minimize the high energetic costs of flight in two ways: by employing high-efficiency muscles and by using elastic elements within the thorax to recover energy expended accelerating the wings. However, because muscle efficiency and elastic storage have proven difficult variables to measure, it is not known which of these strategies is actually used. By comparison of mechanical power measurements based on gas exchange with simultaneously measured flight kinematics in Drosophila, a method was developed for determining both the mechanical efficiency and the minimum degree of elastic storage within the flight motor. Muscle efficiency values of 10 percent suggest that insects may minimize energy use in flight by employing an elastic flight motor rather than by using extraordinarily efficient muscles. Further, because of the trade-off between inertial and aerodynamic power throughout the wing stroke, an elastic storage capacity as low as 10 percent may be enough to minimize the energetic costs of flight.

https://science.sciencemag.org/content/sci/268/5207/87.full.pdf

Muscle efficiency and elastic storage in the flight motor of Drosophila.

Flies rely heavily on visual feedback for several aspects of flight control. As a fly approaches an object, the image projected across its retina expands, providing the fly with visual feedback that can be used either to trigger a collision-avoidance maneuver or a landing response. To determine how a fly makes the decision to land on or avoid a looming object, we measured the behaviors generated in response to an expanding image during tethered flight in a visual closed-loop flight arena. During these experiments, each fly varied its wing-stroke kinematics to actively control the azimuth position of a 15°×15° square within its visual field. Periodically, the square symmetrically expanded in both the horizontal and vertical directions. We measured changes in the fly's wing-stroke amplitude and frequency in response to the expanding square while optically tracking the position of its legs to monitor stereotyped landing responses. Although this stimulus could elicit both the landing responses and collision-avoidance reactions, separate pathways appear to mediate the two behaviors. For example, if the square is in the lateral portion of the fly's field of view at the onset of expansion, the fly increases stroke amplitude in one wing while decreasing amplitude in the other, indicative of a collision-avoidance maneuver. In contrast, frontal expansion elicits an increase in wing-beat frequency and leg extension, indicative of a landing response. To further characterize the sensitivity of these responses to expansion rate, we tested a range of expansion velocities from 100 to 10000° s^(-1). Differences in the latency of both the collision-avoidance reactions and the landing responses with expansion rate supported the hypothesis that the two behaviors are mediated by separate pathways. To examine the effects of visual feedback on the magnitude and time course of the two behaviors, we presented the stimulus under open-loop conditions, such that the fly's response did not alter the position of the expanding square. From our results we suggest a model that takes into account the spatial sensitivities and temporal latencies of the collision-avoidance and landing responses, and is sufficient to schematically represent how the fly uses integration of motion information in deciding whether to turn or land when confronted with an expanding object.

/pdf/collision-avoidance-and-landing-responses-are-mediated-by-yjm010tg1l.pdf

Collision-avoidance and landing responses are mediated by separate pathways in the fruit fly, Drosophila melanogaster.

Avoiding predators is an essential behavior in which animals must quickly transform sensory cues into evasive actions. Sensory reflexes are particularly fast in flying insects such as flies, but the means by which they evade aerial predators is not known. Using high-speed videography and automated tracking of flies in combination with aerodynamic measurements on flapping robots, we show that flying flies react to looming stimuli with directed banked turns. The maneuver consists of a rapid body rotation followed immediately by an active counter-rotation and is enacted by remarkably subtle changes in wing motion. These evasive maneuvers of flies are substantially faster than steering maneuvers measured previously and indicate the existence of sensory-motor circuitry that can reorient the fly's flight path within a few wingbeats.

https://science.sciencemag.org/content/sci/344/6180/172.full.pdf

Michael H. Dickinson

Papers

Electrical activity in cerebellar cultures determines Purkinje cell dendritic growth patterns

Muscle efficiency and elastic storage in the flight motor of Drosophila.

Collision-avoidance and landing responses are mediated by separate pathways in the fruit fly, Drosophila melanogaster.

Flies evade looming targets by executing rapid visually directed banked turns.

The Function of Dipteran Flight Muscle