Manipulation and Motion of Organelles and Single Molecules in Living Cells

DEFF Research Database (Denmark)

Norregaard, Kamilla; Metzler, Ralf; Ritter, Christine M.

2017-01-01

used force spectroscopy techniques, namely optical tweezers, magnetic tweezers, and atomic force microscopy, are described in detail, and their strength and limitations related to in vivo experiments are discussed. Finally, recent exciting discoveries within the field of in vivo manipulation...... driving many cellular processes. The forces on a molecular scale are exactly in the range that can be manipulated and probed with single molecule force spectroscopy. The natural environment of a biomolecule is inside a living cell, hence, this is the most relevant environment for probing their function...

Towards Controlled Single-Molecule Manipulation Using “Real-Time” Molecular Dynamics Simulation: A GPU Implementation

Directory of Open Access Journals (Sweden)

Dyon van Vreumingen

2018-05-01

Full Text Available Molecular electronics saw its birth with the idea to build electronic circuitry with single molecules as individual components. Even though commercial applications are still modest, it has served an important part in the study of fundamental physics at the scale of single atoms and molecules. It is now a routine procedure in many research groups around the world to connect a single molecule between two metallic leads. What is unknown is the nature of this coupling between the molecule and the leads. We have demonstrated recently (Tewari, 2018, Ph.D. Thesis our new setup based on a scanning tunneling microscope, which can be used to controllably manipulate single molecules and atomic chains. In this article, we will present the extension of our molecular dynamic simulator attached to this system for the manipulation of single molecules in real time using a graphics processing unit (GPU. This will not only aid in controlled lift-off of single molecules, but will also provide details about changes in the molecular conformations during the manipulation. This information could serve as important input for theoretical models and for bridging the gap between the theory and experiments.

A study on AFM manipulation of single-wall carbon nanotube

Energy Technology Data Exchange (ETDEWEB)

Tian Xiaojun; Dong Zaili; Yu Peng; Liu Zhu [State Key Lab. of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 (China)], E-mail: xjtian@sia.cn

2009-09-01

As single-wall carbon nanotube (SWCNT) has special electrical and physical property, it can be used as excellent material to construct various nano electronic device. However, in the fabrication process, the modification of size, shape and even the electronic property, especially to the metallic SWCNT, is a key problem to be overcome. Here a modified nanomanipulation technology based on atomic force microscope (AFM) is utilized to perform various kinds of SWCNT manipulation, such as SWCNT separation, catalyst remove, continual nano buckles fabrication and even stretch to break, thus to modify the size, shape and eventually the electrical property of the SWCNT. In addition, the manipulation results are analyzed based on the mechanical mechanism.

Assembling three-dimensional nanostructures on metal surfaces with a reversible vertical single-atom manipulation: A theoretical modeling

International Nuclear Information System (INIS)

Yang Tianxing; Ye Xiang; Huang Lei; Xie Yiqun; Ke Sanhuang

2012-01-01

Highlights: ► We simulate the reversible vertical single-atom manipulations on several metal surfaces. ► We propose a method to predict whether a reversible vertical single-atom manipulation can be successful on several metal surfaces. ► A 3-dimensional Ni nanocluster is assembled on the Ni(1 1 1) surface using a Ni trimer-apex tip. - Abstract: We propose a theoretical model to show that pulling up an adatom from an atomic step requires a weaker force than from the flat surfaces of Al(0 0 1), Ni(1 1 1), Pt(1 1 0) and Au(1 1 0). Single adatom in the atomic step can be extracted vertically by a trimer-apex tip while can be released to the flat surface. This reversible vertical manipulation can then be used to fabricate a supported three-dimensional (3D) nanostructure on the Ni(1 1 1) surface. The present modeling can be used to predict whether the reversible vertical single-atom manipulation and thus the assembling of 3D nanostructures can be achieved on a metal surface.

Toward single enzyme analysis in a droplet-based micro and nanofluidic system

NARCIS (Netherlands)

Arayanarakool, Rerngchai

2012-01-01

In this thesis, we have demonstrated the application of micro- and nanofluidic devices to generate an array of aqueous droplets in oil phase for single-enzyme encapsulation and activity measurement. We chose droplet-based microfluidics for this purpose of monitoring single-enzyme reactions since the

Mouse manipulation through single-switch scanning.

Science.gov (United States)

Blackstien-Adler, Susie; Shein, Fraser; Quintal, Janet; Birch, Shae; Weiss, Patrice L Tamar

2004-01-01

Given the current extensive reliance on the graphical user interface, independent access to computer software requires that users be able to manipulate a pointing device of some type (e.g., mouse, trackball) or be able to emulate a mouse by some other means (e.g., scanning). The purpose of the present study was to identify one or more optimal single-switch scanning mouse emulation strategies. Four alternative scanning strategies (continuous Cartesian, discrete Cartesian, rotational, and hybrid quadrant/continuous Cartesian) were selected for testing based on current market availability as well as on theoretical considerations of their potential speed and accuracy. Each strategy was evaluated using a repeated measures study design by means of a test program that permitted mouse emulation via any one of four scanning strategies in a motivating environment; response speed and accuracy could be automatically recorded and considered in view of the motor, cognitive, and perceptual demands of each scanning strategy. Ten individuals whose disabilities required them to operate a computer via single-switch scanning participated in the study. Results indicated that Cartesian scanning was the preferred and most effective scanning strategy. There were no significant differences between results from the Continuous Cartesian and Discrete Cartesian scanning strategies. Rotational scanning was quite slow with respect to the other strategies, although it was equally accurate. Hybrid Quadrant scanning improved access time but at the cost of fewer correct selections. These results demonstrated the importance of testing and comparing alternate single-switch scanning strategies.

Manipulation and control of a single molecular rotor on Au (111) surface

International Nuclear Information System (INIS)

Hai-Gang, Zhang; Jin-Hai, Mao; Qi, Liu; Nan, Jiang; Hai-Tao, Zhou; Hai-Ming, Guo; Dong-Xia, Shi; Hong-Jun, Gao

2010-01-01

Three different methods are used to manipulate and control phthalocyanine based single molecular rotors on Au (111) surface: (1) changing the molecular structure to alter the rotation potential; (2) using the tunnelling current of the scanning tunnelling microscope (STM) to change the thermal equilibrium of the molecular rotor; (3) artificial manipulation of the molecular rotor to switch the rotation on or off by an STM tip. Furthermore, a molecular 'gear wheel' is successfully achieved with two neighbouring molecules. (cross-disciplinary physics and related areas of science and technology)

Manipulating localized molecular orbitals by single-atom contacts.

Science.gov (United States)

Wang, Weihua; Shi, Xingqiang; Lin, Chensheng; Zhang, Rui Qin; Minot, Christian; Van Hove, Michel A; Hong, Yuning; Tang, Ben Zhong; Lin, Nian

2010-09-17

We have fabricated atom-molecule contacts by attachment of single Cu atoms to terpyridine side groups of bis-terpyridine tetra-phenyl ethylene molecules on a Cu(111) surface. By means of scanning tunneling microscopy, spectroscopy, and density functional calculations, we have found that, due to the localization characteristics of molecular orbitals, the Cu-atom contact modifies the state localized at the terpyridine side group which is in contact with the Cu atom but does not affect the states localized at other parts of the molecule. These results illustrate the contact effects at individual orbitals and offer possibilities to manipulate orbital alignments within molecules.

Single-molecule imaging and manipulation of biomolecular machines and systems.

Science.gov (United States)

Iino, Ryota; Iida, Tatsuya; Nakamura, Akihiko; Saita, Ei-Ichiro; You, Huijuan; Sako, Yasushi

2018-02-01

Biological molecular machines support various activities and behaviors of cells, such as energy production, signal transduction, growth, differentiation, and migration. We provide an overview of single-molecule imaging methods involving both small and large probes used to monitor the dynamic motions of molecular machines in vitro (purified proteins) and in living cells, and single-molecule manipulation methods used to measure the forces, mechanical properties and responses of biomolecules. We also introduce several examples of single-molecule analysis, focusing primarily on motor proteins and signal transduction systems. Single-molecule analysis is a powerful approach to unveil the operational mechanisms both of individual molecular machines and of systems consisting of many molecular machines. Quantitative, high-resolution single-molecule analyses of biomolecular systems at the various hierarchies of life will help to answer our fundamental question: "What is life?" This article is part of a Special Issue entitled "Biophysical Exploration of Dynamical Ordering of Biomolecular Systems" edited by Dr. Koichi Kato. Copyright © 2017 Elsevier B.V. All rights reserved.

Optical determination and magnetic manipulation of a single nitrogen-vacancy color center in diamond nanocrystal

International Nuclear Information System (INIS)

Diep Lai, Ngoc; Zheng, Dingwei; Treussart, François; Roch, Jean-François

2010-01-01

The controlled and coherent manipulation of individual quantum systems is fundamental for the development of quantum information processing. The nitrogen-vacancy (NV) color center in diamond is a promising system since its photoluminescence is perfectly stable at room temperature and its electron spin can be optically read out at the individual level. We review here the experiments currently realized in our laboratory concerning the use of a single NV color center as the single photon source and the coherent magnetic manipulation of the electron spin associated with a single NV color center. Furthermore, we demonstrate a nanoscopy experiment based on the saturation absorption effect, which allows to optically pin-point a single NV color center at sub-λ resolution. This offers the possibility to independently address two or multiple magnetically coupled single NV color centers, which is a necessary step towards the realization of a diamond-based quantum computer

Spectroscopy and coherent manipulation of single and coupled flux qubits

International Nuclear Information System (INIS)

Wu Yu-Lin; Deng Hui; Huang Ke-Qiang; Tian Ye; Yu Hai-Feng; Xue Guang-Ming; Jin Yi-Rong; Li Jie; Zhao Shi-Ping; Zheng Dong-Ning

2013-01-01

Measurements of three-junction flux qubits, both single flux qubits and coupled flux qubits, using a coupled direct current superconducting quantum interference device (dc-SQUID) for readout are reported. The measurement procedure is described in detail. We performed spectroscopy measurements and coherent manipulations of the qubit states on a single flux qubit, demonstrating quantum energy levels and Rabi oscillations, with Rabi oscillation decay time T Rabi = 78 ns and energy relaxation time T 1 = 315 ns. We found that the value of T Rabi depends strongly on the mutual inductance between the qubit and the magnetic coil. We also performed spectroscopy measurements on inductively coupled flux qubits. (general)

Single-enzyme analysis in a droplet-based micro- and nanofluidic system

NARCIS (Netherlands)

Arayanarakool, Rerngchai; Shui, Lingling; Kengen, Servé W.M.; van den Berg, Albert; Eijkel, Jan C.T.

2013-01-01

The kinetic activity of individual enzyme molecules was determined in aqueous droplets generated in a nano- and microfluidic device. To avoid high background noise, the enzyme and substrate solution was confined into femtoliter carriers, achieving high product concentrations from single-molecule

Physical manipulation of single-molecule DNA using microbead and its application to analysis of DNA-protein interaction

International Nuclear Information System (INIS)

Kurita, Hirofumi; Yasuda, Hachiro; Takashima, Kazunori; Katsura, Shinji; Mizuno, Akira

2009-01-01

We carried out an individual DNA manipulation using an optical trapping for a microbead. This manipulation system is based on a fluorescent microscopy equipped with an IR laser. Both ends of linear DNA molecule were labeled with a biotin and a thiol group, respectively. Then the biotinylated end was attached to a microbead, and the other was immobilized on a thiol-linkable glass surface. We controlled the form of an individual DNA molecule by moving the focal point of IR laser, which trapped the microbead. In addition, we applied single-molecule approach to analyze DNA hydrolysis. We also used microchannel for single-molecule observation of DNA hydrolysis. The shortening of DNA in length caused by enzymatic hydrolysis was observed in real-time. The single-molecule DNA manipulation should contribute to elucidate detailed mechanisms of DNA-protein interactions

Single-cell manipulation and DNA delivery technology using atomic force microscopy and nanoneedle.

Science.gov (United States)

Han, Sung-Woong; Nakamura, Chikashi; Miyake, Jun; Chang, Sang-Mok; Adachi, Taiji

2014-01-01

The recent single-cell manipulation technology using atomic force microscopy (AFM) not only allows high-resolution visualization and probing of biomolecules and cells but also provides spatial and temporal access to the interior of living cells via the nanoneedle technology. Here we review the development and application of single-cell manipulations and the DNA delivery technology using a nanoneedle. We briefly describe various DNA delivery methods and discuss their advantages and disadvantages. Fabrication of the nanoneedle, visualization of nanoneedle insertion into living cells, DNA modification on the nanoneedle surface, and the invasiveness of nanoneedle insertion into living cells are described. Different methods of DNA delivery into a living cell, such as lipofection, microinjection, and nanoneedles, are then compared. Finally, single-cell diagnostics using the nanoneedle and the perspectives of the nanoneedle technology are outlined. The nanoneedle-based DNA delivery technology provides new opportunities for efficient and specific introduction of DNA and other biomolecules into precious living cells with a high spatial resolution within a desired time frame. This technology has the potential to be applied for many basic cellular studies and for clinical studies such as single-cell diagnostics.

Lateral manipulation of small clusters on the Cu and Ag(1 1 1) surfaces with the single-atom and trimer-apex tips: Reliability study

International Nuclear Information System (INIS)

Xie Yiqun; Liu Fen; Huang Lei

2010-01-01

We study the reliability of the lateral manipulation of small Cu clusters (dimer and trimer) on the flat Cu(1 1 1) surface with both the single-atom and trimer-apex tips and that for the Ag/Ag(1 1 1) system, and compare the results between the two systems as well as with the single-atom manipulation on these surfaces. Manipulations are simulated using molecular statics method with semi-empirical potentials. The dependence of the manipulation reliability on the tip height and tip orientation are investigated. Overall, the manipulation reliability increases with decreasing tip height although it depends obviously on the tip orientation. For the Cu/Cu(1 1 1) system, the manipulation of the dimmer and trimer can be successful with both tips. The manipulation reliability can be improved by the trimer-apex tip, and the tip-height range for the successful manipulation is also broader, as compared to the single-atom apex tip. Differently from the single-atom manipulation, the tip orientation has a noticeable influence on the manipulation reliability even for the single-atom tip due to the stronger tip-cluster and surface-adatom interactions in cluster manipulation. For the Ag/Ag(1 1 1) system, successful manipulations only be achieved with the trimer-apex tip, and the manipulation reliability is worse than that of the Cu/Cu(1 1 1) system, indicating the difference in mechanic properties between the two surfaces at the atomic level.

Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film.

Science.gov (United States)

Zhu, Benpeng; Xu, Jiong; Li, Ying; Wang, Tian; Xiong, Ke; Lee, Changyang; Yang, Xiaofei; Shiiba, Michihisa; Takeuchi, Shinichi; Zhou, Qifa; Shung, K Kirk

2016-03-01

Single-beam acoustic tweezers (SBAT), used in laboratory-on-a-chip (LOC) device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d 33 = 270pC/N and k t = 0.51) was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50MHz, a low f-number (∼0.9), demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications.

Monitoring single membrane protein dynamics in a liposome manipulated in solution by the ABELtrap

Science.gov (United States)

Rendler, T.; Renz, M.; Hammann, E.; Ernst, S.; Zarrabi, N.; Börsch, M.

2011-02-01

FoF1-ATP synthase is the essential membrane enzyme maintaining the cellular level of adenosine triphosphate (ATP) and comprises two rotary motors. We measure subunit rotation in FoF1-ATP synthase by intramolecular Foerster resonance energy transfer (FRET) between two fluorophores at the rotor and at the stator of the enzyme. Confocal FRET measurements of freely diffusing single enzymes in lipid vesicles are limited to hundreds of milliseconds by the transit times through the laser focus. We evaluate two different methods to trap the enzyme inside the confocal volume in order to extend the observation times. Monte Carlo simulations show that optical tweezers with low laser power are not suitable for lipid vesicles with a diameter of 130 nm. A. E. Cohen (Harvard) and W. E. Moerner (Stanford) have recently developed an Anti-Brownian electrokinetic trap (ABELtrap) which is capable to apparently immobilize single molecules, proteins, viruses or vesicles in solution. Trapping of fluorescent particles is achieved by applying a real time, position-dependent feedback to four electrodes in a microfluidic device. The standard deviation from a given target position in the ABELtrap is smaller than 200 nm. We develop a combination of the ABELtrap with confocal FRET measurements to monitor single membrane enzyme dynamics by FRET for more than 10 seconds in solution.

Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film

Directory of Open Access Journals (Sweden)

Benpeng Zhu

2016-03-01

Full Text Available Single-beam acoustic tweezers (SBAT, used in laboratory-on-a-chip (LOC device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d33 = 270pC/N and kt = 0.51 was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50MHz, a low f-number (∼0.9, demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications.

Micro-particle manipulation by single beam acoustic tweezers based on hydrothermal PZT thick film

Energy Technology Data Exchange (ETDEWEB)

Zhu, Benpeng, E-mail: benpengzhu@hust.edu.cn [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); State Key Laboratory of Transducer Technology, Chinese Academy of Sciences, Shanghai 200050 (China); Xu, Jiong; Yang, Xiaofei [School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074 (China); Li, Ying; Lee, Changyang; Zhou, Qifa; Shung, K. Kirk [Department of Biomedical Engineering and NIH Transducer Resource Center, University of Southern California, Los Angeles, California 90089-1111 (United States); Wang, Tian; Xiong, Ke [Department of Physics and Key Laboratory of Acoustic and Photonic Materials and Devices of Ministry of Education, Wuhan University, Wuhan 430072 (China); Shiiba, Michihisa; Takeuchi, Shinichi [Medical Engineering Course, Graduate School of Engineering, Toin University of Yokohama, Yokohama 225-8501 (Japan)

2016-03-15

Single-beam acoustic tweezers (SBAT), used in laboratory-on-a-chip (LOC) device has promising implications for an individual micro-particle contactless manipulation. In this study, a freestanding hydrothermal PZT thick film with excellent piezoelectric property (d{sub 33} = 270 pC/N and k{sub t} = 0.51) was employed for SBAT applications and a press-focusing technology was introduced. The obtained SBAT, acting at an operational frequency of 50 MHz, a low f-number (∼0.9), demonstrated the capability to trap and manipulate a micro-particle sized 10μm in the distilled water. These results suggest that such a device has great potential as a manipulator for a wide range of biomedical and chemical science applications.

Core-state manipulation of single Fe impurities in GaAs with a scanning tunneling microscope

NARCIS (Netherlands)

Bocquel, J.; Kortan, V.R.; Sahin, C.; Campion, R.P.; Gallagher, B.L.; Flatte, M.E.; Koenraad, P.M.

2013-01-01

We demonstrate that a scanning tunneling microscope tip can be used to manipulate the tightly bound core (d-electron) state of single Fe ions embedded in GaAs. Increasing tip-sample voltage removes one d electron from the core of a single Fe, changing the dopant from the (Fe2+)(-) ionized acceptor

Intelligent tuning of vibration mitigation process for single link manipulator using fuzzy logic

Directory of Open Access Journals (Sweden)

Ahmed A. Ali

2017-08-01

Full Text Available In this work, active vibration mitigation for smart single link manipulator is presented. Two piezoelectric transducers were utilized to act as actuator and sensor respectively. Classical Proportional (P controller was tested numerically and experimentally. The comparison between measured results showed good agreement. The proposed work includes the introducing of fuzzy logic for tuning controller's gain within finite element method. Classical Proportional-Integral (PI, Fuzzy-P and Fuzzy-PI controllers were totally integrated as a series of [IF-Then] states and solved numerically by using Finite Element (FE solver (ANSYS. Proposed method will pave the way on solving the tuning process totally within single FE solver with high efficiency. Proposed method satisfied mitigation in the overall free response with about 52% and 74% of the manipulator settling time when Fuzzy-P and Fuzzy-PI controllers were activated respectively. This contribution can be utilized for many other applications related to fuzzy topics.

Three-dimensional manipulation of single cells using surface acoustic waves.

Science.gov (United States)

Guo, Feng; Mao, Zhangming; Chen, Yuchao; Xie, Zhiwei; Lata, James P; Li, Peng; Ren, Liqiang; Liu, Jiayang; Yang, Jian; Dao, Ming; Suresh, Subra; Huang, Tony Jun

2016-02-09

The ability of surface acoustic waves to trap and manipulate micrometer-scale particles and biological cells has led to many applications involving "acoustic tweezers" in biology, chemistry, engineering, and medicine. Here, we present 3D acoustic tweezers, which use surface acoustic waves to create 3D trapping nodes for the capture and manipulation of microparticles and cells along three mutually orthogonal axes. In this method, we use standing-wave phase shifts to move particles or cells in-plane, whereas the amplitude of acoustic vibrations is used to control particle motion along an orthogonal plane. We demonstrate, through controlled experiments guided by simulations, how acoustic vibrations result in micromanipulations in a microfluidic chamber by invoking physical principles that underlie the formation and regulation of complex, volumetric trapping nodes of particles and biological cells. We further show how 3D acoustic tweezers can be used to pick up, translate, and print single cells and cell assemblies to create 2D and 3D structures in a precise, noninvasive, label-free, and contact-free manner.

Preparation, Single-Molecule Manipulation, and Energy Transfer Investigation of a Polyfluorene-graft-DNA polymer.

