Measuring the Influence of Environmental Conditions on Automotive Lidar Sensors

Safety validation of automated driving functions is a major challenge that is partly tackled by means of simulation-based testing. The virtual validation approach always entails the modeling of automotive perception sensors and their environment. In the real world, these sensors are exposed to adverse influences by environmental conditions such as rain, fog, snow, etc. Therefore, such influences need to be reflected in the simulation models. In this publication, a novel data set is introduced and analyzed. This data set contains lidar data with synchronized reference measurements of weather conditions from a stationary long-term experiment. Recorded weather conditions comprise fog, rain, snow, and direct sunlight. The data are analyzed by pairing lidar values, such as the number of detections in the atmosphere, with weather parameters such as rain rate in mm/h. This results in expectation values, which can directly be utilized for stochastic modeling or model calibration and validation. The results show vast differences in the number of atmospheric detections, range distribution, and attenuation between the different sensors of the data set.

Structural basis for constitutive activity and agonist-induced activation of the enteroendocrine fat sensor GPR119

BACKGROUND AND PURPOSE

GPR119 is a Gαs-coupled 7TM receptor activated by endogenous lipids such as oleoylethanolamide (OEA) and by the dietary triglyceride metabolite 2-monoacylglycerol. GPR119 stimulates enteroendocrine hormone and insulin secretion. But despite massive drug discovery efforts in the field, very little is known about the basic molecular pharmacology of GPR119.

EXPERIMENTAL APPROACH

GPR119 receptor signalling was studied in transfected cells. Mutational mapping (30 mutations in 23 positions) was performed on residues required for ligand-independent and agonist-induced GPR119 activation (AR231453 and OEA). Novel Rosetta-based receptor modelling was applied, using a composite template approach with segments from different X-ray structures and fully flexible ligand docking.

KEY RESULTS

The increased signalling induced by increasing the cell surface expression of GPR119 in the absence of agonist and the inhibitory effect of two synthetic inverse agonists demonstrated that GRP119 signals with a high degree of constitutive activity through the Gαs pathway. The mutational maps for AR231453 and OEA were very similar and, surprisingly, also similar to the mutational map for residues affecting the constitutive signalling - albeit with key differences. Surprisingly, almost all residues in extracellular loop-2b were important for the constitutive activity. The molecular modelling and docking demonstrated that AR231453 binds in a 'vertical' pocket in between mutational hits reaching from the centre of the receptor out to extracellular loop-2b.

CONCLUSIONS AND IMPLICATIONS

The high constitutive activity of GPR119 should be taken into account in future drug discovery efforts, which can now be guided by the detailed knowledge of the physiochemical properties of the extended ligand-binding pocket.

Molecular determinants of desensitization and assembly of the chimeric GABA(A) receptor subunits (alpha1/gamma2) and (gamma2/alpha1) in combinations with beta2 and gamma2

Two gamma-aminobutyric acid(A) (GABA(A)) receptor chimeras were designed in order to elucidate the structural requirements for GABA(A) receptor desensitization and assembly. The (alpha1/gamma2) and (gamma2/alpha1) chimeric subunits representing the extracellular N-terminal domain of alpha1 or gamma2 and the remainder of the gamma2 or alpha1 subunits, respectively, were expressed with beta2 and beta2gamma2 in Spodoptera frugiperda (Sf-9) cells using the baculovirus expression system. The (alpha1/gamma2)beta2 and (alpha1/gamma2)beta2gamma2 but not the (gamma2/alpha1)beta2 and (gamma2/alpha1)beta2gamma2 subunit combinations formed functional receptor complexes as shown by whole-cell patch-clamp recordings and [3H]muscimol and [3H]flunitrazepam binding. Moreover, the surface immunofluorescence staining of Sf-9 cells expressing the (alpha1/gamma2)-containing receptors was pronounced, as opposed to the staining of the (gamma2/alpha1)-containing receptors, which was only slightly higher than background. To explain this, the (alpha1/gamma2) and (gamma2/alpha1) chimeras may act like alpha1 and gamma2 subunits, respectively, indicating that the extracellular N-terminal segment is important for assembly. However, the (alpha1/gamma2) chimeric subunit had characteristics different from the alpha1 subunit, since the (alpha1/gamma2) chimera gave rise to no desensitization after GABA stimulation in whole-cell patch-clamp recordings, which was independent of whether the chimera was expressed in combination with beta2 or beta2gamma2. Surprisingly, the (alpha1/gamma2)(gamma2/alpha1)beta2 subunit combination did desensitize, indicating that the C-terminal segment of the alpha1 subunit may be important for desensitization. Moreover, desensitization was observed for the (alpha1/gamma2)beta2gamma2 receptor with respect to the direct activation by pentobarbital. This suggests differences in the mechanism of channel activation for pentobarbital and GABA.

