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The capacity of animals to integrate and respond to multiple hazardous stimuli in the surroundings is crucial for their survival. In mammals, complex evaluations of the environment require large numbers and different subtypes of neurons. The nematodeC. elegansavoid hazardous chemicals they encounter by reversing their direction of movement. How does the worms’ compact nervous system processes the spatial information and directs the change of motion? We show here that a single interneuron, AVA, receives glutamatergic excitatory signals from head sensory neurons and glutamatergic inhibitory signals from the tail sensory neurons. AVA integrates the spatially distinct and opposing cues, whose output instructs the animal’s behavioral decision. We further find that the differential activation of AVA from the head and tail stems from distinct anatomical localization of inhibitory and excitatory glutamate-gated receptors along the AVA process, and from different threshold sensitivities of the sensory neurons to aversive stimuli. Our results thus uncover a cellular mechanism that mediates spatial computation of nociceptive cues for efficient decision-making inC. elegans.

The stable incorporation of transgenes and recombinant DNA material into the host genome is a bottleneck in many bioengineering applications. Due to the low efficiency, identifying the transgenic animals is often a needle in the haystack. Thus, optimal conditions require efficient screening procedures, but also known and safe landing sites that do not interfere with host expression, low input material and strong expression from the new locus. Here, we leverage an existing library of≈300 different loci coding for fluorescent markers that are distributed over all 6 chromosomes inCaenorhabditis elegansas safe harbors for versatile transgene integration sites using CRISPR/Cas9. We demonstrated that a single crRNA was sufficient for cleavage of the target region and integration of the transgene of interest, which can be easily followed by loss of the fluorescent marker. The same loci can also be used for extrachromosomal landing sites and as co-CRISPR markers without affecting body morphology or animal behavior. Thus, our method overcomes the uncertainty of transgene location during random mutagenesis, facilitates easy screening through fluorescence interference and can be used as co-CRISPR markers without further influence in phenotypes.

The visualization of mechanical stress distribution in specific molecular networks within a living and physiologically active cell or animal remains a formidable challenge in mechanobiology. The advent of fluorescence-resonance energy transfer (FRET)-based molecular tension sensors overcame a significant hurdle that now enables us to address previously technically limited questions. Here, we describe a method that uses genetically encoded FRET tension sensors to visualize the mechanics of cytoskeletal networks in neurons of living animals with sensitized emission FRET and confocal scanning light microscopy. This method uses noninvasive immobilization of living animals to image neuronal β-spectrin cytoskeleton at the diffraction limit, and leverages multiple imaging controls to verify and underline the quality of the measurements. In combination with a semiautomated machine-vision algorithm to identify and trace individual neurites, our analysis performs simultaneous calculation of FRET efficiencies and visualizes statistical uncertainty on a pixel by pixel basis. Our approach is not limited to genetically encoded spectrin tension sensors, but can also be used for any kind of ratiometric imaging in neuronal cells both in vivo and in vitro.

Cellular and tissue biosystems emerge from the assembly of their constituent molecules and obtain a set of specific material properties. To measure these properties and understand how they influence cellular function is a central goal of mechanobiology. From a bottoms-up, physics or engineering point-of-view, such systems are a composition of basic mechanical elements. However, the sheer number and dynamic complexity of them, including active molecular machines and their emergent properties, makes it currently intractable to calculate how biosystems respond to forces. Because many diseases result from an aberrant mechanotransduction, it is thus essential to measure this response. Recent advances in the technology of optical tweezers have broadened their scope from single-molecule applications to measurements inside complex cellular environments, even within tissues and animals. Here, we summarize the basic optical trapping principles, implementations and calibration procedures that enable force measurements using optical tweezers directly inside cells of living animals, in combination with complementary techniques. We review their versatility to manipulate subcellular organelles and measure cellular frequency-dependent mechanics in the piconewton force range from microseconds to hours. As an outlook, we address future challenges to fully unlock the potential of optical tweezers for mechanobiology.

A large body of work suggests that biomolecular condensates ensuing from liquid-liquid phase separation mature into various material states. How this aging process is controlled and if the naive and mature phases can have differential functions is currently unknown. Using Caenorhabditis elegans as a model, we show that MEC-2 Stomatin undergoes a rigidity phase transition during maturation from fluid to viscoelastic, glass-like condensates that facilitate either transport or mechanotransduction. This switch is promoted by the SH3 domain of UNC-89/Titin/Obscurin through a direct interaction with MEC-2 and suggests a physiological role for a percolation transition in force transmission during body wall touch. Together, our data demonstrate a novel function for rigidity maturation during mechanotransduction and a previously unidentified role for Titin homologs in neurons.