Science.gov (United States)

Madsen, Mikael; Christensen, Rasmus S; Krissanaprasit, Abhichart; Bakke, Mette R; Riber, Camilla F; Nielsen, Karina S; Zelikin, Alexander N; Gothelf, Kurt V

2017-08-04

Conjugated polymers have been intensively studied due to their unique optical and electronic properties combined with their physical flexibility and scalable bottom up synthesis. Although the bulk qualities of conjugated polymers have been extensively utilized in research and industry, the ability to handle and manipulate conjugated polymers at the nanoscale lacks significantly behind. Here, the toolbox for controlled manipulation of conjugated polymers was expanded through the synthesis of a polyfluorene-DNA graft-type polymer (poly(F-DNA)). The polymer possesses the characteristics associated with the conjugated polyfluorene backbone, but the protruding single-stranded DNA provides the material with an exceptional addressability. This study demonstrates controlled single-molecule patterning of poly(F-DNA), as well as energy transfer between two different polymer-DNA conjugates. Finally, highly efficient DNA-directed quenching of polyfluorene fluorescence was shown. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

The mechanism distinguishability problem in biochemical kinetics: the single-enzyme, single-substrate reaction as a case study.

Science.gov (United States)

Schnell, Santiago; Chappell, Michael J; Evans, Neil D; Roussel, Marc R

2006-01-01

A theoretical analysis of the distinguishability problem of two rival models of the single enzyme-single substrate reaction, the Michaelis-Menten and Henri mechanisms, is presented. We also outline a general approach for analysing the structural indistinguishability between two mechanisms. The approach involves constructing, if possible, a smooth mapping between the two candidate models. Evans et al. [N.D. Evans, M.J. Chappell, M.J. Chapman, K.R. Godfrey, Structural indistinguishability between uncontrolled (autonomous) nonlinear analytic systems, Automatica 40 (2004) 1947-1953] have shown that if, in addition, either of the mechanisms satisfies a particular criterion then such a transformation always exists when the models are indistinguishable from their experimentally observable outputs. The approach is applied to the single enzyme-single substrate reaction mechanism. In principle, mechanisms can be distinguished using this analysis, but we show that our ability to distinguish mechanistic models depends both on the precise measurements made, and on our knowledge of the system prior to performing the kinetics experiments.

Manipulating single second mode transparency in a corrugated waveguide via the thickness of sputtered gold

Energy Technology Data Exchange (ETDEWEB)

Xu, Dan [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China); Fan, Ya-Xian, E-mail: yxfan@hrbeu.edu.cn [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China); Sang, Tang-Qing; Xu, Lan-Lan; Bibi, Aysha [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China); Tao, Zhi-Yong, E-mail: zytao@hrbeu.edu.cn [Key Lab of In-fiber Integrated Optics, Ministry of Education of China, Harbin Engineering University, Harbin 150001 (China); Photonics Research Center, College of Science, Harbin Engineering University, Harbin 150001 (China)

2016-03-11

We propose a classical analog of electromagnetically induced transparency in a cylindrical waveguide with undulated metallic walls. The transparency, induced by multi-mode interactions in waveguides, not only has a narrow line-width, but also consists of a single second-order transverse mode, which corresponds to the Bessel function distributions investigated extensively due to their unique characteristics. By increasing the thickness of sputtered gold layers of the waveguide, we demonstrate a frequency-agile single mode transparency phenomenon in a terahertz radiation. It is found that the center frequency of the transparency is linearly related to the gold thickness, indicating the achievement of a controllable single mode terahertz device. The field distributions at the cross-sections of outlets verify the single second mode transparency and indicate the mechanism of its frequency manipulation, which will significantly benefit the mode-control engineering in terahertz applications. - Highlights: • An analog of electromagnetically induced transparency in terahertz tubes is proposed. • A single second transverse mode of Bessel distributions is observed in the pass band. • The operating frequency can be linearly controlled by the sputtered gold thickness. • We can effectively manipulate the slow down factor of light by the gold thickness. • The transparency characteristics rely on the transition of multi-mode interactions.

Manipulating single second mode transparency in a corrugated waveguide via the thickness of sputtered gold

International Nuclear Information System (INIS)

Xu, Dan; Fan, Ya-Xian; Sang, Tang-Qing; Xu, Lan-Lan; Bibi, Aysha; Tao, Zhi-Yong

2016-01-01

We propose a classical analog of electromagnetically induced transparency in a cylindrical waveguide with undulated metallic walls. The transparency, induced by multi-mode interactions in waveguides, not only has a narrow line-width, but also consists of a single second-order transverse mode, which corresponds to the Bessel function distributions investigated extensively due to their unique characteristics. By increasing the thickness of sputtered gold layers of the waveguide, we demonstrate a frequency-agile single mode transparency phenomenon in a terahertz radiation. It is found that the center frequency of the transparency is linearly related to the gold thickness, indicating the achievement of a controllable single mode terahertz device. The field distributions at the cross-sections of outlets verify the single second mode transparency and indicate the mechanism of its frequency manipulation, which will significantly benefit the mode-control engineering in terahertz applications. - Highlights: • An analog of electromagnetically induced transparency in terahertz tubes is proposed. • A single second transverse mode of Bessel distributions is observed in the pass band. • The operating frequency can be linearly controlled by the sputtered gold thickness. • We can effectively manipulate the slow down factor of light by the gold thickness. • The transparency characteristics rely on the transition of multi-mode interactions.

Reliable lateral and vertical manipulations of a single Cu adatom on a Cu(111) surface with multi-atom apex tip: semiempirical and first-principles simulations

International Nuclear Information System (INIS)

Xie Yiqun; Liu Qingwei; Zhang Peng; Wang Songyou; Li Yufen; Gan Fuxi; Zhuang Jun; Zhang Wenqing; Zhuang Min

2008-01-01

We study the reliability of the lateral manipulation of a single Cu adatom on a Cu(111) surface with single-atom, dimer and trimer apex tips using both semiempirical and first-principles simulations. The dependence of the manipulation reliability on tip height is investigated. For the single-atom apex tip the manipulation reliability increases monotonically with decreasing tip height. For the dimer and trimer apex tips the manipulation reliability is greatly improved compared to that for the single-atom apex tip over a certain tip-height range. Two kinds of mechanism are found responsible for this improvement. One is the so-called enhanced interaction mechanism in which the lateral tip-adatom interaction in the manipulation direction is improved. The other is the suspended atom mechanism in which the relative lateral trapping ability of the tip is improved due to the strong vertical attraction of the tip on the adatom. Both mechanisms occur in the manipulations with the trimer apex tip, while in those with the dimer apex tip only the former is effective. Moreover, we present a method to realize reversible vertical manipulation of a single atom on a Cu(111) surface with the trimer apex tip, based on its strong vertical and lateral attraction on the adatom

MicroBioRobots for single cell manipulation

Science.gov (United States)

Sakar, Mahmut Selman

One of the great challenges in nano and micro scale science and engineering is the independent manipulation of biological cells and small man-made objects with active sensing. For such biomedical applications as single cell manipulation, telemetry, and localized targeted delivery of chemicals, it is important to fabricate microstructures that can be powered and controlled without a tether in fluidic environments. These microstructures can be used to develop microrobots that have the potential to make existing therapeutic and diagnostic procedures less invasive. Actuation can be realized using various different organic and inorganic methods. Previous studies explored different forms of actuation and control with microorganisms. Bacteria, in particular, offer several advantages as controllable microactuators: they draw chemical energy directly from their environment, they are genetically modifiable, and they are scalable and configurable in the sense that any number of bacteria can be selectively patterned. Additionally, the study of bacteria inspires inorganic schemes of actuation and control. For these reasons, we chose to employ bacteria while controlling their motility using optical and electrical stimuli. In the first part of the thesis, we demonstrate a biointegrated approach by introducing MicroBioRobots (MBRs). MBRs are negative photosensitive epoxy (SU8) microfabricated structures with typical feature sizes ranging from 1-100 mum coated with a monolayer of the swarming Serratia marcescens . The adherent bacterial cells naturally coordinate to propel the microstructures in fluidic environments which we call Self-Actuation. First, we demonstrate the control of MBRs using self-actuation, DC electric fields and ultra-violet radiation and develop an experimentally-validated mathematical model for the MBRs. This model allows us to to steer the MBR to any position and orientation in a planar micro channel using visual feedback and an inverted microscope. Examples

Extracellular enzyme activities during lignocellulose degradation by Streptomyces spp.: a comparative study of wild-type and genetically manipulated strains

International Nuclear Information System (INIS)

Ramachandra, M.; Crawford, D.L.; Pometto, A.L. III

1987-01-01

The wild-type ligninolytic actinomycete Streptomyces viridosporus T7A and two genetically manipulated strains with enhanced abilities to produce a water-soluble lignin degradation intermediate, an acid-precipitable polymeric lignin (APPL), were grown on lignocellulose in solid-state fermentation cultures. Culture filtrates were periodically collected, analyzed for APPL, and assayed for extracellular lignocellulose-catabolizing enzyme activities. Two APPL-overproducing strains, UV irradiation mutant T7A-81 and protoplast fusion recombinant SR-10, had higher and longer persisting peroxidase, esterase, and endoglucanase activities than did the wild-type strain T7A. Results implicated one or more of these enzymes in lignin solubilization. Only mutant T7A-81 had higher xylanase activity than the wild type. The peroxidase was induced by both lignocellulose and APPL. This extracellular enzyme has some similarities to previously described ligninases in fungi. This is the first report of such an enzyme in Streptomyces spp. Four peroxidase isozymes were present, and all catalyzed the oxidation of 3,4-dihydroxyphenylalanine, while one also catalyzed hydrogen peroxide-dependent oxidation of homoprotocatechuic acid and caffeic acid. Three constitutive esterase isozymes were produced which differed in substrate specificity toward α-naphthyl acetate and α-naphthyl butyrate. Three endoglucanase bands, which also exhibited a low level of xylanase activity, were identified on polyacrylamide gels as was one xylanase-specific band. There were no major differences in the isoenzymes produced by the different strains. The probable role of each enzyme in lignocellulose degradation is discussed

Single-stranded DNA cleavage by divergent CRISPR-Cas9 enzymes

Science.gov (United States)

Ma, Enbo; Harrington, Lucas B.; O’Connell, Mitchell R.; Zhou, Kaihong; Doudna, Jennifer A.

2015-01-01

Summary Double-stranded DNA (dsDNA) cleavage by Cas9 is a hallmark of type II CRISPR-Cas immune systems. Cas9–guide RNA complexes recognize 20-base-pair sequences in DNA and generate a site-specific double-strand break, a robust activity harnessed for genome editing. DNA recognition by all studied Cas9 enzymes requires a protospacer adjacent motif (PAM) next to the target site. We show that Cas9 enzymes from evolutionarily divergent bacteria can recognize and cleave single-stranded DNA (ssDNA) by an RNA-guided, PAM-independent recognition mechanism. Comparative analysis shows that in contrast to the type II-A S. pyogenes Cas9 that is widely used for genome engineering, the smaller type II-C Cas9 proteins have limited dsDNA binding and unwinding activity and promiscuous guide-RNA specificity. These results indicate that inefficiency of type II-C Cas9 enzymes for genome editing results from a limited ability to cleave dsDNA, and suggest that ssDNA cleavage was an ancestral function of the Cas9 enzyme family. PMID:26545076

Improved Laser Manipulation for On-chip Fabricated Microstructures Based on Solution Replacement and Its Application in Single Cell Analysis

Directory of Open Access Journals (Sweden)

Tao Yue

2014-02-01

Full Text Available In this paper, we present the fabrication and assembly of microstructures inside a microfluidic device based on a photocrosslinkable resin and optical tweezers. We also report a method of solution replacement inside the microfluidic channel in order to improve the manipulation performance and apply the assembled microstructures for single cell cultivation. By the illumination of patterned ultraviolet (UV through a microscope, microstructures of arbitrary shape were fabricated by the photocrosslinkable resin inside a microfluidic channel. Based on the microfluidic channel with both glass and polydimethylsiloxane (PDMS surfaces, immovable and movable microstructures were fabricated and manipulated. The microstructures were fabricated at the desired places and manipulated by the optical tweezers. A rotational microstructure including a microgear and a rotation axis was assembled and rotated in demonstrating this technique. The improved laser manipulation of microstructures was achieved based on the on-chip solution replacement method. The manipulation speed of the microstructures increased when the viscosity of the solvent decreased. The movement efficiency of the fabricated microstructures inside the lower viscosity solvent was evaluated and compared with those microstructures inside the former high viscosity solvent. A novel cell cage was fabricated and the cultivation of a single yeast cell (w303 was demonstrated in the cell cage, inside the microfluidic device.

Study of a Microfluidic Chip Integrating Single Cell Trap and 3D Stable Rotation Manipulation

Directory of Open Access Journals (Sweden)

Liang Huang

2016-08-01

Full Text Available Single cell manipulation technology has been widely applied in biological fields, such as cell injection/enucleation, cell physiological measurement, and cell imaging. Recently, a biochip platform with a novel configuration of electrodes for cell 3D rotation has been successfully developed by generating rotating electric fields. However, the rotation platform still has two major shortcomings that need to be improved. The primary problem is that there is no on-chip module to facilitate the placement of a single cell into the rotation chamber, which causes very low efficiency in experiment to manually pipette single 10-micron-scale cells into rotation position. Secondly, the cell in the chamber may suffer from unstable rotation, which includes gravity-induced sinking down to the chamber bottom or electric-force-induced on-plane movement. To solve the two problems, in this paper we propose a new microfluidic chip with manipulation capabilities of single cell trap and single cell 3D stable rotation, both on one chip. The new microfluidic chip consists of two parts. The top capture part is based on the least flow resistance principle and is used to capture a single cell and to transport it to the rotation chamber. The bottom rotation part is based on dielectrophoresis (DEP and is used to 3D rotate the single cell in the rotation chamber with enhanced stability. The two parts are aligned and bonded together to form closed channels for microfluidic handling. Using COMSOL simulation and preliminary experiments, we have verified, in principle, the concept of on-chip single cell traps and 3D stable rotation, and identified key parameters for chip structures, microfluidic handling, and electrode configurations. The work has laid a solid foundation for on-going chip fabrication and experiment validation.

Warming Effects on Enzyme Activities are Predominant in Sub-surface Soils of an Arctic Tundra Ecosystem over 6-Year Field Manipulation

Science.gov (United States)

Kang, H.; Seo, J.; Kim, M.; Jung, J. Y.; Lee, Y. K.

2017-12-01

Arctic tundra ecosystems are of great importance because they store a large amount of carbon as un-decomposed organic matter. Global climate change is expected to affect enzyme activities and heterotrophic respiration in Arctic soils, which may accelerate greenhouse gas (GHG) emission through positive biological feedbacks. Unlike laboratory-based incubation experiments, field measurements often show different warming effects on decomposition of organic carbon and releases of GHGs. In the present study, we conducted a field-based warming experiment in Cambridge Bay, Canada (69°07'48″N, 105°03'36″W) by employing passive chambers during growing seasons over 6 years. A suite of enzyme activities (ß-glucosidase, cellobiohydrolase, N-acetylglucosaminidase, leucine aminopeptidase and phenol oxidase), microbial community structure (NGS), microbial abundances (gene copy numbers of bacteria and fungi), and soil chemical properties have been monitored in two depths (0-5 cm and 5-10 cm) of tundra soils, which were exposed to four different treatments (`control', `warming-only', `water-addition only', and both `warming and water-addition'). Phenol oxidase activity increased substantially, and bacterial community structure and abundance changed in the early stage (after 1 year's warming manipulation), but these changes disappeared afterwards. Most hydrolases were enhanced in surface soils by `water-addition only' over the period. However, the long-term effects of warming appeared in sub-surface soils where both `warming only' and `warming and water addition' increased hydrolase activities. Overall results of this study indicate that the warming effects on enzyme activities in surface soils are only short-term (phenol oxidase) or masked by water-limitation (hydrolases). However, hydrolases activities in sub-surface soils are more strongly enhanced than surface soils by warming, probably due to the lack of water limitation. Meanwhile, negative correlations between hydrolase

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

Science.gov (United States)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Substrate-Wrapped, Single-Walled Carbon Nanotube Probes for Hydrolytic Enzyme Characterization.

Science.gov (United States)

Kallmyer, Nathaniel E; Musielewicz, Joseph; Sutter, Joel; Reuel, Nigel F

2018-04-17

Hydrolytic enzymes are a topic of continual study and improvement due to their industrial impact and biological implications; however, the ability to measure the activity of these enzymes, especially in high-throughput assays, is limited to an established, few enzymes and often involves the measurement of secondary byproducts or the design of a complex degradation probe. Herein, a versatile single-walled carbon nanotube (SWNT)-based biosensor that is straightforward to produce and measure is described. The hydrolytic enzyme substrate is rendered as an amphiphilic polymer, which is then used to solubilize the hydrophobic nanotubes. When the target enzyme degrades the wrapping, the SWNT fluorescent signal is quenched due to increased solvent accessibility and aggregation, allowing quantitative measurement of hydrolytic enzyme activity. Using (6,5) chiral SWNT suspended with polypeptides and polysaccharides, turnover frequencies are estimated for cellulase, pectinase, and bacterial protease. Responses are recorded for concentrations as low as 5 fM using a well-characterized protease, Proteinase K. An established trypsin-based plate reader assay is used to compare this nanotube probe assay with standard techniques. Furthermore, the effect of freeze-thaw cycles and elevated temperature on enzyme activity is measured, suggesting freezing to have minimal impact even after 10 cycles and heating to be detrimental above 60 °C. Finally, rapid optimization of enzyme operating conditions is demonstrated by generating a response surface of cellulase activity with respect to temperature and pH to determine optimal conditions within 2 h of serial scans.

Single molecule manipulation at low temperature and laser scanning tunnelling photo-induced processes analysis through time-resolved studies

International Nuclear Information System (INIS)

Riedel, Damien

2010-01-01

This paper describes, firstly, the statistical analysis used to determine the processes that occur during the manipulation of a single molecule through electronically induced excitations with a low temperature (5 K) scanning tunnelling microscope (STM). Various molecular operation examples are described and the ability to probe the ensuing molecular manipulation dynamics is discussed within the excitation context. It is, in particular, shown that such studies can reveal reversible manipulation for tuning dynamics through variation of the excitation energy. Secondly, the photo-induced process arising from the irradiation of the STM junction is also studied through feedback loop dynamics analysis, allowing us to distinguish between photo-thermally and photo-electronically induced signals.

Single lipid vesicle assay for characterizing single-enzyme kinetics of phospholipid hydrolysis in a complex biological fluid.

Science.gov (United States)

Tabaei, Seyed R; Rabe, Michael; Zetterberg, Henrik; Zhdanov, Vladimir P; Höök, Fredrik

2013-09-25

Imaging of individual lipid vesicles is used to track single-enzyme kinetics of phospholipid hydrolysis. The method is employed to quantify the catalytic activity of phospholipase A2 (PLA2) in both pure and complex biological fluids. The measurements are demonstrated to offer a subpicomolar limit of detection (LOD) of human secretory PLA2 (sPLA2) in up to 1000-fold-diluted cerebrospinal fluid (CSF). An additional new feature provided by the single-enzyme sensitivity is that information about both relative concentration variations of active sPLA2 in CSF and the specific enzymatic activity can be simultaneously obtained. When CSF samples from healthy controls and individuals diagnosed with Alzheimer's disease (AD) are analyzed, the specific enzymatic activity is found to be preserved within 7% in the different CSF samples whereas the enzyme concentration differs by up to 56%. This suggests that the previously reported difference in PLA2 activity in CSF samples from healthy and AD individuals originates from differences in the PLA2 expression level rather than from the enzyme activity. Conventional ensemble averaging methods used to probe sPLA2 activity do not allow one to obtain such information. Together with an improvement in the LOD of at least 1 order of magnitude compared to that of conventional assays, this suggests that the method will become useful in furthering our understanding of the role of PLA2 in health and disease and in detecting the pharmacodynamic effects of PLA2-targeting drug candidates.

The effects of a single session of spinal manipulation on strength and cortical drive in athletes

DEFF Research Database (Denmark)

Christiansen, Thomas Lykke; Niazi, Imran Khan; Holt, Kelly

2018-01-01

PURPOSE: The primary purpose of this study was to investigate whether a single session of spinal manipulation (SM) increases strength and cortical drive in the lower limb (soleus muscle) of elite Taekwondo athletes. METHODS: Soleus-evoked V-waves, H-reflex and maximum voluntary contraction (MVC) ...

Kinetics of Single-Enzyme Reactions on Vesicles: Role of Substrate Aggregation

Science.gov (United States)

Zhdanov, Vladimir P.

2015-03-01

Enzymatic reactions occurring in vivo on lipid membranes can be influenced by various factors including macromolecular crowding in general and substrate aggregation in particular. In academic studies, the role of these factors can experimentally be clarified by tracking single-enzyme kinetics occurring on individual lipid vesicles. To extend the conceptual basis for such experiments, we analyze herein the corresponding kinetics mathematically with emphasis on the role of substrate aggregation. In general, the aggregation may occur on different length scales. Small aggregates may e.g. contain a few proteins or peptides while large aggregates may be mesoscopic as in the case of lipid domains which can be formed in the membranes composed of different lipids. We present a kinetic model describing comprehensively the effect of aggregation of the former type on the dependence of the reaction rate on substrate membrane concentration. The results obtained with physically reasonable parameters indicate that the aggregation-related deviations from the conventional Michaelis-Menten kinetics may be appreciable. Special Issue Comments: This theoretical article is focused on single-enzyme reactions occurring in parallel with substrate aggregation on individual vesicles. This subject is related to a few Special Issue articles concerning enzyme dynamics6,7 and function8 and mathematical aspects of stochastic kinetics.9

Force, current and field effects in single atom manipulation

NARCIS (Netherlands)

Braun, K.-F.; Hla, S.; Pertaya, N.; Soe, W.H.; Flipse, C.F.J.; Rieder, K.

