Acceleration Workspace of Cooperating Multi-Finger Robot Systems

We present a mathematical method for acceleration workspace analysis of cooperating multi-finger robot systems using a model of point-contact with friction. A new unified formulation from dynamic equations of cooperating multi-finger robots is derived considering the force and acceleration relationships between the fingers and the object to be handled. From the dynamic equation, maximum translational and rotational acceleration bounds of an object are calculated under given constraints of contact conditions, configurations of fingers, and bounds on the torques of joint actuators for each finger. Here, the rotational acceleration bounds can be applied as an important manipulability index when the multi-finger robot grasps an object. To verify the proposed method, we used a set of case studies with a simple multi-finger mechanism system. The achievable acceleration boundary in task space can be obtained successfully with the proposed method and the acceleration boundary depends on the configurations of fingers.     

Single-molecule FRET reveals the pre-initiation and initiation conformations of influenza virus promoter RNA

Influenza viruses have a segmented viral RNA (vRNA) genome, which is replicated by the viral RNA-dependent RNA polymerase (RNAP). Replication initiates on the vRNA 3′ terminus, producing a complementary RNA (cRNA) intermediate, which serves as a template for the synthesis of new vRNA. RNAP structures show the 3′ terminus of the vRNA template in a pre-initiation state, bound on the surface of the RNAP rather than in the active site; no information is available on 3′ cRNA binding. Here, we have used single-molecule Förster resonance energy transfer (smFRET) to probe the viral RNA conformations that occur during RNAP binding and initial replication. We show that even in the absence of nucleotides, the RNAP-bound 3′ termini of both vRNA and cRNA exist in two conformations, corresponding to the pre-initiation state and an initiation conformation in which the 3′ terminus of the viral RNA is in the RNAP active site. Nucleotide addition stabilises the 3′ vRNA in the active site and results in unwinding of the duplexed region of the promoter. Our data provide insights into the dynamic motions of RNA that occur during initial influenza replication and has implications for our understanding of the replication mechanisms of similar pathogenic viruses.     

Some aspects of the biology and population dynamics of Nasonia vitripennis (Walker) (Hymenoptera: Pteromalidae)

Some aspects of the biology and population dynamics of the chalcid Nasonia vitripennis (Walker) are described.The reproduction capacity and the influence of size and age of the females have been studied, using Calliphora erythrocephala Meig. as the host. The females lay a maximum number of about 30 eggs into one host puparium. Fully parasitized puparia are recognized by females as such. This seems to be the major factor in the determination of the area searched for hosts.Changes in sex ratio of the offspring, in relation to the age and the density of the females are described. Also an influence of the age of the females on the number of offspring entering diapause is reported.