The application of genetically encoded fluorophores for microscopy has afforded one of the biggest revolutions in the biosciences. Bioluminescence microscopy is an appealing alternative to fluorescence microscopy, because it does not depend on external illumination, and consequently does neither produce spurious background autofluorescence, nor perturb intrinsically photosensitive processes in living cells and animals. The low quantum yield of known luciferases, however, limit the acquisition of high signal-noise images of fast biological dynamics. To increase the versatility of bioluminescence microscopy, we present an improved low-light microscope in combination with deep learning methods to increase the signal to noise ratio in extremely photon-starved samples at millisecond exposures for timelapse and volumetric imaging. We apply our method to image subcellular dynamics in mouse embryonic stem cells, the epithelial morphology during zebrafish development, and DAF-16 FoxO transcription factor shuttling from the cytoplasm to the nucleus under external stress. Finally, we concatenate neural networks for denoising and light-field deconvolution to resolve intracellular calcium dynamics in three dimensions of freely movingCaenorhabditis eleganswith millisecond exposure times. This technology is cost-effective and has the potential to replace standard optical microscopy where external illumination is prohibitive.

SummaryMechanical force is crucial in guiding axon outgrowth, before and after synapse formation. This process is referred to as “stretch-growth”. However, how neurons transduce mechanical inputs into signaling pathways remains poorly understood. Another open question is how stretch-growth is coupled in time with the intercalated addition of new mass along the entire axon. Here, we demonstrate that active mechanical force generated by magnetic nano-pulling induces a remodeling of the axonal cytoskeleton. Specifically, the increase in the axonal density of microtubules leads to an accumulation of organelles and signaling vesicles which, in turn, promotes local translation by increasing the probability of assembly of the “translation factories”. The modulation of axonal transport and local translation sustains enhanced axon outgrowth and synapse maturation.

Underwater robots, including Remote Operating Vehicles (ROV) and Autonomous Underwater Vehicles (AUV), are currently used to support underwater missions that are either impossible or too risky to be performed by manned systems. In recent years the academia and robotic industry have paved paths for tackling technical challenges for ROV/AUV operations. The level of intelligence of ROV/AUV has increased dramatically because of the recent advances in low-power-consumption embedded computing devices and machine intelligence (e.g., AI). Nonetheless, operating precisely underwater is still extremely challenging to minimize human intervention due to the inherent challenges and uncertainties associated with the underwater environments. Proximity operations, especially those requiring precise manipulation, are still carried out by ROV systems that are fully controlled by a human pilot. A workplace-ready and worker-friendly ROV interface that properly simplifies operator control and increases remote operation confidence is the central challenge for the wide adaptation of ROVs. This paper examines the recent advances of virtual telepresence technologies as a solution for lowering the barriers to the human-in-the-loop ROV teleoperation. Virtual telepresence refers to Virtual Reality (VR) related technologies that help a user to feel that they were in a hazardous situation without being present at the actual location. We present a pilot system of using a VR-based sensory simulator to convert ROV sensor data into human-perceivable sensations (e.g., haptics). Building on a cloud server for real-time rendering in VR, a less trained operator could possibly operate a remote ROV thousand miles away without losing the minimum situational awareness. The system is expected to enable an intensive human engagement on ROV teleoperation, augmenting abilities for maneuvering and navigating ROV in unknown and less explored subsea regions and works. This paper also discusses the opportunities and challenges of this technology for ad hoc training, workforce preparation, and safety in the future maritime industry. We expect that lessons learned from our work can help democratize human presence in future subsea engineering works, by accommodating human needs and limitations to lower the entrance barrier.

The sensation of mechanical force underlies many of our daily activities. As the sense of touch determines the quality of life, the subconscious sense of proprioception and visceral mechanosensation is indispensible for survival. Many internal organs change shape, either as an active part of their physiology or passively due to body movements. Importantly, these shape changes need to be sensed and balanced properly to prevent organ failure and dysfunction. Consequently, a failure to properly sense volume changes of internal organs has a huge clinical relevance, manifested by a plethora of congenital and age-related diseases. Here we review novel data on mammalian stretch reception as well as classical studies from insect and nematode proprioceptors with the aim to highlight the missing link between organ-level deformation and mechanosensing on the molecular level.