2003-01-01

We present a detailed investigation of the manipulation of Ag and Au atoms with a STM tip on the Ag(111) surface at 5K. The interpretation of the feed-back loop signal gives a precise picture of the movement of the atom during manipulation. The threshold tunnelling resistance and tip-height to move

In silico single-molecule manipulation of DNA with rigid body dynamics.

Directory of Open Access Journals (Sweden)

Pascal Carrivain

2014-02-01

Full Text Available We develop a new powerful method to reproduce in silico single-molecule manipulation experiments. We demonstrate that flexible polymers such as DNA can be simulated using rigid body dynamics thanks to an original implementation of Langevin dynamics in an open source library called Open Dynamics Engine. We moreover implement a global thermostat which accelerates the simulation sampling by two orders of magnitude. We reproduce force-extension as well as rotation-extension curves of reference experimental studies. Finally, we extend the model to simulations where the control parameter is no longer the torsional strain but instead the torque, and predict the expected behavior for this case which is particularly challenging theoretically and experimentally.

Genetic manipulation of a metabolic enzyme and a transcriptional regulator increasing succinate excretion from unicellular cyanobacterium

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Takashi eOsanai

2015-10-01

Full Text Available Succinate is a building block compound that the U.S. Department of Energy has declared as important in biorefineries, and it is widely used as a commodity chemical. Here, we identified the two genes increasing succinate production of the unicellular cyanobacterium Synechocystis sp. PCC 6803. Succinate was excreted under dark, anaerobic conditions, and its production level increased by knocking out ackA, which encodes an acetate kinase, and by overexpressing sigE, which encodes an RNA polymerase sigma factor. Glycogen catabolism and organic acid biosynthesis were enhanced in the mutant lacking ackA and overexpressing sigE, leading to an increase in succinate production reaching 5 times of the wild-type levels. Our genetic and metabolomic analyses thus demonstrated the effect of genetic manipulation of a metabolic enzyme and a transcriptional regulator on succinate excretion from this cyanobacterium with the data based on metabolomic technique.

Manipulating molecular quantum states with classical metal atom inputs: demonstration of a single molecule NOR logic gate.

Science.gov (United States)

Soe, We-Hyo; Manzano, Carlos; Renaud, Nicolas; de Mendoza, Paula; De Sarkar, Abir; Ample, Francisco; Hliwa, Mohamed; Echavarren, Antonio M; Chandrasekhar, Natarajan; Joachim, Christian

2011-02-22

Quantum states of a trinaphthylene molecule were manipulated by putting its naphthyl branches in contact with single Au atoms. One Au atom carries 1-bit of classical information input that is converted into quantum information throughout the molecule. The Au-trinaphthylene electronic interactions give rise to measurable energy shifts of the molecular electronic states demonstrating a NOR logic gate functionality. The NOR truth table of the single molecule logic gate was characterized by means of scanning tunnelling spectroscopy.

Dissimilar kinetic behavior of electrically manipulated single- and double-stranded DNA tethered to a gold surface.

Science.gov (United States)

Rant, Ulrich; Arinaga, Kenji; Tornow, Marc; Kim, Yong Woon; Netz, Roland R; Fujita, Shozo; Yokoyama, Naoki; Abstreiter, Gerhard

2006-05-15

We report on the electrical manipulation of single- and double-stranded oligodeoxynucleotides that are end tethered to gold surfaces in electrolyte solution. The response to alternating repulsive and attractive electric surface fields is studied by time-resolved fluorescence measurements, revealing markedly distinct dynamics for the flexible single-stranded and stiff double-stranded DNA, respectively. Hydrodynamic simulations rationalize this finding and disclose two different kinetic mechanisms: stiff polymers undergo rotation around the anchoring pivot point; flexible polymers, on the other hand, are pulled onto the attracting surface segment by segment.

3D Restoration Microscopy Improves Quantification of Enzyme-Labeled Fluorescence-Based Single-Cell Phosphatase Activity in Plankton

OpenAIRE

Diaz-de-Quijano, Daniel; Palacios, Pilar; Hornák, Karel; Felip, Marisol

2014-01-01

The ELF or fluorescence-labeled enzyme activity (FLEA) technique is a culture-independent single-cell tool for assessing plankton enzyme activity in close-to-in situ conditions. We demonstrate that single-cell FLEA quantifications based on two-dimensional (2D) image analysis were biased by up to one order of magnitude relative to deconvolved 3D. This was basically attributed to out-of-focus light, and partially to object size. Nevertheless, if sufficient cells were measured (25-40 cells), bia...

An efficient single-step scheme for manipulating quantum information of two trapped ions beyond the Lamb-Dicke limit

International Nuclear Information System (INIS)

Wei, L.F.; Nori, Franco

2003-01-01

Based on the exact conditional quantum dynamics for a two-ion system, we propose an efficient single-step scheme for coherently manipulating quantum information of two trapped cold ions by using a pair of synchronous laser pulses. Neither the auxiliary atomic level nor the Lamb-Dicke approximation are needed

Can Constraint Induced Movement Therapy Improve In-Hand Manipulation Skills: A Single Subject Design

Directory of Open Access Journals (Sweden)

Somaye Kavousipor

2012-04-01

Full Text Available Objectives: This study describes a single subject design (ABA that shows the effective use of constraint induced movement therapy in improvement of quality and performance of in-hand manipulation skills for a 10 year old boy and a 9 years old girl with hemiplegic cerebral palsy, as Dickerson (2007 showed it in arm movement and function. Methods: To determine the effectiveness of CIMT by the use of C-statistic analysis and visual analysis. Approach: The first step was to design a child friendly group activity and home based intervention program through occupation. The possible effectiveness of CIMT was evaluated by daily measurements and video recording of 6 sub skills of in-hand manipulation according to Pont category (2009 in defined activity. Results: For making the treatment more cost effective, families can produce a simple clinical setting at home and participate in their child treatment plan actively. Discussion: A client center intervention will facilitate the use and quality of fingers and hand motion. Also a group activity can motivate participants to participate more and better.

Site-selective substitutional doping with atomic precision on stepped Al (111) surface by single-atom manipulation.

Science.gov (United States)

Chen, Chang; Zhang, Jinhu; Dong, Guofeng; Shao, Hezhu; Ning, Bo-Yuan; Zhao, Li; Ning, Xi-Jing; Zhuang, Jun

2014-01-01

In fabrication of nano- and quantum devices, it is sometimes critical to position individual dopants at certain sites precisely to obtain the specific or enhanced functionalities. With first-principles simulations, we propose a method for substitutional doping of individual atom at a certain position on a stepped metal surface by single-atom manipulation. A selected atom at the step of Al (111) surface could be extracted vertically with an Al trimer-apex tip, and then the dopant atom will be positioned to this site. The details of the entire process including potential energy curves are given, which suggests the reliability of the proposed single-atom doping method.

Vanillin formation from ferulic acid in Vanilla planifolia is catalysed by a single enzyme

Science.gov (United States)

Gallage, Nethaji J.; Hansen, Esben H.; Kannangara, Rubini; Olsen, Carl Erik; Motawia, Mohammed Saddik; Jørgensen, Kirsten; Holme, Inger; Hebelstrup, Kim; Grisoni, Michel; Møller, Birger Lindberg

2014-01-01

Vanillin is a popular and valuable flavour compound. It is the key constituent of the natural vanilla flavour obtained from cured vanilla pods. Here we show that a single hydratase/lyase type enzyme designated vanillin synthase (VpVAN) catalyses direct conversion of ferulic acid and its glucoside into vanillin and its glucoside, respectively. The enzyme shows high sequence similarity to cysteine proteinases and is specific to the substitution pattern at the aromatic ring and does not metabolize caffeic acid and p-coumaric acid as demonstrated by coupled transcription/translation assays. VpVAN localizes to the inner part of the vanilla pod and high transcript levels are found in single cells located a few cell layers from the inner epidermis. Transient expression of VpVAN in tobacco and stable expression in barley in combination with the action of endogenous alcohol dehydrogenases and UDP-glucosyltransferases result in vanillyl alcohol glucoside formation from endogenous ferulic acid. A gene encoding an enzyme showing 71% sequence identity to VpVAN was identified in another vanillin-producing plant species Glechoma hederacea and was also shown to be a vanillin synthase as demonstrated by transient expression in tobacco. PMID:24941968

Cell manipulation in microfluidics

International Nuclear Information System (INIS)

Yun, Hoyoung; Kim, Kisoo; Lee, Won Gu

2013-01-01

Recent advances in the lab-on-a-chip field in association with nano/microfluidics have been made for new applications and functionalities to the fields of molecular biology, genetic analysis and proteomics, enabling the expansion of the cell biology field. Specifically, microfluidics has provided promising tools for enhancing cell biological research, since it has the ability to precisely control the cellular environment, to easily mimic heterogeneous cellular environment by multiplexing, and to analyze sub-cellular information by high-contents screening assays at the single-cell level. Various cell manipulation techniques in microfluidics have been developed in accordance with specific objectives and applications. In this review, we examine the latest achievements of cell manipulation techniques in microfluidics by categorizing externally applied forces for manipulation: (i) optical, (ii) magnetic, (iii) electrical, (iv) mechanical and (v) other manipulations. We furthermore focus on history where the manipulation techniques originate and also discuss future perspectives with key examples where available. (topical review)

The single lineup paradigm: A new way to manipulate target presence in eyewitness identification experiments.

Science.gov (United States)

Oriet, Chris; Fitzgerald, Ryan J

2018-02-01

The suspect in eyewitness lineups may be guilty or innocent. These possibilities are traditionally simulated in eyewitness identification studies using a dual-lineup paradigm: All witnesses observe the same perpetrator and then receive one of two lineups. In this paradigm, the suspect's guilt is manipulated by including the perpetrator in one lineup and an innocent suspect in the other. The lineup is then filled with people matched to either the suspect (resulting in different fillers in perpetrator-present and perpetrator-absent lineups) or to the perpetrator (resulting in the same fillers in each lineup). An inescapable feature of the dual-lineup paradigm is that the perpetrator-present and perpetrator-absent lineups differ not only in the suspect's guilt, but also in their composition. Here, we describe a single-lineup paradigm: Subjects observe one of two perpetrators and then all subjects receive the same lineup containing one of the perpetrators. This alternative paradigm allows manipulation of the suspect's guilt without changing the lineup's composition. In three experiments, we applied the single-lineup paradigm to explore suspect-filler similarity and consistently found that increasing similarity reduced perpetrator identifications but did little to prevent innocent suspect misidentifications. Conversely, when fillers were matched to the perpetrator using a dual-lineup paradigm, increasing similarity reduced identification of perpetrators and innocent suspects. This finding suggests that the effect of filler similarity may depend on the person to whom the fillers are matched. We suggest that the single-lineup paradigm is a more ecologically valid and better controlled approach to creating suspect-matched lineups in laboratory investigations of eyewitness memory than existing procedures. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Technological advances and applications of hydrolytic enzymes for valorization of lignocellulosic biomass.

Science.gov (United States)

Manisha; Yadav, Sudesh Kumar

2017-12-01

Hydrolytic enzymes are indispensable tools in the production of various foodstuffs, drugs, and consumables owing to their applications in almost every industrial process nowadays. One of the foremost areas of interest involving the use of hydrolytic enzymes is in the transformation of lignocellulosic biomass into value added products. However, limitations of the processes due to inadequate enzyme activity and stability with a narrow range of pH and temperature optima often limit their effective usage. The innovative technologies, involving manipulation of enzyme activity and stability through mutagenesis, genetic engineering and metagenomics lead to a major leap in all the fields using hydrolytic enzymes. This article provides recent advancement towards the isolation and use of microbes for lignocellulosic biomass utilisation, microbes producing the hydrolytic enzymes, the modern age technologies used to manipulate and enhance the hydrolytic enzyme activity and the applications of such enzymes in value added products development from lignocellulosic biomass. Copyright © 2017 Elsevier Ltd. All rights reserved.

Enhancement of photoassimilate utilization by manipulation of starch regulatory enzymes

Energy Technology Data Exchange (ETDEWEB)

Okita, Thomas W. [Washington State Univ., Pullman, WA (United States)

2016-05-11

ADPglucose pyrophosphorylase (AGPase) and the plastidial starch phosphorylase1 (Pho1) are two regulatory enzymes whose catalytic activities are essential for starch granule synthesis. Conversion of the pre-starch granule to the mature form is dependent on AGPase, which produces ADPglucose, the substrate used by starch synthases. The catalytic activity of AGPase is controlled by small effector molecules and a prime goal of this project was to decipher the role of the two subunit types that comprise the heterotetrameric enzyme structure. Extensive genetic and biochemical studies showed that catalysis was contributed mainly by the small subunit although the large subunit was required for maximum activity. Both subunits were needed for allosteric regulatory properties. We had also demonstrated that the AGPase catalyzed reaction limits the amount of starch accumulation in developing rice seeds and that carbon flux into rice seed starch can be increased by expression of a cytoplasmic-localized, up-regulated bacterial AGPase enzyme form. Results of subsequent physiological and metabolite studies showed that the AGPase reaction is no longer limiting in the AGPase transgenic rice lines and that one or more downstream processes prevent further increases in starch biosynthesis. Further studies showed that over-production of ADPglucose dramatically alters the gene program during rice seed development. Although the expression of nearly all of the genes are down-regulated, levels of a starch binding domain containing protein (SBDCP) are elevated. This SBDCP was found to bind to and inhibit the catalytic activity of starch synthase III and, thereby preventing maximum starch synthesis from occurring. Surprisingly, repression of SBDCP elevated expression of starch synthase III resulting in increasing rice grain weight. A second phase of this project examined the structure-function of Pho1, the enzyme required during the initial phase of pre-starch granule formation and its

Mimicking heme enzymes in the solid state: metal-organic materials with selectively encapsulated heme.

Science.gov (United States)

Larsen, Randy W; Wojtas, Lukasz; Perman, Jason; Musselman, Ronald L; Zaworotko, Michael J; Vetromile, Carissa M

2011-07-13

To carry out essential life processes, nature has had to evolve heme enzymes capable of synthesizing and manipulating complex molecules. These proteins perform a plethora of chemical reactions utilizing a single iron porphyrin active site embedded within an evolutionarily designed protein pocket. We herein report the first class of metal-organic materials (MOMs) that mimic heme enzymes in terms of both structure and reactivity. The MOMzyme-1 class is based upon a prototypal MOM, HKUST-1, into which catalytically active metalloporphyrins are selectively encapsulated in a "ship-in-a-bottle" fashion within one of the three nanoscale cages that exist in HKUST-1. MOMs offer unparalleled levels of permanent porosity and their modular nature affords enormous diversity of structures and properties. The MOMzyme-1 class could therefore represent a new paradigm for heme biomimetic catalysis since it combines the activity of a homogeneous catalyst with the stability and recyclability of heterogeneous catalytic systems within a single material.

Evaluation of Remote Collaborative Manipulation for Scientific Data Analysis

OpenAIRE

Fleury , Cédric; Duval , Thierry; Gouranton , Valérie; Steed , Anthony

2012-01-01

International audience; In the context of scientific data analysis, we propose to compare a remote collaborative manipulation technique with a single user manipulation technique. The manipulation task consists in positioning a clipping plane in order to perform cross-sections of scientific data which show several points of interest located inside this data. For the remote collaborative manipulation, we have chosen to use the 3-hand manipulation technique proposed by Aguerreche et al. which is...

Design of a single-step immunoassay principle based on the combination of an enzyme-labeled antibody release coating and a hydrogel copolymerized with a fluorescent enzyme substrate in a microfluidic capillary device.

Science.gov (United States)

Wakayama, Hideki; Henares, Terence G; Jigawa, Kaede; Funano, Shun-ichi; Sueyoshi, Kenji; Endo, Tatsuro; Hisamoto, Hideaki

2013-11-21

A combination of an enzyme-labeled antibody release coating and a novel fluorescent enzyme substrate-copolymerized hydrogel in a microchannel for a single-step, no-wash microfluidic immunoassay is demonstrated. This hydrogel discriminates the free enzyme-conjugated antibody from an antigen-enzyme-conjugated antibody immunocomplex based on the difference in molecular size. A selective and sensitive immunoassay, with 10-1000 ng mL(-1) linear range, is reported.

Enzyme Molecules in Solitary Confinement

Directory of Open Access Journals (Sweden)

Raphaela B. Liebherr

2014-09-01

Full Text Available Large arrays of homogeneous microwells each defining a femtoliter volume are a versatile platform for monitoring the substrate turnover of many individual enzyme molecules in parallel. The high degree of parallelization enables the analysis of a statistically representative enzyme population. Enclosing individual enzyme molecules in microwells does not require any surface immobilization step and enables the kinetic investigation of enzymes free in solution. This review describes various microwell array formats and explores their applications for the detection and investigation of single enzyme molecules. The development of new fabrication techniques and sensitive detection methods drives the field of single molecule enzymology. Here, we introduce recent progress in single enzyme molecule analysis in microwell arrays and discuss the challenges and opportunities.

Manipulating Ion Migration for Highly Stable Light-Emitting Diodes with Single-Crystalline Organometal Halide Perovskite Microplatelets.

Science.gov (United States)

Chen, Mingming; Shan, Xin; Geske, Thomas; Li, Junqiang; Yu, Zhibin

2017-06-27

Ion migration has been commonly observed as a detrimental phenomenon in organometal halide perovskite semiconductors, causing the measurement hysteresis in solar cells and ultrashort operation lifetimes in light-emitting diodes. In this work, ion migration is utilized for the formation of a p-i-n junction at ambient temperature in single-crystalline organometal halide perovskites. The junction is subsequently stabilized by quenching the ionic movement at a low temperature. Such a strategy of manipulating the ion migration has led to efficient single-crystalline light-emitting diodes that emit 2.3 eV photons starting at 1.8 V and sustain a continuous operation for 54 h at ∼5000 cd m -2 without degradation of brightness. In addition, a whispering-gallery-mode cavity and exciton-exciton interaction in the perovskite microplatelets have both been observed that can be potentially useful for achieving electrically driven laser diodes based on single-crystalline organometal halide perovskite semiconductors.

Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

International Nuclear Information System (INIS)

Go, Gwangjun; Choi, Hyunchul; Ko, Seong Young; Park, Jong-Oh; Park, Sukho; Jeong, Semi

2016-01-01

Microparticle manipulation using a microrobot in an enclosed environment, such as a lab-on-a-chip, has been actively studied because an electromagnetic actuated microrobot can have accurate motility and wireless controllability. In most studies on electromagnetic actuated microrobots, only a single microrobot has been used to manipulate cells or microparticles. However, the use of a single microrobot can pose several limitations when performing multiple roles in microparticle manipulation. To overcome the limitations associated with using a single microrobot, we propose a new method for the control of multiple microrobots. Multiple microrobots can be controlled independently by an electromagnetic actuation system and multiple microclampers combined with microheaters. To select a specific microrobot among multiple microrobots, we propose a microclamper composed of a clamper structure using thermally responsive hydrogel and a microheater for controlling the microclamper. A fundamental test of the proposed microparticle manipulation system is performed by selecting a specific microrobot among multiple microrobots. Through the independent locomotion of multiple microrobots with U- and V-shaped tips, heterogeneous microparticle manipulation is demonstrated in the creation of a two-dimensional structure. In the future, our proposed multiple-microrobot system can be applied to tasks that are difficult to perform using a single microrobot, such as cell manipulation, cargo delivery, tissue assembly, and cloning. (paper)

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

Hudson, Thomas C.; Heiser, Aron T.; Sonnenwald, Diane H.

2003-01-01

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...... level of interactivity as the single user system and the application had to support a user's ability to interleave working privately and working collaboratively. This paper briefly describes the entire collaboration system, but focuses on the shared nanoManipulator application. Based on our experience...... developing the CnM, we present: a method of analyzing applications to characterize the requirements for sharing data between collaborating sites, examples of data structures that support collaboration, and guidelines for selecting appropriate synchronization and concurrency control schemes....

Realization of a four-step molecular switch in scanning tunneling microscope manipulation of single chlorophyll-a molecules

Science.gov (United States)

Iancu, Violeta; Hla, Saw-Wai

2006-01-01

Single chlorophyll-a molecules, a vital resource for the sustenance of life on Earth, have been investigated by using scanning tunneling microscope manipulation and spectroscopy on a gold substrate at 4.6 K. Chlorophyll-a binds on Au(111) via its porphyrin unit while the phytyl-chain is elevated from the surface by the support of four CH3 groups. By injecting tunneling electrons from the scanning tunneling microscope tip, we are able to bend the phytyl-chain, which enables the switching of four molecular conformations in a controlled manner. Statistical analyses and structural calculations reveal that all reversible switching mechanisms are initiated by a single tunneling-electron energy-transfer process, which induces bond rotation within the phytyl-chain. PMID:16954201

distribution, abundance and properties of restriction enzymes

African Journals Online (AJOL)

DNA of granule-bound starch synthase (GBSS) I and II with a view to ... properties for manipulation of the genes for production of modified starch. .... procurement, storage and handling of the ..... been made on restriction enzymes of potato,.

