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International audience; Animal-inspired mobile robots tend to show remarkable performance in outdoor locomotion and navigation tasks, but a big gap remains between robots and animals in terms of autonomy and endurance. Biomimicry is helping to solve numerous design issues through a better understanding of how animals move. Insect-inspired robots, in particular, can be built to interact with uneven terrains which are difficult to traverse for other robots, and bio-inspired robots designed to overcome the technological limitations of artificial systems are also valuable models for biologists in better understanding the behavior of animals. Therefore, exploring the limitations caused by mimicking insects of a few millimeters with robots measuring several centimeters becomes relevant. In this study, we first present two test benches used to investigate leg movement: one used to characterize that of an ant and the other that of a robotic leg. By comparing this multiscale data, we discuss the significance and relevance of these measurements in evaluating the robotic performance.

1AbstractTeam lifting is a complex and collective motor task that possesses both motor and cognitive components. The purpose of this study was to investigate to what extent the biomechanics of a collective load carriage is affected when a dyad of individuals is performing a carrying task with an additional accuracy constraint. Ten dyads performed a first condition in which they collectively transported a load (CC), and a second one in which they transported the same load while maintaining a ball in a target position on its top (PC).The recovery-rate, amplitude, and period of the center-of-mass (COM) trajectory were computed for the whole system (dyad + table = PACS). We analyzed the forces and moments exerted at each joint of the upper limbs of the subjects. We observed a decrease in the overall performance of the dyads when the Precision task was added, i.e., i) the velocity and amplitude of CoMPACS decreased by 1,7% and 5,8%, respectively, ii) inter-subject variability of the Moment-Cost-Function decreased by 95% and recovery rate decreased by 19,2% during PC. A kinetic synergy analysis showed that the subjects reorganized their coordination in the PC.Our results demonstrate that adding a precision task affects the economy of collective load carriage. Notwithstanding, the joint moments at the upper-limbs are better balanced and co-vary more across the paired subjects during the precision task. Our study results may find applications in domains such as Ergonomics, Robotics-developments, and Rehabilitation.

We evaluated menaquinone contents in a large set of 62 fermented dairy products samples by using a new liquid chromatography method for accurate quantification of lipo-soluble vitamin K(2), including distribution of individual menaquinones. The method used a simple and rapid purification step to remove matrix components in various fermented dairy products 3 times faster than a reference preparation step. Moreover, the chromatography elution time was significantly shortened and resolution and efficiency were optimized. We observed wide diversity of vitamin K(2) contents in the set of fermented dairy products, from undetectable to 1,100 ng/g of product, and a remarkable diversity of menaquinone forms among products. These observations relate to the main microorganism species currently in the different fermented product technologies. The major form in this large set of fermented dairy products was menaquinone (MK)-9, and contents of MK-9 and MK-8 forms were correlated, that of MK-9 being around 4 times that of MK-8, suggesting that microorganisms able to produce MK-9 also produce MK-8. This was not the case for the other menaquinones, which were produced independently of each other. Finally, no obvious link was established between MK-9 content and fat content or pH of the fermented dairy products.

Streptococcus thermophilus is a lactic acid bacterium of major importance to the dairy industry as it is found in numerous cheeses and is one of the two bacterial species involved in the fermentation of yogurt. Bacterial two-component signal transduction systems (TCSs) play important roles in the process of bacterial environmental adaptation. S. thermophilus LMD-9 possesses eight such TCS systems; however, their functions have thus far been only poorly investigated. Here, we focused on two of the TCSs in LMD-9, TCS06 and TCS07, whose encoding genes are located close to each other on the chromosome, and are associated with those of ABC transporters. TCS06 homologs are frequently found in Lactobacillales, but their function has not yet been determined, while TCS07 and its upstream potential ABC transporter are homologous to the BceRS/AB system, which is involved in bacitracin resistance in Bacillus and Streptococcus species. To investigate the function(s) of TCS06 and TCS07, we constructed and characterized deletion mutants and performed transcriptional analysis in the presence and absence of bacitracin. We show here that both TCS06 and TCS07 regulate the genes in their close vicinity, in particular those encoding ABC transporters. We propose that the response of S. thermophilus to bacitracin includes i) a bacitracin export system, regulated by TCS07 and constituting a BceRS/AB-like detoxification module, and ii) the modification of cell-envelope properties via modulation of rhamnose–glucose polysaccharide synthesis, at least partially regulated by TCS06.