During the development of a multicellular organism, a single fertilized cell divides and gives rise to multiple tissues with diverse functions. Tissue morphogenesis goes in hand with molecular and structural changes at the single cell level that result in variations of subcellular mechanical properties. As a consequence, even within the same cell, different organelles and compartments resist differently to mechanical stresses; and mechanotransduction pathways can actively regulate their mechanical properties. The ability of a cell to adapt to the microenvironment of the tissue niche thus is in part due to the ability to sense and respond to mechanical stresses. We recently proposed a new mechanosensation paradigm in which nuclear deformation and positioning enables a cell to gauge the physical 3D environment and endows the cell with a sense of proprioception to decode changes in cell shape. In this article, we describe a new method to measure the forces and material properties that shape the cell nucleus inside living cells, exemplified on adherent cells and mechanically confined cells. The measurements can be performed non-invasively with optical traps inside cells, and the forces are directly accessible through calibration-free detection of light momentum. This allows measuring the mechanics of the nucleus independently from cell surface deformations and allowing dissection of exteroceptive and interoceptive mechanotransduction pathways. Importantly, the trapping experiment can be combined with optical microscopy to investigate the cellular response and subcellular dynamics using fluorescence imaging of the cytoskeleton, calcium ions, or nuclear morphology. The presented method is straightforward to apply, compatible with commercial solutions for force measurements, and can easily be extended to investigate the mechanics of other subcellular compartments, e.g., mitochondria, stress-fibers, and endosomes. MK acknowledges financial support from the Spanish Ministry of Economy and Competitiveness through the Plan Nacional (PGC2018-097882-A-I00), FEDER (EQC2018-005048-P), Severo Ochoa program for Centres of Excellence in R&D (CEX2019-000910-S; RYC-2016-21062), from Fundació Privada Cellex, Fundació Mir-Puig, and from Generalitat de Catalunya through the CERCA and Research program (2017 SGR 1012), in addition to funding through ERC (MechanoSystems) and HFSP (CDA00023/2018). V.R. acknowledges support from the Spanish Ministry of Science and Innovation to the EMBL partnership, the Centro de Excelencia Severo Ochoa, MINECO's Plan Nacional (BFU2017-86296-P, PID2020-117011GB-I00) and Generalitat de Catalunya (CERCA). V.V. acknowledges support from the ICFOstepstone PhD Programme funded by the European Union's Horizon 2020 research and innovation program under Marie Skłodowska-Curie grant agreement 665884

Proprioception and visceral mechanosensation provide important information about the location and deformation of the body parts in space and time. These deformations arise from muscle contraction during locomotion, but also from volume changes in organs that are subjected to stresses as a part of their physiological function. These internal morphodynamics give rise to periodic contraction-relaxation cycles with surprisingly constant amplitudes and the maintenance of these optimal driving patterns is remarkably robust against external and internal perturbations. One of the underlying reason for this robustness is an internal feedback mechanism in which specialized sensory cells and neurons signal the mechanical deformation of the inner workings of our organs, from the body to the brain, which subsequently adjust the driver to a predetermined physiological setpoint. Here, we review recent progress in the field of visceral mechanosensation and proprioception in Caenorhabditis elegans and discuss how future studies with this model can be used to gain insight into mechanosensory body-brain interactions in mammals.

Deficiencies in neurotransmission lead to neurological disorders or misinterpretation of perceived threats. To restore defects in cellular communication, we developed a synthetic, photon-assisted synaptic transmission (PhAST) system. PhAST is based on luciferases and channelrhodopsins that enable the transmission of a neuronal state across space, using photons as neurotransmitters. We demonstrate the ability to overcome synaptic barriers and rescue the behavioral deficit of a genetically engineered glutamate mutant with conditional, Ca2+-triggered photon emission between two cognate neurons of theCaenorhabditis elegansnociceptive avoidance circuit. We also deploy these ingredients for asynaptic transmission between two unrelated cells in a sexually dimorphic neuronal network. Functional PhAST could sensitize otherwise poorly responsive males to touch and hence expand the behavioral repertoire. Our study, thus, establishes a powerful framework for complex photon-based communication between neurons in a living animal, that can readily be expanded to synthetic neuronal networks, organoids or non-invasive brain-machine interfaces.

Manipulation of neuronal activity using two-photon excitation of azobenzene photoswitches with near-infrared light has been recently demonstrated, but their practical use in neuronal tissue to photostimulate individual neurons with three-dimensional precision has been hampered by firstly, the low efficacy and reliability of NIR-induced azobenzene photoisomerization compared to one-photon excitation, and secondly, the short cis state lifetime of the two-photon responsive azo switches. Here we report the rational design based on theoretical calculations and the synthesis of azobenzene photoswitches endowed with both high two-photon absorption cross section and slow thermal back-isomerization. These compounds provide optimized and sustained two-photon neuronal stimulation both in light-scattering brain tissue and in Caenorhabditis elegans nematodes, displaying photoresponse intensities that are comparable to those achieved under one-photon excitation. This finding opens the way to use both genetically targeted and pharmacologically selective azobenzene photoswitches to dissect intact neuronal circuits in three dimensions., Two-photon absorption capacity of azobenzene photoswitches usually comes with a reduction in thermal stability. Here, the authors developed photoswitches with high two-photon sensitivity and enhanced cis isomer thermal lifetime for the control of glutamate receptors.