Vanillin formation from ferulic acid in Vanilla planifolia is catalysed by a single enzyme

DEFF Research Database (Denmark)

Gallage, Nethaji J; Hansen, Esben H; Kannangara, Rubini

2014-01-01

Vanillin is a popular and valuable flavour compound. It is the key constituent of the natural vanilla flavour obtained from cured vanilla pods. Here we show that a single hydratase/lyase type enzyme designated vanillin synthase (VpVAN) catalyses direct conversion of ferulic acid and its glucoside...... to the inner part of the vanilla pod and high transcript levels are found in single cells located a few cell layers from the inner epidermis. Transient expression of VpVAN in tobacco and stable expression in barley in combination with the action of endogenous alcohol dehydrogenases and UDP...

An integrated open-cavity system for magnetic bead manipulation.

Science.gov (United States)

Abu-Nimeh, F T; Salem, F M

2013-02-01

Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

Science.gov (United States)

Yang, Z. X.; Yang, W. L.; Du, Z. J.

2018-03-01

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

A Single Enzyme Transforms a Carboxylic Acid into a Nitrile through an Amide Intermediate.

Science.gov (United States)

Nelp, Micah T; Bandarian, Vahe

2015-09-01

The biosynthesis of nitriles is known to occur through specialized pathways involving multiple enzymes; however, in bacterial and archeal biosynthesis of 7-deazapurines, a single enzyme, ToyM, catalyzes the conversion of the carboxylic acid containing 7-carboxy-7-deazaguanine (CDG) into its corresponding nitrile, 7-cyano-7-deazaguanine (preQ0 ). The mechanism of this unusual direct transformation was shown to proceed via the adenylation of CDG, which activates it to form the newly discovered amide intermediate 7-amido-7-deazaguanine (ADG). This is subsequently dehydrated to form the nitrile in a process that consumes a second equivalent of ATP. The authentic amide intermediate is shown to be chemically and kinetically competent. The ability of ToyM to activate two different substrates, an acid and an amide, accounts for this unprecedented one-enzyme catalysis of nitrile synthesis, and the differential rates of these two half reactions suggest that this catalytic ability is derived from an amide synthetase that gained a new function. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Atomic and molecular manipulation

CERN Document Server

Mayne, Andrew J

2011-01-01

Work with individual atoms and molecules aims to demonstrate that miniaturized electronic, optical, magnetic, and mechanical devices can operate ultimately even at the level of a single atom or molecule. As such, atomic and molecular manipulation has played an emblematic role in the development of the field of nanoscience. New methods based on the use of the scanning tunnelling microscope (STM) have been developed to characterize and manipulate all the degrees of freedom of individual atoms and molecules with an unprecedented precision. In the meantime, new concepts have emerged to design molecules and substrates having specific optical, mechanical and electronic functions, thus opening the way to the fabrication of real nano-machines. Manipulation of individual atoms and molecules has also opened up completely new areas of research and knowledge, raising fundamental questions of "Optics at the atomic scale", "Mechanics at the atomic scale", Electronics at the atomic scale", "Quantum physics at the atomic sca...

Holographic acoustic elements for manipulation of levitated objects

Science.gov (United States)

Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W.; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

2015-10-01

Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging.

Imaging and manipulation of single viruses by atomic force microscopy

NARCIS (Netherlands)

Baclayon, M.; Wuite, G. J. L.; Roos, W. H.

2010-01-01

The recent developments in virus research and the application of functional viral particles in nanotechnology and medicine rely on sophisticated imaging and manipulation techniques at nanometre resolution in liquid, air and vacuum. Atomic force microscopy (AFM) is a tool that combines these

Manipulating stored phonological input during verbal working memory

Science.gov (United States)

Cogan, Gregory B.; Iyer, Asha; Melloni, Lucia; Thesen, Thomas; Friedman, Daniel; Doyle, Werner; Devinsky, Orrin; Pesaran, Bijan

2016-01-01

Verbal working memory (vWM), involves storing and manipulating information in phonological sensory input. An influential theory of vWM proposes that manipulation is carried out by a central executive while storage is performed by two interacting systems: A phonological input buffer that captures sound-based information and an articulatory rehearsal system that controls speech motor output. Whether, when, and how neural activity in the brain encodes these components remains unknown. Here, we read-out the contents of vWM from neural activity in human subjects as they manipulate stored speech sounds. As predicted, we identify storage systems that contain both phonological sensory and articulatory motor representations. Surprisingly however, we find that manipulation does not involve a single central executive but rather involves two systems with distinct contributions to successful manipulation. We propose, therefore, that multiple subsystems comprise the central executive needed to manipulate stored phonological input for articulatory motor output in vWM. PMID:27941789

Revealing time bunching effect in single-molecule enzyme conformational dynamics.

Science.gov (United States)

Lu, H Peter

2011-04-21

In this perspective, we focus our discussion on how the single-molecule spectroscopy and statistical analysis are able to reveal enzyme hidden properties, taking the study of T4 lysozyme as an example. Protein conformational fluctuations and dynamics play a crucial role in biomolecular functions, such as in enzymatic reactions. Single-molecule spectroscopy is a powerful approach to analyze protein conformational dynamics under physiological conditions, providing dynamic perspectives on a molecular-level understanding of protein structure-function mechanisms. Using single-molecule fluorescence spectroscopy, we have probed T4 lysozyme conformational motions under the hydrolysis reaction of a polysaccharide of E. coli B cell walls by monitoring the fluorescence resonant energy transfer (FRET) between a donor-acceptor probe pair tethered to T4 lysozyme domains involving open-close hinge-bending motions. Based on the single-molecule spectroscopic results, molecular dynamics simulation, a random walk model analysis, and a novel 2D statistical correlation analysis, we have revealed a time bunching effect in protein conformational motion dynamics that is critical to enzymatic functions. Bunching effect implies that conformational motion times tend to bunch in a finite and narrow time window. We show that convoluted multiple Poisson rate processes give rise to the bunching effect in the enzymatic reaction dynamics. Evidently, the bunching effect is likely common in protein conformational dynamics involving in conformation-gated protein functions. In this perspective, we will also discuss a new approach of 2D regional correlation analysis capable of analyzing fluctuation dynamics of complex multiple correlated and anti-correlated fluctuations under a non-correlated noise background. Using this new method, we are able to map out any defined segments along the fluctuation trajectories and determine whether they are correlated, anti-correlated, or non-correlated; after which, a

Watching Individual Enzymes at Work

Science.gov (United States)

Blank, Kerstin; Rocha, Susana; De Cremer, Gert; Roeffaers, Maarten B. J.; Uji-i, Hiroshi; Hofkens, Johan

Single-molecule fluorescence experiments are a powerful tool to analyze reaction mechanisms of enzymes. Because of their unique potential to detect heterogeneities in space and time, they have provided unprecedented insights into the nature and mechanisms of conformational changes related to the catalytic reaction. The most important finding from experiments with single enzymes is the generally observed phenomenon that the catalytic rate constants fluctuate over time (dynamic disorder). These fluctuations originate from conformational changes occurring on time scales, which are similar to or slower than that of the catalytic reaction. Here, we summarize experiments with enzymes that show dynamic disorder and introduce new experimental strategies showing how single-molecule fluorescence experiments can be applied to address other open questions in medical and industrial enzymology, such as enzyme inactivation processes, reactant transfer in cascade reactions, and the mechanisms of interfacial catalysis.

Enhancement of in vitro interleukin-2 production in normal subjects following a single spinal manipulative treatment

Directory of Open Access Journals (Sweden)

Harris Glen M

2008-05-01

Full Text Available Abstract Background Increasing evidence supports somato-visceral effects of manual therapies. We have previously demonstrated that a single spinal manipulative treatment (SMT accompanied by audible release has an inhibitory effect on the production of proinflammatory cytokines in asymptomatic subjects. The purpose of this study is to report on SMT-related changes in the production of the immunoregulatory cytokine interleukin 2 (IL-2 and to investigate whether such changes might differ with respect to the treatment approach related to the presence or absence of an audible release (joint cavitation. Methods Of 76 asymptomatic subjects, 29 received SMT with cavitation (SMT-C, 23 were treated with SMT without cavitation (SMT-NC and 24 comprised the venipuncture control (VC group. The SMT-C and SMT-NC subjects received a single, similar force high velocity low amplitude manipulation, in the upper thoracic spine. However, in SMT-NC subjects, positioning and line of drive were not conducive to cavitation. Blood and serum samples were obtained before and then at 20 and 120 min post-intervention. The production of IL-2 in peripheral blood mononuclear cell cultures was induced by activation for 48 hr with Staphylococcal protein A (SPA and, in parallel preparations, with the combination of phorbol ester (TPA and calcium ionophore. The levels of IL-2 in culture supernatants and serum were assessed by specific immunoassays. Results Compared with VC and their respective baselines, SPA-induced secretion of IL-2 increased significantly in cultures established from both SMT-C and SMT-NC subjects at 20 min post-intervention. At 2 hr post-treatment, significant elevation of IL-2 synthesis was still apparent in preparations from SMT-treated groups though it became somewhat attenuated in SMT-NC subjects. Conversely, IL-2 synthesis induced by TPA and calcium ionophore was unaltered by either type of SMT and was comparable to that in VC group at all time points. No

A rapid, ratiometric, enzyme-free, and sensitive single-step miRNA detection using three-way junction based FRET probes

Science.gov (United States)

Luo, Qingying; Liu, Lin; Yang, Cai; Yuan, Jing; Feng, Hongtao; Chen, Yan; Zhao, Peng; Yu, Zhiqiang; Jin, Zongwen

2018-03-01

MicroRNAs (miRNAs) are single stranded endogenous molecules composed of only 18-24 nucleotides which are critical for gene expression regulating the translation of messenger RNAs. Conventional methods based on enzyme-assisted nucleic acid amplification techniques have many problems, such as easy contamination, high cost, susceptibility to false amplification, and tendency to have sequence mismatches. Here we report a rapid, ratiometric, enzyme-free, sensitive, and highly selective single-step miRNA detection using three-way junction assembled (or self-assembled) FRET probes. The developed strategy can be operated within the linear range from subnanomolar to hundred nanomolar concentrations of miRNAs. In comparison with the traditional approaches, our method showed high sensitivity for the miRNA detection and extreme selectivity for the efficient discrimination of single-base mismatches. The results reveal that the strategy paved a new avenue for the design of novel highly specific probes applicable in diagnostics and potentially in microscopic imaging of miRNAs in real biological environments.

Using enzyme folding to explore the mechanism of therapeutic touch: a feasibility study.

Science.gov (United States)

Strickland, Mallory L; Boylan, Helen M

2010-07-01

The goal of this research is to design a novel model using protein folding to study Therapeutic Touch, a noncontact form of energy manipulation healing. Presented is a feasibility study suggesting that the denaturation path of ribonuclease A may be a useful model to study the energy exchange underlying therapeutic touch. The folding of ribonuclease A serves as a controlled energy-requiring system in which energy manipulation can be measured by the degree of folding achieved. A kinetic assay and fluorescence spectroscopy are used to assess the enzyme-folding state. The data suggest that the kinetic assay is a useful means of assessing the degree of refolding, and specifically, the enzyme function. However, fluorescence spectroscopy was not shown to be an effective measurement of enzyme structure for the purposes of this work. More research is needed to assess the underlying mechanism of therapeutic touch to complement the existing studies. An enzyme-folding model may provide a useful means of studying the energy exchange in therapeutic touch.

Tuning and Switching Enantioselectivity of Asymmetric Carboligation in an Enzyme through Mutational Analysis of a Single Hot Spot.

Science.gov (United States)

Wechsler, Cindy; Meyer, Danilo; Loschonsky, Sabrina; Funk, Lisa-Marie; Neumann, Piotr; Ficner, Ralf; Brodhun, Florian; Müller, Michael; Tittmann, Kai

2015-12-01

Enantioselective bond making and breaking is a hallmark of enzyme action, yet switching the enantioselectivity of the reaction is a difficult undertaking, and typically requires extensive screening of mutant libraries and multiple mutations. Here, we demonstrate that mutational diversification of a single catalytic hot spot in the enzyme pyruvate decarboxylase gives access to both enantiomers of acyloins acetoin and phenylacetylcarbinol, important pharmaceutical precursors, in the case of acetoin even starting from the unselective wild-type protein. Protein crystallography was used to rationalize these findings and to propose a mechanistic model of how enantioselectivity is controlled. In a broader context, our studies highlight the efficiency of mechanism-inspired and structure-guided rational protein design for enhancing and switching enantioselectivity of enzymatic reactions, by systematically exploring the biocatalytic potential of a single hot spot. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Finite Element Analysis for Active-force Control on Vibration of a Flexible Single-link Manipulator

Directory of Open Access Journals (Sweden)

Abdul Kadir Muhammad

2015-10-01

Full Text Available The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite element analysis in order to perform dynamics simulation with vibration control, to propose an effective control scheme using active-force (AF control a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform processing and eigenvalues-eigenvectors analysis were developed to calculate dynamic behavior of the link. Furthermore, the AF control was designed to drive the piezoelectric actuator. Calculated results have revealed that the vibration of the system can be suppressed effectively.

Optical Pushing: A Tool for Parallelized Biomolecule Manipulation

NARCIS (Netherlands)

Sitters, G.; Laurens, N.; de Rijk, E.J.; Kress, H.; Peterman, E.J.G.; Wuite, G.J.L.

2016-01-01

The ability to measure and manipulate single molecules has greatly advanced the field of biophysics. Yet, the addition of more single-molecule tools that enable one to measure in a parallel fashion is important to diversify the questions that can be addressed. Here we present optical pushing (OP), a

Near-field acoustic microbead trapping as remote anchor for single particle manipulation

Science.gov (United States)

Hwang, Jae Youn; Cheon, Dong Young; Shin, Hyunjune; Kim, Hyun Bin; Lee, Jungwoo

2015-05-01

We recently proposed an analytical model of a two-dimensional acoustic trapping of polystyrene beads in the ray acoustics regime, where a bead diameter is larger than the wavelength used. As its experimental validation, this paper demonstrates the transverse (or lateral) trapping of individual polystyrene beads in the near field of focused ultrasound. A 100 μm bead is immobilized on the central beam axis by a focused sound beam from a 30 MHz single element lithium niobate transducer, after being laterally displaced through hundreds of micrometers. Maximum displacement, a longest lateral distance at which a trapped bead can be directed towards the central axis, is thus measured over a discrete frequency range from 24 MHz to 36 MHz. The displacement data are found to be between 323.7 μm and 470.2 μm, depending on the transducer's driving frequency and input voltage amplitude. The experimental results are compared with their corresponding model values, and their relative errors lie between 0.9% and 3.9%. The results suggest that this remote maneuvering technique may be employed to manipulate individual cells through solid microbeads, provoking certain cellular reactions to localized mechanical disturbance without direct contact.

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

Vertut, J.; Moreau, C.; Brossard, J.P.

1981-01-01

Large hot cells can be approached as extrapolated from smaller ones as wide, higher or longer in size with the same concept of using mechanical master slave manipulators and high density windows. This concept leads to a large number of working places and corresponding equipments, with a number of penetrations through the biological protection. When the large cell does not need a permanent operation of number of work places, as in particular to serve PIE machines and maintain the facility, use of servo manipulators with a large supporting unit and extensive use of television appears optimal. The advance on MA 23 and supports will be described including the extra facilities related to manipulators introduction and maintenance. The possibility to combine a powered manipulator and MA 23 (single or pair) on the same boom crane system will be described. An advance control system to bring the minimal dead time to control support movement, associated to the master slave arm operation is under development. The general television system includes over view cameras, associated with the limited number of windows, and manipulators camera. A special new system will be described which brings an automatic control of manipulator cameras and saves operator load and dead time. Full scale tests with MA 23 and support will be discussed. (author)

Optoelectronic Tweezers for Microparticle and Cell Manipulation

Science.gov (United States)

Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)

2014-01-01

An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

BioWord: A sequence manipulation suite for Microsoft Word

Directory of Open Access Journals (Sweden)

Anzaldi Laura J

2012-06-01

Full Text Available Abstract Background The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. Results BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. Conclusions BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms.

BioWord: A sequence manipulation suite for Microsoft Word

Science.gov (United States)

2012-01-01

Background The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. Results BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA) as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. Conclusions BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms. PMID:22676326

BioWord: a sequence manipulation suite for Microsoft Word.

Science.gov (United States)

Anzaldi, Laura J; Muñoz-Fernández, Daniel; Erill, Ivan

2012-06-07

The ability to manipulate, edit and process DNA and protein sequences has rapidly become a necessary skill for practicing biologists across a wide swath of disciplines. In spite of this, most everyday sequence manipulation tools are distributed across several programs and web servers, sometimes requiring installation and typically involving frequent switching between applications. To address this problem, here we have developed BioWord, a macro-enabled self-installing template for Microsoft Word documents that integrates an extensive suite of DNA and protein sequence manipulation tools. BioWord is distributed as a single macro-enabled template that self-installs with a single click. After installation, BioWord will open as a tab in the Office ribbon. Biologists can then easily manipulate DNA and protein sequences using a familiar interface and minimize the need to switch between applications. Beyond simple sequence manipulation, BioWord integrates functionality ranging from dyad search and consensus logos to motif discovery and pair-wise alignment. Written in Visual Basic for Applications (VBA) as an open source, object-oriented project, BioWord allows users with varying programming experience to expand and customize the program to better meet their own needs. BioWord integrates a powerful set of tools for biological sequence manipulation within a handy, user-friendly tab in a widely used word processing software package. The use of a simple scripting language and an object-oriented scheme facilitates customization by users and provides a very accessible educational platform for introducing students to basic bioinformatics algorithms.

Enzyme alterations in mediastine during and after radiotherapy. 2

International Nuclear Information System (INIS)

Alheit, H.D.; Alheit, C.; Herrmann, T.

1986-01-01

Results are presented estimating the serum activity of transaminases (ASAT and ALAT) in 72 patients after mediastinal irradiation. During and after mediastinal irradiation both enzymes showed essentially a parallel reaction. One day after irradiation a decrease of enzymes in patients who were irradiated with high single dosis (5 Gy) was observed, while patients irradiated with low or middle single dosis showed an increase of enzyme activity. A different temporal enzyme reaction is discussed to be the cause for this reaction in dependence on the applied single dose so that in patients with high single doses an initial enzyme increase caused by the radiation insult has changed into a following decrease under the starting level at the first control 24 hours later. Because patients without mediastinal tumors react in the same manner, the normal tissue surrounding the tumor is discussed to be the original place of enzyme secretion. Up to the end of irradiation a decrease of enzymes was observed in patients with high single dose or with high total dose (60 Gy) which is interpreted as an enzyme deficiency in tissue in consequence of destruction in formation places. In patients with middle total and low single doses an enzyme increase is registered with a still sufficient restoration capacity of the tissue discussed to be the cause of it. An enzyme increase, observed from the end of irradiation to the control date 3 to 6 months after irradiation, is mainly caused by a tumor progression (increased rate of liver metastases, especially in bronchial carcinoma) and can still be intensified by occurrence of pulmonal or cardiac radioreactions. (author)

Near-field acoustic microbead trapping as remote anchor for single particle manipulation

Energy Technology Data Exchange (ETDEWEB)

Hwang, Jae Youn [Department of Information and Communication Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Cheon, Dong Young; Shin, Hyunjune; Kim, Hyun Bin; Lee, Jungwoo, E-mail: jwlee@kw.ac.kr [Department of Electronic Engineering, Kwangwoon University, Seoul (Korea, Republic of)

2015-05-04

We recently proposed an analytical model of a two-dimensional acoustic trapping of polystyrene beads in the ray acoustics regime, where a bead diameter is larger than the wavelength used. As its experimental validation, this paper demonstrates the transverse (or lateral) trapping of individual polystyrene beads in the near field of focused ultrasound. A 100 μm bead is immobilized on the central beam axis by a focused sound beam from a 30 MHz single element lithium niobate transducer, after being laterally displaced through hundreds of micrometers. Maximum displacement, a longest lateral distance at which a trapped bead can be directed towards the central axis, is thus measured over a discrete frequency range from 24 MHz to 36 MHz. The displacement data are found to be between 323.7 μm and 470.2 μm, depending on the transducer's driving frequency and input voltage amplitude. The experimental results are compared with their corresponding model values, and their relative errors lie between 0.9% and 3.9%. The results suggest that this remote maneuvering technique may be employed to manipulate individual cells through solid microbeads, provoking certain cellular reactions to localized mechanical disturbance without direct contact.

Manual and Instrument Applied Cervical Manipulation for Mechanical Neck Pain: A Randomized Controlled Trial.