Stable GABA(A) receptor intermediates in SF-9 cells expressing alpha1, beta2 and gamma2 subunits

Spodoptera frugiperda insect cells (Sf-9 cells) were used to study GABA(A) receptor assembly. Time courses of the expression level of alpha1beta2 and alpha1beta2gamma2 receptor protein showed [(3)H]muscimol binding to appear 2 hr before [(3)H]flunitrazepam and [(35)S]TBPS binding. This indicates that muscimol may bind to pentamers with an immature conformation or to molecules smaller than the pentamer. Binding studies performed on fractions from sucrose gradients loaded with solubilized alpha1beta2 or alpha1beta2gamma2 containing membranes revealed no binding other than to the pentameric fractions. Western blotting on fractionated sucrose gradients, however, clearly revealed the existence of GABA(A) receptor intermediates. The alpha1 subunit was seen in fractions corresponding to molecules smaller than the pentamer only when co-expressed with gamma2, indicating that the gamma2 subunit is needed for the alpha1 to form relatively long lasting intermediates. Moreover, Western blots revealed multiple isoforms for each subunit. In general, it was primarily the lower molecular weight forms that were detected in the pentameric fractions. The exception being for the alpha1 and gamma2 forms in subunit combinations that did not contain both of these subunits (i.e., alpha1, gamma2, alpha1beta2, beta2gamma2), where higher molecular weight forms were strongly represented. These findings show that alpha1 and gamma2 prefer specific protein forms when expressed together.

Antisense oligonucleotide to GABA(A) receptor gamma2 subunit induces limbic status epilepticus

Gamma-Aminobutyric acid (GABA) is the principal inhibitory neurotransmitter in the brain. A deficiency of GABAergic inhibition mediated via the GABAA receptor complex has for a long time been suspected to be a central factor in epileptogenesis. Status epilepticus is a condition of sustained and prolonged excitation of neuronal circuits, as detected by epileptiform discharges in the electroencephalogram (EEG). Reduction of GABAA receptor-mediated hippocampal inhibition has been implicated in the development of status epilepticus. The present study provides direct evidence of a link between the GABAA receptor and epilepsy. We show that selective inhibition of the expression of the GABAA receptor gamma2 subunit in the rat hippocampus by means of antisense oligonucleotides leads to spontaneous electrographic seizures that evolve into profound limbic status epilepticus, ultimately resulting in severe neurodegenerative changes. Concurrent treatment with diazepam prevents the development of status epilepticus and markedly reduces neuronal cell loss. These findings strongly support the hypothesis that the GABAA receptor is critically involved in the pathogenesis of seizures and status epilepticus.

Effects of gamma-aminobutyric acid (GABA) on synaptogenesis and synaptic function

The correct establishment and function of synapses depend on a variety of factors, such as guidance of pre- and postsynaptic neurons as well as receptor development and localization. gamma-Aminobutyric acid (GABA) has a pronounced effect on these events and elicits differentiation of neurons; that is, GABA acts as a trophic signal. Accordingly, activating preexisting GABA receptors, a trophic GABA signal enhances the growth rate of neuronal processes, facilitates synapse formation, and promotes synthesis of specific proteins. Transcription and de novo synthesis are initiated by the GABA signal, but the intracellular link between GABA receptor activation and DNA transcription is largely unknown. GABA also controls the induction and development of functionally and pharmacologically different GABAA receptor subtypes. The induced receptors are likely to be inserted only into the synaptic membrane domain. However, this ability to target the induced GABAA receptors is probably coupled to the maturation of neurons and not to the action of GABA per se. The induced GABAA receptors apparently mediate a pronounced inhibition of neurotransmitter release, whereas other subtypes of GABAA receptors may be modulatory rather than inhibitory.