A repetitive gait cycle is an archetypical component within the behavioural repertoire of many if not all animals including humans. It originates from mechanical feedback within proprioceptors to adjust the motorprogram during locomotion and thus leads to a periodic orbit in a low dimensional space. Here, we investigate the mechanics, molecules and neurons responsible for proprioception in Caenorhabditis (C.) elegans to gain insight into how mechanosensation shapes the orbital trajectory to a well-defined limit cycle. We used genome editing, force spectroscopy and multiscale modeling and found that alternating tension and compression with the spectrin network of a single proprioceptor encodes body posture and informs TRP-4/NOMPC and TWK-16/TREK2 homologs of mechanosensitive ion channels during locomotion. In contrast to a widely accepted model of proprioceptive ‘stretch’ reception, we found that proprioceptors activated under compressive stresses in vivo and in vitro, and speculate that this property is conserved across function and species.

This investigation takes the first step toward characterizing autonomous underwater vehicle (AUV) behavior trying to perform station keeping using bioinspired thrusters under the influence of disturbances with multiple amplitudes and frequencies. We describe the similarities between periodic disturbance rejection and the frequency response of the AUV performing oscillating maneuvers, and the significance of maneuvering regimes previously identified for this type of propulsion. We measured the exact position/orientation of the AUV using an underwater motion capture system and provide position data to the AUV controller in real time for feedback control. A wave disturbance generator was developed for this study in order to characterize the vehicle tracking performance in the presence of both high-amplitude low-frequency disturbances and low-amplitude high-frequency disturbances. The bioinspired maneuvering technique is demonstrated to provide adequate control capabilities for both types of disturbances maintaining in all cases position errors less than half the vehicle diameter, and proved especially adept at compensating for low-amplitude high-frequency disturbances, which can be difficult to overcome using traditional marine thrusters.

This study investigates soft composite sheets that undergo significant deformations. The fiber reinforcement in these systems not only increases the stiffness of sheets like a traditional composite, but also controls the relationships between strains in orthogonal planar directions. Such an ability is useful in controlling the deformation of soft robots, and also enhancing the output of soft actuation techniques like electro-active polymer actuators (also called dielectric actuators). The inspiration for this work comes from squid mantle structures that couple orthogonal components of strain using helical fiber reinforcement. The resulting null space of deformations corresponding to the fiber restrictions creates a family of body deformations that optimize propulsion. The strain dynamics in the composite sheet are modeled geometrically from fiber orientations, assuming that the fibers are inextensible. After the strain dynamics have been determined, the stress/strain relationship is modeled by considering the matrix and reinforcing fibers to be two separate homogeneous systems interacting through local stresses. Both steps of this modeling technique are validated experimentally showing planar strains in a preferred direction to be as high as 16 times the resulting planar strain of an equivalent unreinforced sheet by forcing negative strains in the orthogonal planar directions. The work required for deformation is derived from the stress/strain relationship by calculating the strain energy stored in the material, and an optimal balance between increased planar strain output and increased material stiffness is analyzed. It is shown that for the specific materials used to create the soft composite sheets (thermoplastic elastomer with cotton fibers) optimal fiber angles lie between 15° and 25° to minimize work required for deformation, but this optimal range will increase with increasing ratio of fiber to matrix modulus.