Science.gov (United States)

Gorrell, Lindsay M; Beath, Kenneth; Engel, Roger M

2016-06-01

The purpose of this study was to compare the effects of 2 different cervical manipulation techniques for mechanical neck pain (MNP). Participants with MNP of at least 1 month's duration (n = 65) were randomly allocated to 3 groups: (1) stretching (control), (2) stretching plus manually applied manipulation (MAM), and (3) stretching plus instrument-applied manipulation (IAM). MAM consisted of a single high-velocity, low-amplitude cervical chiropractic manipulation, whereas IAM involved the application of a single cervical manipulation using an (Activator IV) adjusting instrument. Preintervention and postintervention measurements were taken of all outcomes measures. Pain was the primary outcome and was measured using visual analogue scale and pressure pain thresholds. Secondary outcomes included cervical range of motion, hand grip-strength, and wrist blood pressure. Follow-up subjective pain scores were obtained via telephone text message 7 days postintervention. Subjective pain scores decreased at 7-day follow-up in the MAM group compared with control (P = .015). Cervical rotation bilaterally (ipsilateral: P = .002; contralateral: P = .015) and lateral flexion on the contralateral side to manipulation (P = .001) increased following MAM. Hand grip-strength on the contralateral side to manipulation (P = .013) increased following IAM. No moderate or severe adverse events were reported. Mild adverse events were reported on 6 occasions (control, 4; MAM, 1; IAM, 1). This study demonstrates that a single cervical manipulation is capable of producing immediate and short-term benefits for MNP. The study also demonstrates that not all manipulative techniques have the same effect and that the differences may be mediated by neurological or biomechanical factors inherent to each technique. Copyright © 2016. Published by Elsevier Inc.

An Oxidase-Based Electrochemical Fluidic Sensor with High-Sensitivity and Low-Interference by On-Chip Oxygen Manipulation

Directory of Open Access Journals (Sweden)

Chang-Soo Kim

2012-06-01

Full Text Available Utilizing a simple fluidic structure, we demonstrate the improved performance of oxidase-based enzymatic biosensors. Electrolysis of water is utilized to generate bubbles to manipulate the oxygen microenvironment close to the biosensor in a fluidic channel. For the proper enzyme reactions to occur, a simple mechanical procedure of manipulating bubbles was developed to maximize the oxygen level while minimizing the pH change after electrolysis. The sensors show improved sensitivities based on the oxygen dependency of enzyme reaction. In addition, this oxygen-rich operation minimizes the ratio of electrochemical interference signal by ascorbic acid during sensor operation (i.e., amperometric detection of hydrogen peroxide. Although creatinine sensors have been used as the model system in this study, this method is applicable to many other biosensors that can use oxidase enzymes (e.g., glucose, alcohol, phenol, etc. to implement a viable component for in-line fluidic sensor systems.

Pulsed-laser-deposited, single-crystalline Cu2O films with low resistivity achieved through manipulating the oxygen pressure

Science.gov (United States)

Liu, Xiaohui; Xu, Meng; Zhang, Xijian; Wang, Weiguang; Feng, Xianjin; Song, Aimin

2018-03-01

Low-resistivity, single-crystalline Cu2O films were realized on MgO (110) substrates through manipulating the oxygen pressure (PO2) of pulsed-laser deposition. X-ray diffraction and high resolution transmission electron microscopy measurements revealed that the films deposited at PO2 of 0.06 and 0.09 Pa were single phase Cu2O and the 0.09-Pa-deposited film exhibited the best crystallinity with an epitaxial relationship of Cu2O (110)∥MgO (110) with Cu2O (001)∥MgO (001). The pure phase Cu2O films exhibited higher transmittances and larger band gaps with an optical band gap of 2.56 eV obtained for the 0.09 Pa-deposited film. Hall-effect measurements demonstrated that the Cu2O film deposited at 0.09 Pa had the lowest resistivity of 6.67 Ω cm and highest Hall mobility of 23.75 cm2 v-1 s-1.

Binding affinity and adhesion force of organophosphate hydrolase enzyme with soil particles related to the isoelectric point of the enzyme.

Science.gov (United States)

Islam, Shah Md Asraful; Yeasmin, Shabina; Islam, Md Saiful; Islam, Md Shariful

2017-07-01

The binding affinity of organophosphate hydrolase enzyme (OphB) with soil particles in relation to the isoelectric point (pI) was studied. Immobilization of OphB with soil particles was observed by confocal microscopy, Fourier transform infrared spectroscopy (FT-IR), and Atomic force microscopy (AFM). The calculated pI of OphB enzyme was increased from 8.69 to 8.89, 9.04 and 9.16 by the single, double and triple mutant of OphB enzyme, respectively through the replacement of negatively charged aspartate with positively charged histidine. Practically, the binding affinity was increased to 5.30%, 11.50%, and 16.80% for single, double and triple mutants, respectively. In contrast, enzyme activity of OphB did not change by the mutation of the enzyme. On the other hand, adhesion forces were gradually increased for wild type OphB enzyme (90 pN) to 96, 100 and 104 pN for single, double and triple mutants of OphB enzyme, respectively. There was an increasing trend of binding affinity and adhesion force by the increase of isoelectric point (pI) of OphB enzyme. Copyright © 2017 Elsevier Inc. All rights reserved.

Real-time monitoring and manipulation of single bio-molecules in free solution

Energy Technology Data Exchange (ETDEWEB)

Li, Hung-Wing [Iowa State Univ., Ames, IA (United States)

2005-01-01

The observation and manipulation of single biomolecules allow their dynamic behaviors to be studied to provide insight into molecular genetics, biochip assembly, biosensor design, DNA biophysics. In a PDMS/glass microchannel, a nonuniform electroosmotic flow (EOF) was created. By using a scanning confocal fluorescence microscope and total internal-reflection fluorescence microscope (TIRFM), we demonstrated that negatively charged DNA molecules were focused by the nonuniform EOF into a thin layer at the glass surface. This phenomenon was applied to selectively detect target DNA molecules without requiring the separation of excessive probes and can be applied continuously to achieve high throughput. A variable-angle-TIRFM was constructed for imaging single DNA molecule dynamics at a solid/liquid interface. Implications we have are that the measured intensities cannot be used directly to determine the distances of molecules from the surface and the experimental counting results depict the distance-dependent dynamics of molecules near the surface; Molecules at low ionic strengths experience electrostatic repulsion at distances much further away from the surface than the calculated thickness of the electrical double layer. {delta}-DNA was employed as a nanoprobe for different functionalized surfaces to elucidate adsorption in chromatography. The 12-base unpaired ends of this DNA provide exposed purine and pyrimidine groups for adsorption. Patterns of self-assembled monolayers (SAMs) and patterns of metal oxides are generated. By recording the real-time dynamic motion of DNA molecules at the SAMs/aqueous interface, the various parameters governing the retention of an analyte during chromatographic separation can be studied. Even subtle differences among adsorptive forces can be revealed. Dynamic conformational changes of the prosthetic group, flavin adenine dinucleotide (FAD), in flavoprotein NADH peroxidase, in thioredoxin reductase, and in free solution were monitored

Methane-Oxidizing Enzymes: An Upstream Problem in Biological Gas-to-Liquids Conversion

OpenAIRE

Lawton, Thomas J.; Rosenzweig, Amy C.

2016-01-01

Biological conversion of natural gas to liquids (Bio-GTL) represents an immense economic opportunity. In nature, aerobic methanotrophic bacteria and anaerobic archaea are able to selectively oxidize methane using methane monooxygenase (MMO) and methyl coenzyme M reductase (MCR) enzymes. Although significant progress has been made toward genetically manipulating these organisms for biotechnological applications, the enzymes themselves are slow, complex, and not recombinantly tractable in tradi...

Impedance Control of a Redundant Parallel Manipulator

DEFF Research Database (Denmark)

Méndez, Juan de Dios Flores; Schiøler, Henrik; Madsen, Ole

2017-01-01

This paper presents the design of Impedance Control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping...

Industrially Important Carbohydrate Degrading Enzymes from Yeasts: Pectinases, Chitinases, and β-1,3-Glucanases

Science.gov (United States)

Gummadi, Sathyanarayana N.; Kumar, D. Sunil; Dash, Swati S.; Sahu, Santosh Kumar

Polysaccharide degrading enzymes are hydrolytic enzymes, which have a lot of industrial potential and also play a crucial role in carbon recycling. Pectinases, chitinases and glucanases are the three major polysaccharide degrading enzymes found abundantly in nature and these enzymes are mainly produced by fungal strains. Production of these enzymes by yeasts is advantageous over fungi, because the former are easily amenable to genetic manipulations and time required for growth and production is less than that of the latter. Several yeasts belonging to Saccharomyces, Pichia, Rhodotorula and Cryptococcus produce extracellular pectinases, glucanases and chitinases. This chapter emphasizes on the biological significance of these enzymes, their production and their industrial applications.

Single-Molecule Tribology: Force Microscopy Manipulation of a Porphyrin Derivative on a Copper Surface.

Science.gov (United States)

Pawlak, Rémy; Ouyang, Wengen; Filippov, Alexander E; Kalikhman-Razvozov, Lena; Kawai, Shigeki; Glatzel, Thilo; Gnecco, Enrico; Baratoff, Alexis; Zheng, Quanshui; Hod, Oded; Urbakh, Michael; Meyer, Ernst

2016-01-26

The low-temperature mechanical response of a single porphyrin molecule attached to the apex of an atomic force microscope (AFM) tip during vertical and lateral manipulations is studied. We find that approach-retraction cycles as well as surface scanning with the terminated tip result in atomic-scale friction patterns induced by the internal reorientations of the molecule. With a joint experimental and computational effort, we identify the dicyanophenyl side groups of the molecule interacting with the surface as the dominant factor determining the observed frictional behavior. To this end, we developed a generalized Prandtl-Tomlinson model parametrized using density functional theory calculations that includes the internal degrees of freedom of the side group with respect to the core and its interactions with the underlying surface. We demonstrate that the friction pattern results from the variations of the bond length and bond angles between the dicyanophenyl side group and the porphyrin backbone as well as those of the CN group facing the surface during the lateral and vertical motion of the AFM tip.

Nanochannel Device with Embedded Nanopore: a New Approach for Single-Molecule DNA Analysis and Manipulation

Science.gov (United States)

Zhang, Yuning; Reisner, Walter

2013-03-01

Nanopore and nanochannel based devices are robust methods for biomolecular sensing and single DNA manipulation. Nanopore-based DNA sensing has attractive features that make it a leading candidate as a single-molecule DNA sequencing technology. Nanochannel based extension of DNA, combined with enzymatic or denaturation-based barcoding schemes, is already a powerful approach for genome analysis. We believe that there is revolutionary potential in devices that combine nanochannels with embedded pore detectors. In particular, due to the fast translocation of a DNA molecule through a standard nanopore configuration, there is an unfavorable trade-off between signal and sequence resolution. With a combined nanochannel-nanopore device, based on embedding a pore inside a nanochannel, we can in principle gain independent control over both DNA translocation speed and sensing signal, solving the key draw-back of the standard nanopore configuration. We demonstrate that we can optically detect successful translocation of DNA from the nanochannel out through the nanopore, a possible method to 'select' a given barcode for further analysis. In particular, we show that in equilibrium DNA will not escape through an embedded sub-persistence length nanopore, suggesting that the pore could be used as a nanoscale window through which to interrogate a nanochannel extended DNA molecule. Furthermore, electrical measurements through the nanopore are performed, indicating that DNA sensing is feasible using the nanochannel-nanopore device.

Trapping, manipulation and rapid rotation of NBD-C8 fluorescent single microcrystals in optical tweezers

International Nuclear Information System (INIS)

GALAUP, Jean-Pierre; RODRIGUEZ-OTAZO, Mariela; AUGIER-CALDERIN, Angel; LAMERE; Jean-Francois; FERY-FORGUES, Suzanne

2009-01-01

We have built an optical tweezers experiment based on an inverted microscope to trap and manipulate single crystals of micro or sub-micrometer size made from fluorescent molecules of 4-octylamino-7-nitrobenzoxadiazole (NBD-C8). These single crystals have parallelepiped shapes and exhibit birefringence properties evidenced through optical experiments between crossed polarizers in a polarizing microscope. The crystals are uniaxial with their optical axis oriented along their largest dimension. Trapped in the optical trap, the organic micro-crystals are oriented in such a way that their long axis is along the direction of the beam propagation, and their short axis follows the direction of the linear polarization. Therefore, with linearly polarized light, simply rotating the light polarization can orient the crystal. When using circularly or only elliptically polarized light, the crystal can spontaneously rotate and reach rotation speed of several hundreds of turns per second. A surprising result has been observed: when the incident power is growing up, the rotation speed increases to reach a maximum value and then decreases even when the power is still growing up. Moreover, this evolution is irreversible. Different possible explanations can be considered. The development of a 3D control of the crystals by dynamical holography using liquid crystal spatial modulators will be presented and discussed on the basis of the most recent results obtained. (Author)

Effect of single and binary combinations of plant-derived molluscicides on different enzyme activities in the nervous tissue of Achatina fulica.

Science.gov (United States)

Rao, I G; Singh, Amrita; Singh, V K; Singh, D K

2003-01-01

Effect of single and binary treatments of plant-derived molluscicides on different enzymes--acetylcholinesterase (AChE), lactic dehydrogenase (LDH) and acid/alkaline phosphatase (ACP/ALP)--in the nervous tissue of the harmful terrestrial snail Achatina fulica were studied. Sublethal in vivo 24-h exposure to 40% and 80% LC(50) of Azadirachta indica oil, Cedrus deodara oil, Allium sativum bulb powder, Nerium indicum bark powder and binary combinations of A. sativum (AS) + C. deodara (CD) and CD + A. indica (AI) oils significantly altered the activity of these enzymes in the nervous tissue of Achatina fulica. The binary treatment of AS + CD was more effective against AChE, LDH, and ALP than the single ones. However, binary treatment of AI + CD was more effective against ALP. Copyright 2003 John Wiley & Sons, Ltd.

Chapter Three -- Glycosylation of Cellulases: Engineering Better Enzymes for Biofuels

Energy Technology Data Exchange (ETDEWEB)

Greene, Eric R. [Univ. of Colorado, Boulder, CO (United States). Dept. of Chemistry and Biochemistry and BioFrontiers Inst.; Himmel, Michael E. [National Renewable Energy Lab. (NREL), Golden, CO (United States). Biosciences Center; Beckham, Gregg T. [National Renewable Energy Lab. (NREL), Golden, CO (United States). National Bioenergy Center; Tan, Zhongping [Univ. of Colorado, Boulder, CO (United States). Dept. of Chemistry and Biochemistry and BioFrontiers Inst.

2015-10-24

Methods for the manipulation of glycan structures have been recently reported that employ genetic tuning of glycan-active enzymes expressed from homogeneous and heterologous fungal hosts. Taken together, these studies have enabled new strategies for the exploitation of protein glycosylation for the production of enhanced cellulases for biofuel production.

MEMS-based platforms for mechanical manipulation and characterization of cells

Science.gov (United States)

Pan, Peng; Wang, Wenhui; Ru, Changhai; Sun, Yu; Liu, Xinyu

2017-12-01

Mechanical manipulation and characterization of single cells are important experimental techniques in biological and medical research. Because of the microscale sizes and highly fragile structures of cells, conventional cell manipulation and characterization techniques are not accurate and/or efficient enough or even cannot meet the more and more demanding needs in different types of cell-based studies. To this end, novel microelectromechanical systems (MEMS)-based technologies have been developed to improve the accuracy, efficiency, and consistency of various cell manipulation and characterization tasks, and enable new types of cell research. This article summarizes existing MEMS-based platforms developed for cell mechanical manipulation and characterization, highlights their specific design considerations making them suitable for their designated tasks, and discuss their advantages and limitations. In closing, an outlook into future trends is also provided.

Combined long reach and dexterous manipulation for waste storage tank applications

International Nuclear Information System (INIS)

Burks, B.L.; Armstrong, G.A.; Butler, P.L.; Boissiere, P.

1991-01-01

One of the highest priority environmental restoration tasks within the Department of Energy (DOE) is the remediation of single-shell waste storage tanks (WSTs), especially those suspected of, or documented as, leakers. Most currently proposed approaches for remediation of large underground WSTs require application of remotely operated long-reach (greater than 10 m), high-lift capacity (greater than 200 kg) manipulator systems. Because of the complexity of in-tank hardware, waste forms, remediation tasks, and variety of end-effector tools, these manipulator systems must also be capable of performing a diverse set of dexterous manipulations. This presentation will describe the integration of a Spar RMS 2500 manipulator system, a Schilling Titan-7F manipulator, and control systems developed at ORNL and SNL to provide a combined long reach and dexterous manipulation system. The purpose of integrating these two manipulator systems was to study and demonstrate their combined performance, evaluate design requirements for a deployed system, and provide a testbed for control and end-effector technologies that might be applicable to remediation of WSTs. 5 refs

Probing the Evaporation Dynamics of Ethanol/Gasoline Biofuel Blends Using Single Droplet Manipulation Techniques.

Science.gov (United States)

Corsetti, Stella; Miles, Rachael E H; McDonald, Craig; Belotti, Yuri; Reid, Jonathan P; Kiefer, Johannes; McGloin, David

2015-12-24

Using blends of bioethanol and gasoline as automotive fuel leads to a net decrease in the production of harmful emission compared to the use of pure fossil fuel. However, fuel droplet evaporation dynamics change depending on the mixing ratio. Here we use single particle manipulation techniques to study the evaporation dynamics of ethanol/gasoline blend microdroplets. The use of an electrodynamic balance enables measurements of the evaporation of individual droplets in a controlled environment, while optical tweezers facilitate studies of the behavior of droplets inside a spray. Hence, the combination of both methods is perfectly suited to obtain a complete picture of the evaporation process. The influence of adding varied amounts of ethanol to gasoline is investigated, and we observe that droplets with a greater fraction of ethanol take longer to evaporate. Furthermore, we find that our methods are sensitive enough to observe the presence of trace amounts of water in the droplets. A theoretical model, predicting the evaporation of ethanol and gasoline droplets in dry nitrogen gas, is used to explain the experimental results. Also a theoretical estimation of the saturation of the environment, with other aerosols, in the tweezers is carried out.

In-Situ Single DNA Manipulation with phi 20nm Electron-Beam-Deposited Probe

National Research Council Canada - National Science Library

Fujioka, Sota

2001-01-01

.... In this method full-time observation of the manipulation is provided for the purpose of keeping the information about where the isolated DNA fragment used to he located in the original DNA fiber...

Optically pumped semiconductor lasers: Conception and characterization of a single mode source for Cesium atoms manipulation

International Nuclear Information System (INIS)

Cocquelin, B.

2009-02-01

Lasers currently used in atomic clocks or inertial sensors are suffering from a lack of power, narrow linewidth or compactness for future spatial missions. Optically pumped semiconductor lasers, which combine the approach of classical solid state lasers and the engineering of semiconductor laser, are considered here as a candidate to a metrological laser source dedicated to the manipulation of Cesium atoms in these instruments. These lasers have demonstrated high power laser emission in a circular single transverse mode, as well as single longitudinal mode emission, favoured by the semiconductor structure and the external cavity design. We study the definition and the characterization of a proper semiconductor structure for the cooling and the detection of Cesium atoms at 852 nm. A compact and robust prototype tunable on the Cesium D2 hyperfine structure is built. The laser frequency is locked to an atomic transition thanks to a saturated absorption setup. The emission spectral properties are investigated, with a particular attention to the laser frequency noise and the laser linewidth. Finally, we describe and model the thermal properties of the semiconductor structure, which enables the simulation of the laser power characteristic. The experimental parameters are optimised to obtain the maximum output power with our structure. Thanks to our analysis, we propose several ways to overcome these limitations, by reducing the structure heating. (authors)

Manipulating a Co adatom on a stepped Cu surface by an STM tip: A theoretical study

International Nuclear Information System (INIS)

Liu, L.; Huang, R.Z.; Sun, Y.S.N.; Du, C.C.; Zhang, R.J.; Zheng, Y.X.; Wu, Y.X.

2014-01-01

A successful atomic manipulation may be influenced by many factors such as bias voltage, tip structure and manipulation modes et al. Here, performing atomic-scale simulations with ab initio based many-body potentials, we have studied the vertical and lateral manipulation of a single Co adatom on metallic Cu surfaces using STM tips at zero bias voltage. A suitable scheme for manipulating the Co adatom on a Cu(5 5 4) surface is proposed. The optimum tip height for a successful lateral manipulation is determined and the reliability of the lateral manipulation of the adatom on the stepped surface is assessed

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

The patent concerns a manipulator, which enables operations to be carried out remotely from the operator. The device is suitable for use in handling of radioactive materials and other hazardous liquids or gases. The specifications are given, and the movements of the manipulator arm described. (U.K.)

Three-dimensional holographic optical manipulation through a high-numerical-aperture soft-glass multimode fibre

Science.gov (United States)

Leite, Ivo T.; Turtaev, Sergey; Jiang, Xin; Šiler, Martin; Cuschieri, Alfred; Russell, Philip St. J.; Čižmár, Tomáš

2018-01-01

Holographic optical tweezers (HOT) hold great promise for many applications in biophotonics, allowing the creation and measurement of minuscule forces on biomolecules, molecular motors and cells. Geometries used in HOT currently rely on bulk optics, and their exploitation in vivo is compromised by the optically turbid nature of tissues. We present an alternative HOT approach in which multiple three-dimensional (3D) traps are introduced through a high-numerical-aperture multimode optical fibre, thus enabling an equally versatile means of manipulation through channels having cross-section comparable to the size of a single cell. Our work demonstrates real-time manipulation of 3D arrangements of micro-objects, as well as manipulation inside otherwise inaccessible cavities. We show that the traps can be formed over fibre lengths exceeding 100 mm and positioned with nanometric resolution. The results provide the basis for holographic manipulation and other high-numerical-aperture techniques, including advanced microscopy, through single-core-fibre endoscopes deep inside living tissues and other complex environments.