Pharmacological and functional implications of developmentally-regulated changes in GABA(A) receptor subunit expression in the cerebellum

The cerebellum undergoes many morphological, pharmacological, and electrophysiological changes during the first 3 weeks of postnatal development. The purpose of this review is to present the most up to date synopsis of the pharmacological and functional changes in, gamma-aminobutyric acid (GABA) type A receptors during this time of cerebellar maturation. Since most of the diversity in cerebellar, GABA(A) receptor pharmacology lies within the granule cell layer, research groups have focused on this area of the cerebellum to study the developmental changes in GABA(A) receptor subunit expression and the neurodifferentiating factors involved in regulating this expression. Thus, it is important to note that developmental changes in GABA(A) receptor composition and its corresponding pharmacology will be essential for determining the type of GABA-mediated transmission that occurs between neuronal contacts in the neonatal and subsequently in the mature cerebellum.

Functional properties of glycine receptors expressed in primary cultures of mouse cerebellar granule cells

Expression of the glycine receptor was investigated in membranes prepared from primary cultures of mouse cerebellar granule cells and postnatal mouse cerebellum using the antagonist [3H]strychnine for ligand binding. Scatchard analysis of the binding data obtained from P17 cerebellum showed a single population of binding sites (K(D) approximately 6 nM) and [3H]strychnine binding to membranes prepared from cultured neurons and P17 cerebellum was found to have the same sensitivity to the glycinergic agonists glycine, beta-alanine and taurine. The development of [3H]strychnine binding sites in cultured cerebellar granule cells and cerebellum showed opposing profiles. [3H]strychnine binding to primary cultures increased significantly during the culture period whereas during development in vivo the number of binding sites decreased over time and was hardly detectable in the adult cerebellum. Release of preloaded D-[3H]aspartate evoked by 40 mM K+ from granule cells cultured for seven days was inhibited by glycine by about 50%. Beginning after seven days in culture the ability of glycine to inhibit transmitter release declined to no inhibition after 17 days in culture. Experiments with the non-competitive antagonist, picrotoxinin, showed no blocking effect of 150 microM picrotoxinin on the glycine-induced inhibition of transmitter release. This contrasted with the inhibitory effect of 100 microM picrotoxinin in whole-cell patch-clamp recordings on responses to 500 microM glycine (56% block). Furthermore, it was demonstrated that the amplitude of the glycine activated peak current had the same size after six to seven days and after 16-17 days in culture. Northern blot analysis, and co-injection of messenger RNA plus antisense oligonucleotides into Xenopus oocytes revealed glycine receptor alpha2 and beta messenger RNAs in the cultured granule cells. These findings suggest that granule cells in culture express glycine receptor isoforms containing alpha2 picrotoxinin-sensitive and alpha2/beta picrotoxinin-insensitive receptors.

Expression of the GABA(A) receptor alpha6 subunit in cultured cerebellar granule cells is developmentally regulated by activation of GABA(A) receptors