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Zusammenfassung Die beschriebenen Experimente zeigen, dass die Eiproduktion von Nasonia vitripennis in grossem Ausmasse durch das Alter des Muttertieres bedingt ist. Insbesondere während der ersten 4 Tage nach dem Schlüpfen steigt die Produktion schnell von sehr wenig bis zu etwa 100 Eiern pro Tag an (Wirt: Calliphora erythrocephala Meig.). Diese Produktion bleibt einige Tage konstant und nimmt dann langsam ab. Obwohl die individuelle Produktion sehr variabel ist, konnte eine positive Korrelation zwischen der Grösse des Tieres und der Anzahl seiner Nachkommen nachgewiesen werden.Wenn ein Teil der vorhandenen Wirte durch Austrocknen unbrauchbar geworden ist, tritt eine Reduktion der Eiablage auf. Diese Reduktion ist nicht eine Folge von Zeitmangel (verursacht durch das Inspizieren unbrauchbare Wirte), sondern entsteht durch die beschränkte Eiablage-Möglichkeit in einen Wirt. Die Weibchen passen ihre Eiablage der Anzahl der verfügbaren Wirte an. Im Mittel werden die wirte mit nicht mehr als rund 30 Eiern belegt. Eine Reduktion der Nachkommenschaft durch Futterkonkurrenz zwischen den Larven findet nicht statt.Ein Einfluss des Alters der Weibchen auf das Verhältnis der Geschlechter ihrer Nachkommen wird nachgewiesen. Das gefundene Verhältnis (10–15% Männchen) entspricht nicht dem Mechanismus, der von King (1961) für die Berfruchtung vorgeschlagen wird.Durch Mangel an Wirten wird die Anzahl abzulegender Eier reduziert. Eiresorption und damit Steigerung des Anteils der Männchen in der Nachkommenschaft ist die Folge; die ersten Resorptionsstadien werden bei der Eiablage nicht befruchtet, wodurch Männchen entstehen. Die Dichte der Wirte hat also einen Einfluss auf das Geschlechtsverhältnis.Ein dritter Einfluss des Alters der Weibchen besteht in einer Zunahme des Prozentsatzes von Diapauselarven. Bei älteren Weibchen wird eine rasche Änderung von normaler Nachkommenschaft in eine fast nur Diapauselarven umfassende nachgewiesen. Diese Änderung ist nicht die Folge von Futtermangel oder Abkühlung.Die Suchaktivität des Parasiten wird zum grössten Teil durch die Wirtsdichte bedingt. Nasonia-Weibchen bleiben in der Nähe eines Wirtes, bis dieser fast vollständig ausgenutzt ist. Die Weibchen können parasitierte und nichtparasitierte Wirte voneinander unterscheiden und nehmen bei ihrer Suche den ersten freien Wirt an, den sie finden. Dadurch wird die Grösse ihres Wandergebietes durch die Populationsdichte des Wirtes bedingt. Eine zwangsläufige Regulation der Dichte von Wirt und Parasit ist damit aber nicht ausgeschlossen.

     

Monitoring laboratory performance by statistical analysis of rescreening cervical smears

The rescreening of cervical cytology smears, although inadequate both for checking the reliability of an individual screener and for the detection of false negatives, nonetheless represents an indispensable tool for assessing morphologic diagnostic criteria and monitoring laboratory performance. Interobserver and intraobserver concordance in a given laboratory determine the reliability of diagnostic criteria and disclose the possibility of improving diagnostic consistency. The various aspects of rescreening are discussed, and a simple statistical procedure for a quantitative comparison of screening reproducibility is described. This procedure, with calculation of phi-values and mean prevalence rates, was applied to screening and rescreening data from the Cyt-U-Universitair Cytology Laboratory from 1978 to 1983, in which the morphologic findings in each smear were recorded in detail using the QISO (Quality, Infection, Squamous epithelium and Other abnormalities) coding. The reproducibility of the reported presence of endocervical cells not only steadily improved over the years assessed, but also reached a sufficiently high level that diagnostic variability should not hamper its clinical utility. The same was true of the diagnosis of Trichomonas infection and moderate atypia of squamous cells. On the other hand, the reproducibility of the diagnosis of endometrial cells in smears did not significantly improve. However, since the intraobserver concordance on this criterion was good, it seems likely that the definitions of screeners in this area can still be brought into closer agreement. Conversely, the diagnosis of "abnormal endocervical cells" had such a high level of variability even at the intraobserver level as to question its use as a diagnostic criterion. Similar variability was seen in the distinction between atypical squamous metaplasia and mild dysplasia. Use of this statistical technique for the quality control of cytologic diagnoses frees that assessment from histopathologic control, which does not address the problem of variation within the cytologic or histologic diagnoses themselves.     

Modeling of human CCR5 as Target for HIV-I and Virtual Screening with Marine Therapeutic compounds

Marine derivatives are of great pharmaceutical interest as inhibitory compound and search of bioactive compounds from Marine organism which is relatively new to medicinal chemistry. Our main aim in the study is to screen possible inhibitors against CCR5 which acts as co-receptor M-tropic HIV-1, through virtual screening of 122 Marine derived compounds from various organisms known to have biological activity. Homology Model of CCR5 was constructed using MODELLER and the Model was energy minimized and validated using PROCHECK to obtain a stable structure, which was further used for virtual screening of Marine derived compounds through molecular Docking studies using GOLD. The Docked complexes were validated and Enumerated based on the GOLD Scoring function to pick out the best Marine inhibitor based on GOLD score. Thus from the entire 122 Marine compounds which were Docked, we got best 4 of them with optimal GOLD Score. (LAMIVUDINE: 45.0218, BATZELLINE-D: 44.3852.ACYCLOVIR: 43.1362 and THIIOACETAMIDE: 42.7412) Further the Complexes were analyzed through LIGPLOT for their interaction for the 4 best docked Marine compounds. Thus from the Complex scoring and binding ability its deciphered that these Marine compounds could be promising inhibitors for M-tropic HIV-1 using CCR5 as Drug target yet pharmacological studies have to confirm it.     