Radical Chemistry and Charge Manipulation with an Atomic Force Microscope

Science.gov (United States)

Gross, Leo

The fuctionalization of tips by atomic manipulation dramatically increased the resolution of atomic force microscopy (AFM). The combination of high-resolution AFM with atomic manipulation now offers the unprecedented possibility to custom-design individual molecules by making and breaking bonds with the tip of the microscope and directly characterizing the products on the atomic scale. We recently applied this technique to generate and study reaction intermediates and to investigate chemical reactions trigged by atomic manipulation. We formed diradicals by dissociating halogen atoms and then reversibly triggered ring-opening and -closing reactions via atomic manipulation, allowing us to switch and control the molecule's reactivity, magnetic and optical properties. Additional information about charge states and charge distributions can be obtained by Kelvin probe force spectroscopy. On multilayer insulating films we investigated single-electron attachment, detachment and transfer between individual molecules. EU ERC AMSEL (682144), EU project PAMS (610446).

Electrostatic Transport and Manipulation of Lunar Soil and Dust

International Nuclear Information System (INIS)

Kawamoto, Hiroyuki

2008-01-01

Transport and manipulation technologies of lunar soil and dust are under development utilizing the electrostatic force. Transport of particles is realized by an electrostatic conveyer consisting of parallel electrodes. Four-phase traveling electrostatic wave was applied to the electrodes to transport particles upon the conveyer and it was demonstrated that particles were efficiently transported under conditions of low frequency, high voltage, and the application of rectangular wave. Not only linear but also curved and closed transport was demonstrated. Numerical investigation was carried out with a three-dimensional hard-sphere model of the Distinct Element Method to clarify the mechanism of the transport and to predict performances in the lunar environment. This technology is expected to be utilized not only for the transport of bulk soil but also for the cleaning of a solar panel and an optical lens. Another technology is an electrostatic manipulation system to manipulate single particle. A manipulator consisted of two parallel pin electrodes. When voltage was applied between the electrodes, electrophoresis force generated in non-uniform electrostatic field was applied to the particle near the tip of the electrode. The particle was captured by the application of the voltage and released from the manipulator by turning off the voltage. It was possible to manipulate not only insulative but also conductive particles. Three-dimensional electrostatic field calculation was conducted to calculate the electrophoresis force and the Coulomb force

Cold Atmospheric Plasma Manipulation of Proteins in Food Systems

DEFF Research Database (Denmark)

Tolouie, Haniye; Hashemi, Maryam; Mohammadifar, Mohammad Amin

2017-01-01

Plasma processing has been getting a lot of attention in recent applications as a novel, eco-friendly, and highly efficient approach. Cold plasma has mostly been used to reduce microbial counts in foodstuff and biological materials, as well as in different levels of packaging, particularly in cases...... of plasma on the conformation and function of proteins with food origin, especially enzymes and allergens, as well as protein-made packaging films. In enzyme manipulation with plasma, deactivation has been reported to be either partial or complete. In addition, an activity increase has been observed in some...... where there is thermal sensitivity. As it is a very recent application, the impact of cold plasma treatment has been studied on the protein structures of food and pharmaceutical systems, as well as in the packaging industry. Proteins, as a food constituent, play a remarkable role in the techno...

Two-Dimensional Programmable Manipulation of Magnetic Nanoparticles on-Chip

DEFF Research Database (Denmark)

Sarella, Anandakumar; Torti, Andrea; Donolato, Marco

2014-01-01

A novel device is designed for on-chip selective trap and two-dimensional remote manipulation of single and multiple fluid-borne magnetic particles using field controlled magnetic domain walls in circular nanostructures. The combination of different ring-shaped nanostructures and field sequences ...

Electrical manipulation of the light emission of single CdSe/CdS nanorods

International Nuclear Information System (INIS)

Mueller, J.

2005-01-01

In the center of the present thesis lies the study and manipulation of the light emission of novel rod-shaped cadmium-selenide/cadmium-sulfide (CdSe/CdS) nanocrystals. These nanocrystals consist of a spherical CdSe nucleus, on which a CdS nanorod is grown monocrystallinely. By this grow spatially asymmetric semiconductor nanorods with an aspect ratio between 1.6 and 4.0. By the measurement of the radiation rate in this thesis it could be shown that the electron is delocalized over the whole nanorod, while the hole is localized in the CdSe nucleus. Therefore by the length of the cadmium-sulfide rod the wave-function overlap can be directly manipulated. The wave functions and by this the emission energies can be beside the geometry especially also controlled by external fields. Because the magnitude of the so-called ''Stark effect in quantum-bounded structures'' increases with the spatial extension of the nanostructure, in the nanorods an in comparison with spherical nanocrystals distinctly increased field effect could be observed. Experiments on single CdSe/CdS nanorods exhibit however not only a shift of the emission energy by the 50-fold of the line width, but simultaneously a field-induced decreasement of the emission intensity by one order of magnitude. The experimental results can be excellently compared with a theoretical model. For this the effective-mass model was supplemented by the Coulomb interaction and extended by a finite-element method for asymmetric geometries. By this it is possible to predict both the radiation rate, the Stark shift of the emission energy, and the intensity modulation by electric fields qualitatively and quantitatively and to describe the Stark effect in colloidal nanocrystal by a quantum-mechanical model. The emission characteristics is not only influenced by external fields, but also by fluctuations of local fields, which arise by diffunding surface charges. These local field changes induce also a Stark shift and lead to a time

Acoustic manipulation: Bessel beams and active carriers

Science.gov (United States)

Rajabi, Majid; Mojahed, Alireza

2017-10-01

In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

Multi-enzyme catalyzed processes: Next generation biocatalysis

DEFF Research Database (Denmark)

Andrade Santacoloma, Paloma de Gracia; Sin, Gürkan; Gernaey, Krist

2011-01-01

Biocatalysis has been attracting increasing interest in recent years. Nevertheless, most studies concerning biocatalysis have been carried out using single enzymes (soluble or immobilized). Currently, multiple enzyme mixtures are attractive for the production of many compounds at an industrial...

Manipulation of magnetic Skyrmions with a Scanning Tunneling Microscope

OpenAIRE

Wieser, R.

2016-01-01

The dynamics of a single magnetic Skyrmion in an atomic spin system under the influence of Scanning Tunneling Microscope is investigated by computer simulations solving the Landau-Lifshitz-Gilbert equation. Two possible scenarios are described: manipulation with aid of a spin-polarized tunneling current and by an electric field created by the scanning tunneling microscope. The dynamics during the creation and annihilation process is studied and the possibility to move single Skyrmions is showed.

Currency Manipulation versus Current Account Manipulation

OpenAIRE

Junning Cai

2005-01-01

It is said that a country’s currency peg can become currency manipulation representing protracted government intervention in the foreign exchange market that gives it unfair competitive advantage in international trade yet prevents effective balance of payments in its trade partners. Regarding this widespread fallacy, this paper explains why currency peg is not currency manipulation even when it keeps a country’s currency undervalued. We clarify that 1) government is inherently a major player...

Manipulator Comparative Testing Program: Final report

International Nuclear Information System (INIS)

Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N; Fujita, Y.; Maeda, M.

1987-02-01

The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm

Graphics and control of the guide tube assembly reinforcement manipulators at Sizewell 'A'

International Nuclear Information System (INIS)

Burden, C.

1996-01-01

A method was devised to reinforce the lower lug welds of the Guide Tube Assemblies (GTA's) at Sizewell 'A'. A six degree of freedom manipulator was designed to place a clamp around the lugs and tighten it. The manipulator was fitted with the three fixed cameras but required another surveillance manipulator positioned in an adjacent standpipe to provide additional views. The need to prepare two standpipes limited the rate at which reinforcements could be made. Therefore an articulated two arm camera manipulator, which could be used on the existing manipulator mast was designed and built. The two manipulators were driven from separate desks and were controlled by the same supervisory computer linked to online graphics. The camera arm joints were driven on preplanned routes using a single joystick because of the complex moves and tight spaces involved. A large number of GTA sites have now been reinforced including a dropped GTA which had to be raised to carry out clamping. (Author)

Single cell enzyme diagnosis on the chip

DEFF Research Database (Denmark)

Jensen, Sissel Juul; Harmsen, Charlotte; Nielsen, Mette Juul

2013-01-01

Conventional diagnosis based on ensemble measurements often overlooks the variation among cells. Here, we present a droplet-microfluidics based platform to investigate single cell activities. Adopting a previously developed isothermal rolling circle amplification-based assay, we demonstrate...... detection of enzymatic activities down to the single cell level with small quantities of biological samples, which outcompetes existing techniques. Such a system, capable of resolving single cell activities, will ultimately have clinical applications in diagnosis, prediction of drug response and treatment...

Dexterous Manipulation: Making Remote Manipulators Easy to Use

International Nuclear Information System (INIS)

HARRIGAN, RAYMOND W.; BENNETT, PHIL C.

2001-01-01

Perhaps the most basic barrier to the widespread deployment of remote manipulators is that they are very difficult to use. Remote manual operations are fatiguing and tedious, while fully autonomous systems are seldom able to function in changing and unstructured environments. An alternative approach to these extremes is to exploit computer control while leaving the operator in the loop to take advantage of the operator's perceptual and decision-making capabilities. This report describes research that is enabling gradual introduction of computer control and decision making into operator-supervised robotic manipulation systems, and its integration on a commercially available, manually controlled mobile manipulator

Microtechnology for cell manipulation and sorting

CERN Document Server

Tseng, Peter; Carlo, Dino

2017-01-01

This book delves into the recent developments in the microscale and microfluidic technologies that allow manipulation at the single and cell aggregate level. Expert authors review the dominant mechanisms that manipulate and sort biological structures, making this a state-of-the-art overview of conventional cell sorting techniques, the principles of microfluidics, and of microfluidic devices. All chapters highlight the benefits and drawbacks of each technique they discuss, which include magnetic, electrical, optical, acoustic, gravity/sedimentation, inertial, deformability, and aqueous two-phase systems as the dominant mechanisms utilized by microfluidic devices to handle biological samples. Each chapter explains the physics of the mechanism at work, and reviews common geometries and devices to help readers decide the type of style of device required for various applications. This book is appropriate for graduate-level biomedical engineering and analytical chemistry students, as well as engineers and scientist...

Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

Science.gov (United States)

Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

2011-12-01

Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

Manipulation of the rumen to increase ruminant production

International Nuclear Information System (INIS)

Nolan, J.V.; Leng, R.A.

1989-01-01

Manipulation of the rumen should be undertaken with a view to optimizing the supply of specific nutrients to the host animal. Especially important are the volatile fatty acids (glucogenic and non-glucogenic), and dietary and bypass amino acids and lipids. The animal's requirement for these nutrients varies according to its physiological state (growing, pregnant or lactating), its health (disease or parasite load), previous dietary history and also the prevailing climatic conditions. Often the availability of total protein (amino acids) relative to oxidizable substrates (the protein/energy or P/E ratio) is the primary limitation to voluntary feed intake and to efficient use of absorbed nutrients. In these instances, the first objective should be to maximize the yield of microbial amino acids from the rumen by manipulations that increase the net efficiency of microbial synthesis, e.g. by altering methods of feed processing, supplementing with urea and minerals, or eliminating protozoa. Further improvements in the P/E ratio can be attained by supplementing the animal with a dietary protein source with good rumen bypass characteristics in order to provide additional amino acids for intestinal absorption. Other potential manipulations of the rumen include the use of chemicals to modify rumen fermentation patterns and supplementation with long chain fatty acids (LCFA) (as a dense source of energy supplying substrate) in rumen-inert forms (e.g. as Ca-LCFA). However, when energy dense dietary supplements are given, it may be necessary to include a bypass protein source to maintain the P/E ratio. Novel possibilities for manipulation include the use of molecular biology techniques to create microorganisms with enhanced production of enzymes that promote degradation of structural carbohydrates, or with an ability to secrete chemicals that are toxic to protozoa. (author). 68 refs, 4 figs, 1 tab

Identification and modification of dynamical regions in proteins for alteration of enzyme catalytic effect

Science.gov (United States)

Agarwal, Pratul K.

2013-04-09

A method for analysis, control, and manipulation for improvement of the chemical reaction rate of a protein-mediated reaction is provided. Enzymes, which typically comprise protein molecules, are very efficient catalysts that enhance chemical reaction rates by many orders of magnitude. Enzymes are widely used for a number of functions in chemical, biochemical, pharmaceutical, and other purposes. The method identifies key protein vibration modes that control the chemical reaction rate of the protein-mediated reaction, providing identification of the factors that enable the enzymes to achieve the high rate of reaction enhancement. By controlling these factors, the function of enzymes may be modulated, i.e., the activity can either be increased for faster enzyme reaction or it can be decreased when a slower enzyme is desired. This method provides an inexpensive and efficient solution by utilizing computer simulations, in combination with available experimental data, to build suitable models and investigate the enzyme activity.

Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

Science.gov (United States)

Oeftering, Richard C.

1999-01-01

High-intensity ultrasound waves can produce the effects of "Acoustic Radiation Pressure" (ARP) and "acoustic streaming." These effects can be used to propel liquid flows and to apply forces that can be used to move or manipulate floating objects or liquid surfaces. NASA's interest in ARP includes the remote-control agitation of liquids and the manipulation of bubbles and drops in liquid experiments and propellant systems. A high level of flexibility is attained by using a high-power acoustic phased array to generate, steer, and focus a beam of acoustic waves. This is called an Acoustic Radiation Pressure Phased Array, or ARPPA. In this approach, many acoustic transducer elements emit wavelets that converge into a single beam of sound waves. Electronically coordinating the timing, or "phase shift," of the acoustic waves makes it possible to form a beam with a predefined direction and focus. Therefore, a user can direct the ARP force at almost any desired point within a liquid volume. ARPPA lets experimenters manipulate objects anywhere in a test volume. This flexibility allow it to be used for multiple purposes, such as to agitate liquids, deploy and manipulate drops or bubbles, and even suppress sloshing in spacecraft propellant tanks.

Controlled Manipulation of Individual Vortices in a Superconductor

Energy Technology Data Exchange (ETDEWEB)

Straver, E.W.J.

2010-04-05

We report controlled local manipulation of single vortices by low temperature magnetic force microscope (MFM) in a thin film of superconducting Nb. We are able to position the vortices in arbitrary configurations and to measure the distribution of local depinning forces. This technique opens up new possibilities for the characterization and use of vortices in superconductors.

Preliminary safety equipment list for Tank 241-C-106 Manipulator Retrieval System, Project W-340

International Nuclear Information System (INIS)

Guthrie, R.L.

1994-01-01

This document identifies the anticipated safety classification of the estimated major subsystems, based on the projected major functions, that will be used as guidance for the development of the conceptual design of the Manipulator Retrieval System for Tank 241-C-106. This document is intended to be updated as the design of the Manipulator Retrieval System evolves through the conceptual and definitive design phases. The Manipulator Retrieval System is to be capable of removing the hardened sludge heel at the bottom of single shell Tank 241-C-106 and to perform an overall clean out of the tank that leaves a maximum of 360 ft 3 (TPA milestone M-45-00). The thickness of the heel prior to initiation of waste retrieval with the Manipulator Retrieval System is estimated to be 1- to 2-ft. The Manipulator Retrieval System is currently in the pre-conceptual phase with no definitive systems or subsystems. The anticipated retrieval functions for the Manipulator Retrieval System is based on Table 6-2 of WHC-SD-W340-ES-001, Rev. 1. Projected equipment to accomplish these functions were based on the following systems and equipment: Rotary Mode Core Sampling Equipment (WHC-SD-WM-SEL-032); Light Duty Utility Arm System Equipment (WHC-SD-WM-SEL-034); Single Shell Tanks Equipment (WHC-SD-WM-SEL-020)

A manipulator

International Nuclear Information System (INIS)

Cole, G.V.; Hofmann, D.A.; Ashby, R.

1984-01-01

A manipulator is described, for remote handling of objects within an enclosure, by an operator outside the enclosure. The manipulator consists of a telescopically extensible arm member, the action of which is controlled by a motor-driven lead screw. (U.K.)

Mixed-substrate (glycerol tributyrate and fibrin) zymography for simultaneous detection of lipolytic and proteolytic enzymes on a single gel.

Science.gov (United States)

Choi, Nack-Shick; Choi, Jong Hyun; Kim, Bo-Hye; Han, Yun-Jon; Kim, Joong Su; Lee, Seung-Goo; Song, Jae Jun

2009-06-01

A new zymography method for simultaneous detection of two different enzymatic activities (lipolytic and proteolytic) using a single SDS-containing or native-conformation gel and a mixed-substrate (glycerol tributyrate and fibrin) (MS)(1) gel was developed. After routine electrophoresis, SDS in the gel was removed by treatment with Triton X-100. Gel proteins were electrotransferred to the MS gel. To visualize lipolytic activity, the MS gel was incubated at 37 degrees C (for 6 or 24 h) until clear bands against an opaque background were observed. To detect proteolytic activity, the same MS gel was stained with Coomassie brilliant blue. Using this method, we show that six lipolytic enzymes from Staphylococcus pasteuri NJ-1 and four proteolytic enzymes from two Bacillus strains, B. licheniformis DJ-2 and B. licheniformis NJ-5, isolated from soil, can be simultaneously detected.

Remote inspection manipulators for AGR II: Babcock Power's interstitial manipulator

International Nuclear Information System (INIS)

Whyley, S.R.

1985-01-01

The interstitial manipulator has been designed and built by Babcock Power for the remote visual inspection of AGR II reactors at Heysham and Torness. Its five drives are operated from a console local to the manipulator on the pile cap, or from a similar console located remotely. The need to operate from an interstitial ISI standpipe has restricted the size of the components entering the reactor, and this has consequently provided the major design constraint. A detailed structural assessment of the manipulator was carried out to demonstrate the ability to operate with payloads in excess of the largest camera weight of 13.6 kg. The manipulator finite element model was also used to determine static deflections, and, as a consequence, has provided data from which the control system is able to predict accurately the camera's position. Other computer aided design techniques have enabled the step by step sequences of manipulator deployment, in the restricted space available, to be successfully demonstrated. (author)

(1,3;1,4)-β-Glucan Biosynthesis by the CSLF6 Enzyme: Position and Flexibility of Catalytic Residues Influence Product Fine Structure.

Science.gov (United States)

Dimitroff, George; Little, Alan; Lahnstein, Jelle; Schwerdt, Julian G; Srivastava, Vaibhav; Bulone, Vincent; Burton, Rachel A; Fincher, Geoffrey B

2016-04-05

Cellulose synthase-like F6 (CslF6) genes encode polysaccharide synthases responsible for (1,3;1,4)-β-glucan biosynthesis in cereal grains. However, it is not clear how both (1,3)- and (1,4)-linkages are incorporated into a single polysaccharide chain and how the frequency and arrangement of the two linkage types that define the fine structure of the polysaccharide are controlled. Through transient expression in Nicotiana benthamiana leaves, two CSLF6 orthologs from different cereal species were shown to mediate the synthesis of (1,3;1,4)-β-glucans with very different fine structures. Chimeric cDNA constructs with interchanged sections of the barley and sorghum CslF6 genes were developed to identify regions of the synthase enzyme responsible for these differences. A single amino acid residue upstream of the TED motif in the catalytic region was shown to dramatically change the fine structure of the polysaccharide produced. The structural basis of this effect can be rationalized by reference to a homology model of the enzyme and appears to be related to the position and flexibility of the TED motif in the active site of the enzyme. The region and amino acid residue identified provide opportunities to manipulate the solubility of (1,3;1,4)-β-glucan in grains and vegetative tissues of the grasses and, in particular, to enhance the solubility of dietary fibers that are beneficial to human health.

Protoplast preparation from monokaryotic mycelium of Pleurotus sajor-caju using lysing enzyme

International Nuclear Information System (INIS)

Hassan Hamdani Mutaat; Mat Rasol Awang

2004-01-01

The objective of this study was to determine the optimum parameters of the factors influencing protoplast isolation from monokaryotic mycelium of Pleurotus sajor-caju using lysing enzyme from Trichoderma harzianurm. The study was conducted by manipulating the variables of the factors affecting protoplast isolation, such as age of mycelium culture, period for lysing of mycelium, concentration of lysing enzyme and concentration of osmotic stabilizer. The highest protoplast yield of 8.3 x 104 protoplast/ml was achieved when a 3-day P. sajor-caju mycelium, cultured statically, was incubated for 3 hours in a lytic mixture containing 7.5 mg/ml lysing enzyme and 1.2 M ammonium sulfate as osmotic stabilizer. This protoplast yield, however, is insufficient for regeneration and protoplast fusion works. (Author)

Random-walk enzymes

Science.gov (United States)

Mak, Chi H.; Pham, Phuong; Afif, Samir A.; Goodman, Myron F.

2015-09-01

Enzymes that rely on random walk to search for substrate targets in a heterogeneously dispersed medium can leave behind complex spatial profiles of their catalyzed conversions. The catalytic signatures of these random-walk enzymes are the result of two coupled stochastic processes: scanning and catalysis. Here we develop analytical models to understand the conversion profiles produced by these enzymes, comparing an intrusive model, in which scanning and catalysis are tightly coupled, against a loosely coupled passive model. Diagrammatic theory and path-integral solutions of these models revealed clearly distinct predictions. Comparison to experimental data from catalyzed deaminations deposited on single-stranded DNA by the enzyme activation-induced deoxycytidine deaminase (AID) demonstrates that catalysis and diffusion are strongly intertwined, where the chemical conversions give rise to new stochastic trajectories that were absent if the substrate DNA was homogeneous. The C →U deamination profiles in both analytical predictions and experiments exhibit a strong contextual dependence, where the conversion rate of each target site is strongly contingent on the identities of other surrounding targets, with the intrusive model showing an excellent fit to the data. These methods can be applied to deduce sequence-dependent catalytic signatures of other DNA modification enzymes, with potential applications to cancer, gene regulation, and epigenetics.