Primary cultures of cerebellar granule cells, prepared from cerebella of 7-day-old rats and cultured for 4 or 8 days, were used to study the neurodifferentiative effect of a GABA(A) receptor agonist, 4,5,6,7-tetrahydroisoxazol[5,4-c]pyridin-3-ol (THIP), on the expression of the alpha6 GABA(A) receptor subunit. Membranes prepared from these cultures were photolabeled with the imidazobenzodiazepine [3H]Ro15-4513. In THIP-treated cultures at 4 days in vitro (DIV), photolabeled [3H]Ro15-4513 binding in membranes was significantly increased for both the 51 kilodalton, kDa, (alpha1 subunit) and 56-kDa (alpha6 subunit) radioactive peaks in sodium dodecyl sulfate-polyacrylamide gel electrophoresis (SDS-PAGE). In contrast, THIP-treated granule cells at 8 DIV demonstrated a small but significant decrease from control cultures in the photoincorporation of [3H]Ro15-4513 in the 51-kDa peak; however, no significant change in [3H]Ro15-4513 binding was observed for the 56-kDa polypeptide. Immunolabeling of the alpha6 subunit using silver-enhanced, immuno-gold staining of granule cells showed a significant effect with THIP treatment only at 4 DIV and not at 8 DIV. Examination by light microscopy demonstrated that the major effect of THIP was to increase alpha6 subunit clustering on granule cell bodies as well as neurites, 15-fold and sixfold, respectively. Using in situ hybridization, a small THIP-induced increase in alpha6 mRNA was detected at 4 DIV; however, no effect was apparent at 8 DIV. These data suggest that THIP has a trophic effect on alpha6 subunit expression, and this effect occurs only at an early developmental stage. Moreover, this study presents further evidence for the role of GABA(A) agonists, and thus the neurotransmitter, GABA, in regulating the expression of GABA(A) receptor subunits in the developing cerebellum.

Differential distribution of GABAA receptor subunits in soma and processes of cerebellar granule cells: effects of maturation and a GABA agonist

Quantitative analysis of the density of alpha 1 and beta 2/3 GABAA receptor subunits was performed at the electron microscope level after indirect pre-embedding immunogold labeling with subunit-specific antibodies of rat cerebellar granule cell cultures grown for 4 or 8 days and in the presence or absence of the GABAA receptor agonist 4,5,6,7-tetrahydroisoxazolo[5,4c]pyridin-3-ol (THIP). THIP (150 microM) induced a 2-fold increase in the number of alpha 1 and beta 2/3 subunits in both cell bodies and processes in 4-day-old cultures. Extending the culture period to 8 days led to a polarization of the receptor expression, since the increase in the number of subunits selectively was observed in the processes. Moreover, a general subcellular differentiation of the receptor population was observed in all culture conditions, since the ratio between the two subunits (beta 2/3; alpha 1) was four times higher in cell bodies compared to processes. A detailed analysis of the less mature (4-day-old) cultures revealed the existence of two populations of neurons exhibiting differences in the average number of receptors. During maturation neurons with few receptors developed into cells with a higher density of receptors resulting in a single population of the latter neurons, a process enhanced by exposure to THIP. This may indicate that receptor development is a discontinuous process with individual neurons following different temporal patterns. In double-labeling experiments, a spatially close association of the alpha 1 and beta 2/3 subunits could be seen, but the subunits were more frequently found separated from each other. In spite of the fact that exposure of the neurons to THIP increased the total number of receptor subunits, its presence apparently prevented formation of receptors with this subunit composition. Interestingly, receptor subunit clusters, consisting of alpha 1 alone, were more frequently observed than composite (alpha 1; beta 2/3) clusters. This substantiates the view that receptors not having alpha 1 and beta 2/3 subunits in the same complex may exist.

Role of GABAB receptors in intracellular Ca2+ homeostasis and possible interaction between GABAA and GABAB receptors in regulation of transmitter release in cerebellar granule neurons