The physical microenvironment regulates cell behavior during tissue development and homeostasis. How single cells decode information about their geometrical shape under mechanical stress and physical space constraints within tissues remains largely unknown. Here, using a zebrafish model, we show that the nucleus, the biggest cellular organelle, functions as an elastic deformation gauge that enables cells to measure cell shape deformations. Inner nuclear membrane unfolding upon nucleus stretching provides physical information on cellular shape changes and adaptively activates a calcium-dependent mechanotransduction pathway, controlling actomyosin contractility and migration plasticity. Our data support that the nucleus establishes a functional module for cellular proprioception that enables cells to sense shape variations for adapting cellular behavior to their microenvironment. Funding: V.V. acknowledges support from the ICFOstepstone PhD Programme funded by the European Union’s Horizon 2020 research and innovation program under Marie Skłodowska-Curie grant agreement 665884. F.P. and Q.T.-R. acknowledge grants funded by Ministerio de Ciencia, Innovación y Universidades and Fondo Social Europeo (FSE) (BES2017-080523-SO, PRE2018-084393). M.A.V. acknowledges support from the Spanish Ministry of Science, Education and Universities through grant RTI2018-099718-B-100 and an institutional “Maria de Maeztu Programme” for Units of Excellence in R&D (CEX2018-000792-M) and FEDER funds.S.W. and M.K. acknowledge support from the Spanish Ministry of Economy and Competitiveness through the Severo Ochoa program for Centres of Excellence in R&D (CEX2019-000910-S), from Fundació Privada Cellex, Fundación Mig-Puig, and from Generalitat de Catalunya through the CERCA program and LaserLab (654148). M.K. acknowledges support through Spanish Ministry of Economy and Competitiveness (RYC-2015-17935, EQC2018-005048-P, AEI-010500-2018-228, and PGC2018-097882-A-I00),Generalitat de Catalunya (2017 SGR 1012), the ERC (715243), and the HFSPO (CDA00023/2018). S.W. acknowledges support through the Spanish Ministry of Economy and Competitiveness via MINECO’s Plan Nacional (PGC2018-098532-A-I00). V.R. acknowledges support from the Spanish Ministry of Science and Innovation to the EMBL partnership, the Centro de Excelencia Severo Ochoa, the CERCA Programme/Generalitat de Catalunya, and the MINECO’s Plan Nacional (BFU2017-86296-P)

SUMMARYNeurons are among the most highly polarized cell types. They possess structurally and functionally different processes, axon and dendrites, to mediate information flow through the nervous system. Although it is well known that the microtubule cytoskeleton has a central role in establishing neuronal polarity, how its specific organization is established and maintained is little understood.Using the in vivo model system Caenorhabditis elegans, we found that the highly conserved UNC-119 protein provides a link between the membrane-associated Ankyrin (UNC-44) and the microtubule-associated CRMP (UNC-33). Together they form a periodic membrane-associated complex that anchors axonal and dendritic microtubule bundles to the cell cortex. This anchoring is critical to maintain microtubule organization by opposing kinesin-1 powered microtubule sliding. Disturbing this molecular complex alters neuronal polarity and causes strong developmental defects of the nervous system leading to severely paralyzed animals.

This study lays out a methodology whereby conditions necessary for a vortex ring to separate from the shear flow can be identified by a relationship between characteristic velocities of the jet and the vortex ring along the axis of symmetry. This criterion identifies pinch-off to take place when the velocity induced at the origin of the forming vortex ring surpasses the maximum feeding velocity along the centerline, defined to be twice the piston velocity. A strategy for determining these characteristic velocities purely from the jet driving programs (i.e., without direct knowledge of the state of the leading vortex ring) is presented. A variety of jet driving conditions, including different nozzle geometries (converging radial velocity) and different jet velocity programs, are examined to validate the relationship between pinch-off and the characteristic velocities. These parameters are examined and adjusted independently of each other so that the effect of each jetting parameter can be observed independently. Nozzles which induce a converging radial velocity decrease the jet formation number to approximately two (for nearly constant velocity programs), due to the large increase in vorticity flux without increasing volume flux. Accelerating the jet velocity to compensate for the growing vortex ring substantially increases the formation number of both parallel and converging jet flows. The new centerline velocity criterion coincided very closely with vortex ring pinch-off for all cases tested, validating this criterion as a predictive tool.

Microtubules contribute to many cellular processes, including transport, signaling, and chromosome separation during cell division (Kapitein and Hoogenraad, 2015). They are comprised of αβ‐tubulin heterodimers arranged into linear protofilaments and assembled into tubes. Eukaryotes express multiple tubulin isoforms (Gogonea et al., 1999), and there has been a longstanding debate as to whether the isoforms are redundant or perform specialized roles as part of a tubulin code (Fulton and Simpson, 1976). Here, we use the well‐characterized touch receptor neurons (TRNs) of Caenorhabditis elegans to investigate this question, through genetic dissection of process outgrowth both in vivo and in vitro. With single‐cell RNA-seq, we compare transcription profiles for TRNs with those of two other sensory neurons, and present evidence that each sensory neuron expresses a distinct palette of tubulin genes. In the TRNs, we analyze process outgrowth and show that four tubulins (tba‐1, tba‐2, tbb‐1, and tbb‐2) function partially or fully redundantly, while two others (mec‐7 and mec‐12) perform specialized, context‐dependent roles. Our findings support a model in which sensory neurons express overlapping subsets of tubulin genes whose functional redundancy varies between cell types and in vivo and in vitro contexts.