Manipulating Quantum Coherence in Solid State Systems

CERN Document Server

Flatté, Michael E; The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems"

2007-01-01

The NATO Advanced Study Institute "Manipulating Quantum Coherence in Solid State Systems", in Cluj-Napoca, Romania, August 29-September 9, 2005, presented a fundamental introduction to solid-state approaches to achieving quantum computation. This proceedings volume describes the properties of quantum coherence in semiconductor spin-based systems and the behavior of quantum coherence in superconducting systems. Semiconductor spin-based approaches to quantum computation have made tremendous advances in the past several years. Coherent populations of spins can be oriented, manipulated and detected experimentally. Rapid progress has been made towards performing the same tasks on individual spins (nuclear, ionic, or electronic) with all-electrical means. Superconducting approaches to quantum computation have demonstrated single qubits based on charge eigenstates as well as flux eigenstates. These topics have been presented in a pedagogical fashion by leading researchers in the fields of semiconductor-spin-based qu...

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

Science.gov (United States)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

Evidence of eligibility manipulation for conditional cash transfer programs

Directory of Open Access Journals (Sweden)

Sergio Firpo

2014-09-01

Full Text Available This paper assesses whether eligibility for conditional cash transfer programs has been manipulated, as well as the impact of this phenomenon on time allocation within households. To perform this analysis, we use data from the 2006 PNAD (Brazilian national household survey and investigate the eligibility manipulation for the Bolsa Família (Family Stipend program during this time period. The program assists families with a monthly per capita income of around R$120.00 (US$60.00. By applying the tests developed by McCrary (2008, we find suggestive evidence that individuals manipulate their income by voluntarily reducing their labor supply in order to become eligible to the program. Moreover, the reduction in labor supply is greater among women, especially single or divorced mothers. This evidence raises some concern about the unintended consequences related to the eligibility criteria utilized by Bolsa Família, as well as the program's impact on individuals living in extreme poverty.

Single droplet drying for optimal spray drying of enzymes and probiotics

OpenAIRE

Schutyser, M.A.I.; Perdana, J.A.; Boom, R.M.

2012-01-01

Spray drying is a mild and cost-effective convective drying method. It can be applied to stabilise heat sensitive ingredients, such as enzymes and probiotic bacteria, albeit in industrial practice for example freeze drying or freezing are often preferred. The reason is that optimum drying conditions and tailored matrix formulations are required to avoid severe heat damage leading to loss in enzyme activity or reduced survival of bacteria. An overview is provided on the use of protective carbo...

Imaging, manipulation and flux noise of single Abrikosov vortices in YBa2Cu3O7-δ dc SQUIDs

International Nuclear Information System (INIS)

Bailer, Matthias

2013-01-01

The thesis deals with the imaging and investigation of single Abrikosov vortices in grain boundary dc SQUIDs1 from the high-temperature superconductor YBa 2 Cu 3 O 7-δ . The low temperature scanning electron microscopy (LTSEM) was used for the measurements, which makes a local, spatially resolved investigation of the electrical properties of materials at low temperatures possible. The advantage over other flux quantum imaging methods is the facility to determine the low-frequency flux noise in the SQUID in the process. Special SQUID designs were created, which allow a reproducible cooling of single flux quanta. Electrical transport and noise measurements were carried out to precharacterise the SQUIDs. Within the scope of the thesis it was the first time that antivortices were imaged with the LTSEM. The possibilities of a manipulation of flux quanta (with the electron beam) were investigated and illustrated. By the averaged measurement of the waveform of a single vortex, linescans with unprecedented resolution could be obtained. This allowed the outstanding comparison of the measured, virtual vortex displacement with various theoretically determined waveforms. The experiments to flux noise provided new insights into the noise behaviour of single flux quanta, which exhibit the typical single fluctuators random telegraph signal, and enabled the analysis of the associated hopping processes. Thus concrete values of the spectral noise power density S r ∼ 196 nm 2 /root(Hz) - 0,28 μm 2 /root(Hz) radially to the SQUID hole could be determined by different, pinned vortices. An influence of the hopping behaviour and therefore of the flux noise succeeded by varying an applied magnetic field. Through tilting the potential course of a vortex, the course of the pinning potential by different hopping processes could be reconstructed using stochastic analysis of the time trace data. With the thesis could be shown convincingly that the vortex imaging method of the LTSEM in

Manipulation of Origin of Life Molecules: Recognizing Single-Molecule Conformations in β-Carotene and Chlorophyll-a/β-Carotene Clusters

Energy Technology Data Exchange (ETDEWEB)

Ngo, Anh T.; Skeini, Timur [Nanoscale; amp, Quantum Phenomena Institute and Physics & amp, Astronomy Department, Ohio University, Athens, Ohio 45701, United States; Iancu, Violeta [Nanoscale; amp, Quantum Phenomena Institute and Physics & amp, Astronomy Department, Ohio University, Athens, Ohio 45701, United States; Redfern, Paul C.; Curtiss, Larry A.; Hla, Saw Wai [Nanoscale; amp, Quantum Phenomena Institute and Physics & amp, Astronomy Department, Ohio University, Athens, Ohio 45701, United States

2018-01-11

Carotenoids and chlorophyll are essential parts of plant leaves and are involved in photosynthesis, a vital biological process responsible for the origin of life on Earth. Here, we investigate how beta-carotene and chlorophyll-a form mixed molecular phases On a Au(111) surface using low-temperature scanning tunneling microscopy and molecular manipulation at the single-molecule level supported by density functional theory calculations. By isolating individual molecules from nanoscale molecular clusters with a scanning tunneling microscope tip, we are able to identify five beta-carotene conformations including a structure exhibiting a three-dimensional conformation. Furthermore, molecular resolution images enable direct visualization of beta-carotene/chlorophyll-a clsuters, with intimate structural details highlighting how they pair: beta-carotene preferentially positions next to chlorophyll-a and induces switching of chlorophyll-a from straight to several bent tail conformations in the molecular clusters.

Manipulation resolves non-trivial structure of corrole monolayer on Ag(111)

International Nuclear Information System (INIS)

Tebi, Stefano; Serrano, Giulia; Koch, Reinhold; Müllegger, Stefan; Aldahhak, Hazem; Rauls, Eva; Schmidt, Wolf Gero; Schöfberger, Wolfgang

2016-01-01

Non-trivial arrangement of molecules within a molecular network complicates structure determination due to interdigitation, partial overlap, or stacking. We demonstrate that combined imaging and lateral manipulation with a scanning tunneling microscope resolves the intricate structure of a molecular network in two-dimensions in a straightforward manner. The network, formed by a monolayer of 5,10,15-tris(pentafluorophenyl)-corrole molecules on Ag(111), is manipulated for the first time with single-molecule precision. Our results reveal a shingle-like packing of partially overlapping corrole molecules. Density functional theory calculations support our findings. (paper)

Modelling atomic scale manipulation with the non-contact atomic force microscope

International Nuclear Information System (INIS)

Trevethan, T; Watkins, M; Kantorovich, L N; Shluger, A L; Polesel-Maris, J; Gauthier, S

2006-01-01

We present the results of calculations performed to model the process of lateral manipulation of an oxygen vacancy in the MgO(001) surface using the non-contact atomic force microscope (NC-AFM). The potential energy surfaces for the manipulation as a function of tip position are determined from atomistic modelling of the MgO(001) surface interacting with a Mg terminated MgO tip. These energies are then used to model the dynamical evolution of the system as the tip oscillates and at a finite temperature using a kinetic Monte Carlo method. The manipulation process is strongly dependent on the lateral position of the tip and the system temperature. It is also found that the expectation value of the point at which the vacancy jumps depends on the trajectory of the oscillating cantilever as the surface is approached. The effect of the manipulation on the operation of the NC-AFM is modelled with a virtual dynamic AFM, which explicitly simulates the entire experimental instrumentation and control loops. We show how measurable experimental signals can result from a single controlled atomic scale event and suggest the most favourable conditions for achieving successful atomic scale manipulation experimentally

Manipulators in teleoperation

International Nuclear Information System (INIS)

Hamel, W.R.

1985-01-01

Teleoperated manipulators represent a mature technology which has evolved over nearly 40 years of applications experience. The wide range of manipulator concepts developed thus far reflect differing applications, priorities, and philosophies. The technology of teleoperated manipulators is in a rapid state of change (just as are industrial robotics) fueled by microelectronics and materials advances. Large strides in performance and dexterity are now practical and advantageous. Even though improved controls and sensory feedback will increase functionality, overall costs should be reduced as manipulator fabrication and assembly labor costs are reduced through improved manufacturing technology. As these advances begin to materialize, broader applications in nonnuclear areas should occur

Multi-enzyme Process Modeling

DEFF Research Database (Denmark)

Andrade Santacoloma, Paloma de Gracia

are affected (in a positive or negative way) by the presence of the other enzymes and compounds in the media. In this thesis the concept of multi-enzyme in-pot term is adopted for processes that are carried out by the combination of enzymes in a single reactor and implemented at pilot or industrial scale...... features of the process and provides the information required to structure the process model by using a step-by-step procedure with the required tools and methods. In this way, this framework increases efficiency of the model development process with respect to time and resources needed (fast and effective....... In this way the model parameters that drives the main dynamic behavior can be identified and thus a better understanding of this type of processes. In order to develop, test and verify the methodology, three case studies were selected, specifically the bi-enzyme process for the production of lactobionic acid...

UHV-STM manipulation of single flat gold nano-islands for constructing interconnection nanopads on MoS2

International Nuclear Information System (INIS)

Yang, JianShu; Jie, Deng; Chandrasekhar, N; Joachim, C

2007-01-01

We demonstrate manipulation of metallic islands containing nearly a million atoms with a precision of one lattice spacing on a MoS 2 surface, one at a time. Optimizing the growth conditions yields triangular shape metallic nano-islands 40 nm in lateral size and 12 nm in height on the MoS2 surface. The manipulation of these nano-islands is done one at a time using the scanning tunneling microscope, and a fully planar 4 pad nanostructure is demonstrated, where one apex of each triangular nano-island is pointing towards a central working MoS 2 area of 12 nm x 24 nm in which atomic cleanliness is preserved. The feedback loop conditions to achieve this manipulation are discussed. This fully planar 4 pads nano-structure is ready to be interconnected by a multi-tip system

Characteristics of manipulative in mathematics laboratory

Science.gov (United States)

Istiandaru, A.; Istihapsari, V.; Prahmana, R. C. I.; Setyawan, F.; Hendroanto, A.

2017-12-01

A manipulative is a teaching aid designed such that students could understand mathematical concepts by manipulating it. This article aims to provide an insight to the characteristics of manipulatives produced in the mathematics laboratory of Universitas Ahmad Dahlan, Indonesia. A case study was conducted to observe the existing manipulatives produced during the latest three years and classified the manipulatives based on the characteristics found. There are four kinds of manipulatives: constructivism manipulative, virtual manipulative, informative manipulative, and game-based manipulative. Each kinds of manipulative has different characteristics and impact towards the mathematics learning.

Methane-Oxidizing Enzymes: An Upstream Problem in Biological Gas-to-Liquids Conversion.

Science.gov (United States)

Lawton, Thomas J; Rosenzweig, Amy C

2016-08-03

Biological conversion of natural gas to liquids (Bio-GTL) represents an immense economic opportunity. In nature, aerobic methanotrophic bacteria and anaerobic archaea are able to selectively oxidize methane using methane monooxygenase (MMO) and methyl coenzyme M reductase (MCR) enzymes. Although significant progress has been made toward genetically manipulating these organisms for biotechnological applications, the enzymes themselves are slow, complex, and not recombinantly tractable in traditional industrial hosts. With turnover numbers of 0.16-13 s(-1), these enzymes pose a considerable upstream problem in the biological production of fuels or chemicals from methane. Methane oxidation enzymes will need to be engineered to be faster to enable high volumetric productivities; however, efforts to do so and to engineer simpler enzymes have been minimally successful. Moreover, known methane-oxidizing enzymes have different expression levels, carbon and energy efficiencies, require auxiliary systems for biosynthesis and function, and vary considerably in terms of complexity and reductant requirements. The pros and cons of using each methane-oxidizing enzyme for Bio-GTL are considered in detail. The future for these enzymes is bright, but a renewed focus on studying them will be critical to the successful development of biological processes that utilize methane as a feedstock.

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

The development of caves or cells and master-slave manipulators to handle radioactive materials is discussed. Some of the most recent advances are described. A manipulator arm, a master-slave manipulator and a servomanipulator mounted on a manipulator are illustrated. Future developments are discussed - these include resolved tip control for the manipulator. (UK)

Advanced photonic methodologies for the 'in vitro' manipulation of cellular systems

OpenAIRE

McDougall, Craig

2011-01-01

This thesis investigates the application of a variety of optical techniques for the manipulation of single cells and their local micro-environment. The methodologies developed provide enhanced control over a single cell under study affording exquisite spatial and temporal control over biological processes of interest. The work presented within the thesis can be split into three distinct categories. The first of these provides an investigation in light activated “caged” molecula...

Emergence of dynamic cooperativity in the stochastic kinetics of fluctuating enzymes

International Nuclear Information System (INIS)

Kumar, Ashutosh; Chatterjee, Sambarta; Nandi, Mintu; Dua, Arti

2016-01-01

Dynamic co-operativity in monomeric enzymes is characterized in terms of a non-Michaelis-Menten kinetic behaviour. The latter is believed to be associated with mechanisms that include multiple reaction pathways due to enzymatic conformational fluctuations. Recent advances in single-molecule fluorescence spectroscopy have provided new fundamental insights on the possible mechanisms underlying reactions catalyzed by fluctuating enzymes. Here, we present a bottom-up approach to understand enzyme turnover kinetics at physiologically relevant mesoscopic concentrations informed by mechanisms extracted from single-molecule stochastic trajectories. The stochastic approach, presented here, shows the emergence of dynamic co-operativity in terms of a slowing down of the Michaelis-Menten (MM) kinetics resulting in negative co-operativity. For fewer enzymes, dynamic co-operativity emerges due to the combined effects of enzymatic conformational fluctuations and molecular discreteness. The increase in the number of enzymes, however, suppresses the effect of enzymatic conformational fluctuations such that dynamic co-operativity emerges solely due to the discrete changes in the number of reacting species. These results confirm that the turnover kinetics of fluctuating enzyme based on the parallel-pathway MM mechanism switches over to the single-pathway MM mechanism with the increase in the number of enzymes. For large enzyme numbers, convergence to the exact MM equation occurs in the limit of very high substrate concentration as the stochastic kinetics approaches the deterministic behaviour.

Emergence of dynamic cooperativity in the stochastic kinetics of fluctuating enzymes

Energy Technology Data Exchange (ETDEWEB)

Kumar, Ashutosh; Chatterjee, Sambarta; Nandi, Mintu; Dua, Arti, E-mail: arti@iitm.ac.in [Department of Chemistry, Indian Institute of Technology, Madras, Chennai 600036 (India)

2016-08-28

Dynamic co-operativity in monomeric enzymes is characterized in terms of a non-Michaelis-Menten kinetic behaviour. The latter is believed to be associated with mechanisms that include multiple reaction pathways due to enzymatic conformational fluctuations. Recent advances in single-molecule fluorescence spectroscopy have provided new fundamental insights on the possible mechanisms underlying reactions catalyzed by fluctuating enzymes. Here, we present a bottom-up approach to understand enzyme turnover kinetics at physiologically relevant mesoscopic concentrations informed by mechanisms extracted from single-molecule stochastic trajectories. The stochastic approach, presented here, shows the emergence of dynamic co-operativity in terms of a slowing down of the Michaelis-Menten (MM) kinetics resulting in negative co-operativity. For fewer enzymes, dynamic co-operativity emerges due to the combined effects of enzymatic conformational fluctuations and molecular discreteness. The increase in the number of enzymes, however, suppresses the effect of enzymatic conformational fluctuations such that dynamic co-operativity emerges solely due to the discrete changes in the number of reacting species. These results confirm that the turnover kinetics of fluctuating enzyme based on the parallel-pathway MM mechanism switches over to the single-pathway MM mechanism with the increase in the number of enzymes. For large enzyme numbers, convergence to the exact MM equation occurs in the limit of very high substrate concentration as the stochastic kinetics approaches the deterministic behaviour.

Emergence of dynamic cooperativity in the stochastic kinetics of fluctuating enzymes

Science.gov (United States)

Kumar, Ashutosh; Chatterjee, Sambarta; Nandi, Mintu; Dua, Arti

2016-08-01

Dynamic co-operativity in monomeric enzymes is characterized in terms of a non-Michaelis-Menten kinetic behaviour. The latter is believed to be associated with mechanisms that include multiple reaction pathways due to enzymatic conformational fluctuations. Recent advances in single-molecule fluorescence spectroscopy have provided new fundamental insights on the possible mechanisms underlying reactions catalyzed by fluctuating enzymes. Here, we present a bottom-up approach to understand enzyme turnover kinetics at physiologically relevant mesoscopic concentrations informed by mechanisms extracted from single-molecule stochastic trajectories. The stochastic approach, presented here, shows the emergence of dynamic co-operativity in terms of a slowing down of the Michaelis-Menten (MM) kinetics resulting in negative co-operativity. For fewer enzymes, dynamic co-operativity emerges due to the combined effects of enzymatic conformational fluctuations and molecular discreteness. The increase in the number of enzymes, however, suppresses the effect of enzymatic conformational fluctuations such that dynamic co-operativity emerges solely due to the discrete changes in the number of reacting species. These results confirm that the turnover kinetics of fluctuating enzyme based on the parallel-pathway MM mechanism switches over to the single-pathway MM mechanism with the increase in the number of enzymes. For large enzyme numbers, convergence to the exact MM equation occurs in the limit of very high substrate concentration as the stochastic kinetics approaches the deterministic behaviour.

Electrical manipulation of the light emission of single CdSe/CdS nanorods; Elektrische Manipulation der Lichtemission von einzelnen CdSe/CdS Nanostaebchen

Energy Technology Data Exchange (ETDEWEB)

Mueller, J.

2005-09-14

In the center of the present thesis lies the study and manipulation of the light emission of novel rod-shaped cadmium-selenide/cadmium-sulfide (CdSe/CdS) nanocrystals. These nanocrystals consist of a spherical CdSe nucleus, on which a CdS nanorod is grown monocrystallinely. By this grow spatially asymmetric semiconductor nanorods with an aspect ratio between 1.6 and 4.0. By the measurement of the radiation rate in this thesis it could be shown that the electron is delocalized over the whole nanorod, while the hole is localized in the CdSe nucleus. Therefore by the length of the cadmium-sulfide rod the wave-function overlap can be directly manipulated. The wave functions and by this the emission energies can be beside the geometry especially also controlled by external fields. Because the magnitude of the so-called ''Stark effect in quantum-bounded structures'' increases with the spatial extension of the nanostructure, in the nanorods an in comparison with spherical nanocrystals distinctly increased field effect could be observed. Experiments on single CdSe/CdS nanorods exhibit however not only a shift of the emission energy by the 50-fold of the line width, but simultaneously a field-induced decreasement of the emission intensity by one order of magnitude. The experimental results can be excellently compared with a theoretical model. For this the effective-mass model was supplemented by the Coulomb interaction and extended by a finite-element method for asymmetric geometries. By this it is possible to predict both the radiation rate, the Stark shift of the emission energy, and the intensity modulation by electric fields qualitatively and quantitatively and to describe the Stark effect in colloidal nanocrystal by a quantum-mechanical model. The emission characteristics is not only influenced by external fields, but also by fluctuations of local fields, which arise by diffunding surface charges. These local field changes induce also a Stark shift

Stochastic theory of interfacial enzyme kinetics: A kinetic Monte Carlo study

International Nuclear Information System (INIS)

Das, Biswajit; Gangopadhyay, Gautam

2012-01-01

Graphical abstract: Stochastic theory of interfacial enzyme kinetics is formulated. Numerical results of macroscopic phenomenon of lag-burst kinetics is obtained by using a kinetic Monte Carlo approach to single enzyme activity. Highlights: ► An enzyme is attached with the fluid state phospholipid molecules on the Langmuir monolayer. ► Through the diffusion, the enzyme molecule reaches the gel–fluid interface. ► After hydrolysing a phospholipid molecule it predominantly leaves the surface in the lag phase. ► The enzyme is strictly attached to the surface with scooting mode of motion and the burst phase appears. - Abstract: In the spirit of Gillespie’s stochastic approach we have formulated a theory to explore the advancement of the interfacial enzyme kinetics at the single enzyme level which is ultimately utilized to obtain the ensemble average macroscopic feature, lag-burst kinetics. We have provided a theory of the transition from the lag phase to the burst phase kinetics by considering the gradual development of electrostatic interaction among the positively charged enzyme and negatively charged product molecules deposited on the phospholipid surface. It is shown that the different diffusion time scales of the enzyme over the fluid and product regions are responsible for the memory effect in the correlation of successive turnover events of the hopping mode in the single trajectory analysis which again is reflected on the non-Gaussian distribution of turnover times on the macroscopic kinetics in the lag phase unlike the burst phase kinetics.

Single-dilution enzyme-linked immunosorbent assay for quantification of antigen-specific salmonid antibody

Science.gov (United States)

Alcorn, S.W.; Pascho, R.J.