The expression of GABAB receptors in cultured mouse cerebellar granule cells was investigated in binding experiments using [3H](S,R)-baclofen as well as in functional assessment of the ability of (R)-baclofen to interact with depolarization (15-40 mM KCl) coupled changes in intracellular Ca2+ homeostasis and neurotransmitter release. In the latter case a possible functional coupling between GABAA and GABAB receptors was investigated. The binding studies showed that the granule cells express specific binding sites for (R)-baclofen. The number of binding sites could be increased by exposure of the cells to the GABAA receptor agonist THIP (4,5,6,7-tetrahydroisoxazolo[5,4-c]pyridin-3-ol) during the culture period. Pretreatment of the neurons with pertussis toxin showed that the GABAB receptors are coupled to G-proteins. This coupling was, however, less pronounced when the cells had been cultured in the presence of THIP. When 45Ca2+ uptake was measured or the intracellular Ca2+ concentration ([Ca2+]i) determined using the fluorescent Ca2+ chelator Fluo-3 it could be demonstrated that culturing the neurons in THIP influences intracellular Ca2+ homeostasis. Moreover, this homeostasis was found to be functionally coupled to the GABAB receptors as (R)-baclofen inhibited depolarization-induced increases in 45Ca2+ uptake and [Ca2+]i. (R)-Baclofen also inhibited K(+)-induced transmitter release from the neurons as monitored by the use of [3H]D-aspartate which labels the neurotransmitter pool of glutamate. Using the selective GABAA receptor agonist isoguvacine it could be demonstrated that the GABAB receptors are functionally coupled to GABAA receptors in the neurons leading to a disinhibitory action of GABAB receptor agonists.

omega-Conotoxin binding sites and regulation of transmitter release in cerebellar granule neurons

The protective action of Ca2+ and a series of other divalent cations on heat inactivation (48 degrees C, 30 min) of [125I]omega-conotoxin (CTX) binding sites was investigated in membranes prepared from rat forebrain. Moreover, the influence of GABA (500 microM) on this protection was studied. Binding of [125I]CTX as well as its inhibitory action on K+ (55 mM) stimulated, Ca(2+)-dependent transmitter release were studied in rat cerebellar granule neurons cultured in the presence or absence of the GABAA receptor against THIP (4,5,6,7-tetrahydroisoxazolo[5,4-c]pyridin-3-ol). In cells cultured in the presence of THIP (150 microM) it was investigated whether the ability of THIP to inhibit evoked transmitter release could be influenced by CTX. Ca2+ and other divalent cations could effectively protect against heat inactivation of [125I]CTX binding sites in rat forebrain membranes, but this protective action was not influenced by the presence of 500 microM GABA. The cultured cerebellar granule neurons exhibited specific binding sites for [125I]CTX, the number of which was independent of exposure of the cells to THIP during the culture period. Evoked transmitter release was inhibited by CTX with an IC50 value of 13 nM. In neurons cultured in the presence of 150 microM THIP, THIP could dose-dependently inhibit evoked transmitter release, but this inhibitory action was not influenced by CTX (20 nM). The results show that cerebellar granule neurons exhibit functionally meaningful CTX binding sites. An association between such sites and GABA receptors is not apparent.

Identification and function of glycine receptors in cultured cerebellar granule cells

Poly(A)+ mRNA was isolated from cultured mouse cerebellar granule cells and injected into Xenopus oocytes. This led to the expression of receptors that evoked large membrane currents in response to glycine. Current-responses were also obtained after application of beta-alanine and taurine, but these were very low relative to that of glycine (maximal beta-alanine and taurine responses were 8 and 3% of that of glycine, respectively). The role of glycine receptors on K(+)-evoked transmitter release in cultured cerebellar granule cells was also assayed. Release of preloaded D-[3H]aspartate evoked by 40 mM K+ was dose dependently inhibited by glycine, and the concentration producing half-maximal inhibition was 50 microM. Taurine, beta-alanine, and the specific GABAA receptor agonist isoguvacine also inhibited K(+)-evoked release, and the maximal inhibition was similar for all agonists (approximately 40%). The EC50 value was 200 microM for taurine, 70 microM for beta-alanine, and 4 microM for isoguvacine. Bicuculline (150 microM) antagonized the inhibitory effect of isoguvacine (150 microM) but not that of glycine (1 mM). In contrast, strychnine (20 microM) antagonized the inhibitory effect of glycine (1 mM) but not that of isoguvacine (150 microM). The pharmacology of the responses to beta-alanine and taurine showed that these agonists activate both glycine and GABAA receptors. The results indicate that cultured cerebellar granule cells translate the gene for the glycine receptor and that activation of glycine receptors produces neuronal inhibition.