The lactic acid bacterium Streptococcus thermophilus (S. thermophilus) is widely used in the dairy industry. As a food bacterium, it has to cope with changing environments such as milk, yogurt, as well as the digestive tract, after the product has been ingested. In bacteria, two-component systems (TCS) are one of the most prevalent mechanisms to sense and respond appropriately to a wide range of signals. They are typically composed of a sensor kinase (HK) that detects a stimulus and a response regulator (RR) which acts as a transcriptional regulator. Our objective was to make an inventory of the TCS present in S. thermophilus LMD-9 and investigate the contribution of each TCS to LMD-9 growth in milk. For that purpose, we performed in silico, transcriptomic as well as functional analysis. The LMD-9 genome presented 6 complete TCS with both HK and RR (TCS 2, 4, 5, 6, 7, and 9) and 2 orphan RRs (RR01 and 08) with truncated HK. Our in silico analysis revealed that for 5 TCS out of the 8, orthologs with known functions were found in other bacterial species whereas for TCS02, 4 and 6 the function of the orthologs are unidentified. Transcriptomic studies (using quantitative PCR) revealed that all S. thermophilus LMD-9 response regulator genes were expressed in milk; they were expressed at different levels and with different profiles during growth. In mixed culture with Lactobacillus delbrueckii subsp. bulgaricus (L. bulgaricus), the S. thermophilus partner in yogurt, the expression of four S. thermophilus LMD-9 response regulator increased; two of them, rr02 and rr09, increased by a factor of 6. These results indicate that the presence of L. bulgaricus induces regulatory changes in S. thermophilus. We also demonstrated that a response regulator (rr02) can exert its regulatory function on its target genes even when expressed at very low levels. We showed that RR05--an ortholog of Bacillus subtilis YycF or Staphylococcus aureus WalR--was essential for the growth of S. thermophilus. For the 7 other RRs, the absence of a single response regulator gene was insufficient to notably impact the growth of LMD-9 in milk, with or without supplementation with purines, formate, or stress agents (lactate, H2O2). We demonstrated here that the 8 response regulators of LMD-9 are expressed--and thus potentially active--during growth in milk and suggested that the response regulators have possibly overlapping regulons and/or functions not essential under the conditions tested.

Six Leuconostoc œnos strains were used to study the effect of the deficiency of one amino acid on growth, heterofermentative pathway and malolactic fermentation. All strains had an absolute requirement for four amino acids (isoleucine, glutamic acid, tryptophan and arginine) and needed six other amino acids (valine, methionine, cysteine, leucine, aspartic acid and histidine) for optimum growth. Each deficiency in one amino acid had a particular effect on D-glucose utilization. Overproduction and underproduction of D-lactic acid were observed. The rate of L-malic acid consumption in media deficient in one amino acid was lower than in the complete medium with all amino acids. Although some deficiencies (glycine, phenylalanine, proline or tyrosine) had no influence on the growth, they noticeably limited the malolactic fermentation.

aeres : ACL; International audience; Although redox potential is very rarely taken into account in food fermentation it could be as influential as pH on bacterial activities. Lactococcus lactis is already known to exhibit a powerful reducing activity in milk but its reduction activity was shown to occur prior to its acidification activity with a potential interaction between these two lactococcal activities. Therefore, acidification lag-type phase could be shortened by decreasing the redox potential of milk before inoculation. As the redox potential is highly dependent on the dissolved oxygen level, our objective was to study their separate and combined influences on acidification and growth kinetics of pure L. lactis strains in milk. Results showed that high level of dissolved oxygen is significantly more influential on growth, and even more on acidification kinetics, than initial decreased redox potential of milk. Reduction of milk was drastic and mostly due to bacterial activity. The redox potential of milk only dropped when dissolved oxygen was entirely consumed. When there was no dissolved oxygen from the beginning, L. lactis immediately decreased the redox potential of milk and acidified afterwards. When the level of dissolved oxygen was initially high, acidification and reduction of milk occurred at the same time. Acidification kinetics was then biphasic with a slower rate during the aerobic stage and a faster rate during the anaerobic stage. The seven strains tested demonstrated diversity in both their acidification kinetics and their adaptation to high level of dissolved oxygen, independent of their growth kinetics. To conclude, we have shown that the level of dissolved oxygen in milk has a dramatic influence on acidification kinetics and could be used to control acidification kinetics in dairy industries.

International audience

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