Variations among cell lines in the synthesis of sphingolipids in de novo and recycling pathways

There are several pathways for the incorporation of sugars into glycosphingolipids (GSL). Sugars can be added to ceramide that contains sphinganine (dihydrosphingosine) synthesized de novo (pathway 1), to ceramide synthesized from sphingoid bases produced by hydrolysis of sphingolipids (pathway 2), and into GSL recycling from the endosomal pathway through the Golgi (pathway 3). We reported previously the surprising observation that SW13 cells, a human adrenal carcinoma cell line, synthesize most of their GSL in pathway 2. We now present data on the synthesis of GSL in four additional cell lines. Approximately 90% of sugar incorporation took place in pathway 2, and 10% or less in pathway 1, in human foreskin fibroblasts and NB41A3 neuroblastoma cells. In contrast, approximately 50-90% of sugar incorporation took place in pathway 1 in C2C12 myoblasts. The C2C12 cells divide more rapidly and synthesize 10-14 times as much GSL as the other three cell lines. In C6 glioma cells, approximately 30% of sugar incorporation occurred in pathway 1 and 60% in pathway 2. There was no relation between the utilization of pathways for GSL and sphingomyelin synthesis in foreskin fibroblasts and C2C12 cells. In both cells pathways 1 and 2 each accounted for 50% of incorporation of choline into sphingomyelin. In five of the six cell lines that we have studied, most GSL synthesis takes place in pathway 2. We suggest that when the need for synthesis is relatively low, as in slowly dividing cells, GSL are synthesized predominantly from sphingoid bases salvaged from the hydrolytic pathway. When cells are dividing more rapidly, the need for increased synthesis is met by upregulating the de novo pathway.      

Book reviews

Book reviewed in this article: W. Engels (Ed.): Social Insects, an evolutionary approach to castes and reproduction. Hölldobler, B & E. O. Wilson, 1990. The ants The biology of the vespine wasps. By Makoto Matsuura and Seiki Yamane.     

Molecular evolution of the MAGUK family in metazoan genomes

Background  

Development, differentiation and physiology of metazoans all depend on cell to cell communication and subsequent intracellular signal transduction. Often, these processes are orchestrated via sites of specialized cell-cell contact and involve receptors, adhesion molecules and scaffolding proteins. Several of these scaffolding proteins important for synaptic and cellular junctions belong to the large family of membrane-associated guanylate kinases (MAGUK). In order to elucidate the origin and the evolutionary history of the MAGUKs we investigated full-length cDNA, EST and genomic sequences of species in major phyla.     

siRNA against presenilin 1 (PS1) down regulates amyloid β42 production in IMR-32 cells

Background  

One of the pathological hallmarks of Alzheimer's disease (AD) is the deposition of the ~4 kDa amyloid β protein (Aβ) within lesions known as senile plaques. Aβ is also deposited in the walls of cerebral blood vessels in many cases of AD. A substantial proportion of the Aβ that accumulates in the AD brain is deposited as Amyloid, which is highly insoluble, proteinaceous material with a β-pleated-sheet conformation and deposited extracellularly in the form of 5-10 nm wide straight fibrils. As γ-secretase catalyzes the final cleavage that releases the Aβ42 or 40 from amyloid β -protein precursor (APP), therefore, it is a potential therapeutic target for the treatment of AD. γ-Secretase cleavage is performed by a high molecular weight protein complex containing presenilins (PSs), nicastrin, Aph-1 and Pen-2. Previous studies have demonstrated that the presenilins (PS1 and PS2) are critical components of a large enzyme complex that performs γ-secretase cleavage.