2000-01-01

An enzyme-linked immunosorbent assay (ELISA) was developed on the basis of testing a single dilution of serum to quantify the level of antibody to the p57 protein of Renibaclerium salmoninarum in sockeye salmon (Oncorhynchus nerka). The levels of antibody were interpolated from a standard curve constructed by relating the optical densities (OD) produced by several dilutions of a high-titer rainbow trout (O. mykiss) antiserum to the p57 protein. The ELISA OD values produced by as many as 36 test sera on each microplate were compared with the standard curve to calculate the antigen-specific antibody activity. Repeated measurements of 36 samples on 3 microplates on each of 6 assay dates indicated that the mean intraassay coefficient of variation (CV) was 6.68% (range, 0-23%) and the mean interassay CV was 8.29% (range, 4-16%). The antibody levels determined for the serum sample from 24 sockeye salmon vaccinated with a recombinant p57 protein generally were correlated with the levels determined by endpoint titration (r2 = 0.936) and with results from another ELISA that was based on extrapolation of antibody levels from a standard curve (r2 = 0.956). The single-dilution antibody ELISA described here increases the number of samples that can be tested on each microplate compared with immunoassays based on analysis of several dilutions of each test serum. It includes controls for interassay standardization and can be used to test fish weighing <3 g.

MEMS 6 degrees of freedom parallel micro manipulator for TEM sample manipulation

NARCIS (Netherlands)

Brouwer, Dannis Michel; de Jong, B.R.; Soemers, Herman

2005-01-01

Up till now MEMS actuators acted either only in-plane or only out-of plane restricting to 3 DOF manipulation. A design for a millimeter-sized manipulator with 6 degrees of freedom to manipulate a micron-sized substrate at nanometer resolution over strokes of 10 microns with a position stability

[Enhancement of photoassimilate utilization by manipulation of the ADPglucose pyrophosphorylase gene]. Progress report, [March 15, 1989--April 14, 1990

Energy Technology Data Exchange (ETDEWEB)

Okita, T.W.

1990-12-31

The long term aim of this project is to assess the feasibility of increasing the conversion of photosynthate into starch via manipulation of the gene that encodes for ADPglucose pyrophosphorylase, a key regulatory enzyme of starch biosynthesis. In developing storage tissues such as cereal seeds and tubers, starch biosynthesis is regulated by the gene activation and expression of ADPglucose pyrophosphorylase, starch synthase, branching enzyme and other ancillary starch modifying enzymes, as well as the allosteric-controlled behavior of ADPglucose pyrophosphorylase activity. During the last two years we have obtained information on the structure of this enzyme from both potato tuber and rice endosperm, using a combination of biochemical and molecular biological approaches. Moreover, we present evidence that this enzyme may be localized at discrete regions of the starch grain within the amyloplast, and plays a role in controlling overall starch biosynthesis in potato tubers.

Effects of membrane curvature and pH on proton pumping activity of single cytochrome bo3 enzymes

DEFF Research Database (Denmark)

Li, Mengqiu; Khan, Sanobar; Rong, Honglin

2017-01-01

The molecular mechanism of proton pumping by heme-copper oxidases (HCO) has intrigued the scientific community since it was first proposed. We have recently reported a novel technology that enables the continuous characterisation of proton transport activity of a HCO and ubiquinol oxidase from...... Escherichia coli, cytochrome bo3, for hundreds of seconds on the single enzyme level (Li et al. J Am Chem Soc 137 (2015) 16055–16063). Here, we have extended these studies by additional experiments and analyses of the proton transfer rate as a function of proteoliposome size and pH at the N- and P......-side of single HCOs. Proton transport activity of cytochrome bo3 was found to decrease with increased curvature of the membrane. Furthermore, proton uptake at the N-side (proton entrance) was insensitive to pH between pH 6.4–8.4, while proton release at the P-side had an optimum pH of ~ 7.4, suggesting...

Modeling of Flexible Beams for Robotic Manipulators

International Nuclear Information System (INIS)

Martins, Jorge; Ayala Botto, Miguel; Costa, Jose sa da

2002-01-01

This work treats the problem of modeling robotic manipulators with structural flexibility. A mathematical model of a planar manipulator with a single flexible link is developed. This model is capable of reproducing nonlinear dynamic effects, such as the beam stiffening due to the centrifugal forces induced by the rotation of the joints, giving it the capability to predict reliable dynamic behaviors for a wide range of applications. On the other hand, the model complexity is reduced, in order to keep it amenable for analysis and controller design. The models found in current literature for control design of flexible manipulator arms present dynamic limitations for the sake of real time implementation in a control scheme. These limitations are the result of premature linearization in the formulation of the dynamics equations. In this paper, this common linearization is presented and their dynamic limitations uncovered. An alternative reliable model is then presented. The model is founded on two basic assumptions: inextensibility of the neutral fiber and moderate rotations of the cross sections in order to account for the foreshortening of the beam due to bending. Simulation and experimental results show that the proposed model has the closest dynamic behavior to the real beam

Optical manipulation of aerosol droplets using a holographic dual and single beam trap

Czech Academy of Sciences Publication Activity Database

Brzobohatý, Oto; Šiler, Martin; Ježek, Jan; Jákl, Petr; Zemánek, Pavel

2013-01-01

Roč. 38, č. 22 (2013), s. 4601-4604 ISSN 0146-9592 R&D Projects: GA ČR GPP205/11/P294; GA ČR GPP205/12/P868; GA MŠk LH12018; GA MŠk ED0017/01/01 Institutional support: RVO:68081731 Keywords : optical tweezers * optical manipulation Subject RIV: BH - Optics, Masers, Lasers Impact factor: 3.179, year: 2013

A charged-particle manipulator utilizing a co-axial tube electrodynamic trap with an integrated camera

International Nuclear Information System (INIS)

Jiang, L; Pau, S; Whitten, W B

2011-01-01

A charged-particle manipulator was designed and fabricated with an integrated imaging camera allowing real-time in-situ monitoring of trapped particle motion even when the trap device is under motion or rotation. The trap device was made of two co-axial electrically conductive tubes with diameters of 5.5 mm and 7 mm for the inner tube and outer tube, respectively; the imaging camera with its optical fiber bundle was integrated within the tubular trap device to realize a single instrument functioning as a manipulator. Motion of suspended microparticles of 3 μm to 50 μm in diameter can be monitored using the integrated camera regardless of the trap device orientations. This manipulator provides capability of controlled manipulation of trapped particles by tuning the operating conditions while monitoring the feedback of real-time particle motion. Imaging of suspended particles was not interrupted while the manipulator was translated and/or rotated. This integrated manipulator can be used for charged particle transport and repositioning.

Hydraulic manipulator research at ORNL

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Love, L.J.

1997-01-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL's flexible/prismatic test stand

Hydraulic manipulator research at ORNL

Energy Technology Data Exchange (ETDEWEB)

Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States); Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

1997-03-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

Tracking control of the hydraulically actuated flexible manipulator

International Nuclear Information System (INIS)

Kwon, D.S.; Babcock, S.M.; Burks, B.L.; Kress, R.L.

1995-01-01

The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

Enzymic hydrolysis of cellulosic wastes to glucose

Energy Technology Data Exchange (ETDEWEB)

Spano, L A; Medeiros, J; Mandels, M

1976-01-01

An enzymic process for the conversion of cellulose to glucose is based on the use of a specific enzyme derived from mutant strains of the fungus trichoderma viride which is capable of reacting with the crystalline fraction of the cellulose molecule. The production and mode of action of the cellulase complex produced during the growth of trichoderma viride is discussed as well as the application of such enzymes for the conversion of cellulosic wastes to crude glucose syrup for use in production of chemical feedstocks, single-cell proteins, fuels, solvents, etc.

Evaluation of thermostable enzymes for bioethanol processing

DEFF Research Database (Denmark)

Skovgaard, Pernille Anastasia

of fermentable sugars (glucose) as cellulose is tightly linked to hemicellulose and lignin. Lignocellulose is disrupted during pretreatment, but to degrade cellulose to single sugars, lignocellulolytic enzymes such as cellulases and hemicellulases are needed. Lignocellulolytic enzymes are costly...... for the ioethanol production, but the expenses can be reduced by using thermostable enzymes, which are known for their increased stability and inhibitor olerance. However, the advantage of using thermostable enzymes has not been studied thoroughly and more knowledge is needed for development of bioethanol processes....... Enzymes are added to the bioethanol process after pretreatment. For an efficient sugar and ethanol yield, the solids content of biomass is normally increased, which results in highly viscous slurries that are difficult to mix. Therefore, the first enzymatic challenge is to ensure rapid reduction...

Handbook of Single-Molecule Biophysics

CERN Document Server

Hinterdorfer, Peter

2009-01-01

The last decade has seen the development of a number of novel biophysical methods that allow the manipulation and study of individual biomolecules. The ability to monitor biological processes at this fundamental level of sensitivity has given rise to an improved understanding of the underlying molecular mechanisms. Through the removal of ensemble averaging, distributions and fluctuations of molecular properties can be characterized, transient intermediates identified, and catalytic mechanisms elucidated. By applying forces on biomolecules while monitoring their activity, important information can be obtained on how proteins couple function to structure. The Handbook of Single-Molecule Biophysics provides an introduction to these techniques and presents an extensive discussion of the new biological insights obtained from them. Coverage includes: Experimental techniques to monitor and manipulate individual biomolecules The use of single-molecule techniques in super-resolution and functional imaging Single-molec...

Nanoscale electron manipulation in metals with intense THz electric fields

Science.gov (United States)

Takeda, Jun; Yoshioka, Katsumasa; Minami, Yasuo; Katayama, Ikufumi

2018-03-01

Improved control over the electromagnetic properties of metals on a nanoscale is crucial for the development of next-generation nanoelectronics and plasmonic devices. Harnessing the terahertz (THz)-electric-field-induced nonlinearity for the motion of electrons is a promising method of manipulating the local electromagnetic properties of metals, while avoiding undesirable thermal effects and electronic transitions. In this review, we demonstrate the manipulation of electron delocalization in ultrathin gold (Au) films with nanostructures, by intense THz electric-field transients. On increasing the electric-field strength of the THz pulses, the transmittance in the THz-frequency region abruptly decreases around the percolation threshold. The observed THz-electric-field-induced nonlinearity is analysed, based on the Drude-Smith model. The results suggest that ultrafast electron delocalization occurs by electron tunnelling across the narrow insulating bridge between the Au nanostructures, without material breakdown. In order to quantitatively discuss the tunnelling process, we perform scanning tunnelling microscopy with carrier-envelope phase (CEP)-controlled single-cycle THz electric fields. By applying CEP-controlled THz electric fields to the 1 nm nanogap between a metal nanotip and graphite sample, many electrons could be coherently driven through the quantum tunnelling process, either from the nanotip to the sample or vice versa. The presented concept, namely, electron tunnelling mediated by CEP-controlled single-cycle THz electric fields, can facilitate the development of nanoscale electron manipulation, applicable to next-generation ultrafast nanoelectronics and plasmonic devices.

Expert operator preferences in remote manipulator control systems

International Nuclear Information System (INIS)

Sundstrom, E.; Draper, J.V.; Fausz, A.; Woods, H.

1995-06-01

This report describes a survey of expert remote manipulator operators designed to identify features of control systems related to operator efficiency and comfort. It provides information for designing the control center for the Single-Shell Tank Waste Retrieval Manipulator System (TWRMS) Test Bed, described in a separate report. Research questions concerned preferred modes of control, optimum work sessions, sources of operator fatigue, importance of control system design features, and desired changes in control rooms. Participants comprised four expert remote manipulator operators at Oak Ridge National Laboratory, who individually have from 9 to 20 years of experience using teleoperators. The operators had all used rate and position control, and all preferred bilateral (force-reflecting) position control. They reported spending an average of 2.75 h in control of a teleoperator system during a typical shift. All were accustomed to working in a crew of two and alternating control and support roles in 2-h rotations in an 8-h shift. Operators reported that fatigue in using remote manipulator systems came mainly from watching TV monitors and making repetitive motions. Three of four experienced symptoms, including headaches and sore eyes, wrists, and back. Of 17 features of control rooms rated on importance, highest ratings went to comfort and support provided by the operator chair, location of controls, location of video monitors, video image clarity, types of controls, and control modes. When asked what they wanted to change, operators said work stations designed for comfort; simpler, lighter hand-controls; separate controls for each camera; better placement of remote camera; color monitors; and control room layouts that support crew interaction. Results of this small survey reinforced the importance of ergonomic factors in remote manipulation

First generation long-reach manipulator for retrieval of waste from Hanford single-shell tanks

International Nuclear Information System (INIS)

Gibbons, P.W.; McDaniel, L.B.

1994-10-01

The US Department of Energy, Richland Operations Office, has established the Tank Waste Remediation System to resolve environmental and safety issues related to underground waste-storage tanks at the Hanford Site. The Tank Waste Remediation System has identified the use of an advanced-technology, long-reach manipulator system as a low-water-addition retrieval alternative to past-practice sluicing

Improving Aspergillus carbonarius crude enzymes for lignocellulose hydrolysis

DEFF Research Database (Denmark)

Hansen, Gustav Hammerich

and single enzyme supplementation. Fungal strains were screened in order to determine crude enzyme extracts that could be supplemented as boosters of A. carbonarius own crude enzyme extract, when applied in lignocellulose hydrolysis. The fungi originated from different environmental niches, which all had...... for their potential in hydrolysis of wheat straw both by application of monocultures and by supplementing to crude enzymes of A. carbonarius. For the crude enzymes from solid cultivations there were eight isolates that showed synergistic interaction resulting in doubling and tripling of the glucose release in wheat...... straw hydrolysis. A completely different profile of synergy was observed for crude enzymes from liquid cultivations, as there were only three isolates that enhanced glucose release. Only one of these three isolates had shown synergistic effects when cultivated in a solid medium. The screening...

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

Bartelds, T.; Capra, A.; Hamaza, S.

2016-01-01

joints. The approach aims at limiting the influence of impacts on the controlled attitude dynamics in order to allow the aerial manipulator to remain stable during and after impact. The developed concept is intended to convert kinetic energy into potential energy, which is permanently stored into elastic...... elements by means of directional locking mechanisms. The proposed approach has been tested on a 2 d.o.f. manipulator mounted on a quadrotor UAV. The manipulation system has one active rotational d.o.f. compensating for pitch movements of the UAV and one passive linear joint which is in charge of absorbing...... the impact energy. The device has been used to validate the method through experiments, in comparison with a rigid manipulator. The results show that the proposed approach and the developed mechanical system achieve stable impact absorption without bouncing away from the interacting environment. Our work has...

Upper airway stabilization by osteopathic manipulation of the sphenopalatine ganglion versus sham manipulation in OSAS patients: a proof-of-concept, randomized, crossover, double-blind, controlled study.

Science.gov (United States)

Jacq, Olivier; Arnulf, Isabelle; Similowski, Thomas; Attali, Valérie

2017-12-20

Osteopathic manipulative treatment (OMT) of the sphenopalatine ganglion (SPG) is used empirically for the treatment of rhinitis and snoring and is thought to increase pharyngeal stability. This trial was designed to study the effects of this treatment on pharyngeal stability evaluated by critical closing pressure in obstructive sleep apnoea syndrome. This single-centre, randomized, crossover, double-blind study compared active manipulation and sham manipulation of the SPG. Randomization was computer-generated. Patients each received one active manipulation and one sham manipulation at an interval of 21 days and were evaluated 30 min and 48 h after each session administered by a qualified osteopath. Neither the patients, nor the investigator performing the evaluations were informed about the order of the two techniques (double-blind). The primary endpoint was the percentage of responding patients presenting increased pharyngeal stability defined by a variation of critical closing pressure (Pcrit) of at least -4 cmH 2 O at 30 min. Secondary endpoints were the variation of Pcrit in absolute values, sleepiness and snoring. Others endpoints were lacrimation (Schirmer's test), induced pain, sensations experienced during OMT. Ten patients were included and nine (57 [50; 58] years, comprising 7 men, with an apnoea-hypopnoea index of 31.0 [25.5; 33.2]/h; (values are median [quartiles])) were analysed. Seven patients were analysed for the primary endpoint and nine patients were analysed for secondary endpoints. Five patients responded after active manipulation versus no patients after sham manipulation (p = 0.0209). Active manipulation induced more intense pain (p = 0.0089), increased lacrimation (ns) and more tactile, nociceptive and gustatory sensations (13 versus 1) compared to sham manipulation. No significant difference was observed for the other endpoints. Osteopathic manipulative treatment of the SPG may improve pharyngeal stability in obstructive sleep

Understanding pharmaceutical research manipulation in the context of accounting manipulation.

Science.gov (United States)

Brown, Abigail

2013-01-01

The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information. © 2013 American Society of Law, Medicine & Ethics, Inc.

An evolutionary resolution of manipulation conflict.

Science.gov (United States)

González-Forero, Mauricio

2014-07-01

Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical model to show that conflicts where manipulation and resistance coevolve can disappear as a result of the coevolutionary process. I find that while manipulated individuals are selected to resist, they can simultaneously be favored to express the manipulated behavior at higher efficiency (i.e., providing increasing fitness effects to recipients of the manipulated behavior). Efficiency can increase to a point at which selection for resistance disappears. This process yields an efficient social behavior that is induced by social partners, and over which the inducing and induced individuals are no longer in conflict. A necessary factor is costly inefficiency. I develop the model to address the evolution of advanced eusociality via maternal manipulation (AEMM). The model predicts AEMM to be particularly likely in taxa with ancestrally imperfect resistance to maternal manipulation. Costly inefficiency occurs if the cost of delayed dispersal is larger than the benefit of exploiting the maternal patch. I discuss broader implications of the process. © 2014 The Author(s). Evolution © 2014 The Society for the Study of Evolution.

Linking Hydrolysis Performance to Trichoderma reesei Cellulolytic Enzyme Profile

DEFF Research Database (Denmark)

Lehmann, Linda Olkjær; Petersen, Nanna; I. Jørgensen, Christian

2016-01-01

Trichoderma reesei expresses a large number of enzymes involved in lignocellulose hydrolysis and the mechanism of how these enzymes work together is too complex to study by traditional methods, e.g. by spiking with single enzymes and monitoring hydrolysis performance. In this study a multivariate...... approach, partial least squares regression, was used to see if it could help explain the correlation between enzyme profile and hydrolysis performance. Diverse enzyme mixtures were produced by Trichoderma reesei Rut-C30 by exploiting various fermentation conditions and used for hydrolysis of washed...

Single qubit manipulation in a microfabricated surface electrode ion trap

Science.gov (United States)

Mount, Emily; Baek, So-Young; Blain, Matthew; Stick, Daniel; Gaultney, Daniel; Crain, Stephen; Noek, Rachel; Kim, Taehyun; Maunz, Peter; Kim, Jungsang

2013-09-01

We trap individual 171Yb+ ions in a surface trap microfabricated on a silicon substrate, and demonstrate a complete set of high fidelity single qubit operations for the hyperfine qubit. Trapping times exceeding 20 min without laser cooling, and heating rates as low as 0.8 quanta ms-1, indicate stable trapping conditions in these microtraps. A coherence time of more than 1 s, high fidelity qubit state detection and single qubit rotations are demonstrated. The observation of low heating rates and demonstration of high quality single qubit gates at room temperature are critical steps toward scalable quantum information processing in microfabricated surface traps.

Single qubit manipulation in a microfabricated surface electrode ion trap

International Nuclear Information System (INIS)

Mount, Emily; Baek, So-Young; Gaultney, Daniel; Crain, Stephen; Noek, Rachel; Kim, Taehyun; Maunz, Peter; Kim, Jungsang; Blain, Matthew; Stick, Daniel

2013-01-01

We trap individual 171 Yb + ions in a surface trap microfabricated on a silicon substrate, and demonstrate a complete set of high fidelity single qubit operations for the hyperfine qubit. Trapping times exceeding 20 min without laser cooling, and heating rates as low as 0.8 quanta ms −1 , indicate stable trapping conditions in these microtraps. A coherence time of more than 1 s, high fidelity qubit state detection and single qubit rotations are demonstrated. The observation of low heating rates and demonstration of high quality single qubit gates at room temperature are critical steps toward scalable quantum information processing in microfabricated surface traps. (paper)

Evolution and function of the Mycoplasma hyopneumoniae peroxiredoxin, a 2-Cys-like enzyme with a single Cys residue.

Science.gov (United States)

Gonchoroski, Taylor; Virginio, Veridiana G; Thompson, Claudia E; Paes, Jéssica A; Machado, Cláudio X; Ferreira, Henrique B

2017-04-01

The minimal genome of the mollicute Mycoplasma hyopneumoniae, the etiological agent of porcine enzootic pneumonia, encodes a limited repertoire of antioxidant enzymes that include a single and atypical peroxiredoxin (MhPrx), whose evolution and function were studied here. MhPrx has only one catalytic cysteine, in contrast with some of its possible ancestors (2-Cys peroxiredoxins), which have two. Although it is more similar to 2-Cys orthologs, MhPrx can still function with a single peroxidatic cysteine (Cys P ), using non-thiolic electron donors to reduce it. Therefore, MhPrx could be a representative of a possible group of 2-Cys peroxiredoxins, which have lost the resolving cysteine (Cys R ) residue without losing their catalytic properties. To further investigate MhPrx evolution, we performed a comprehensive phylogenetic analysis in the context of several bacterial families, including Prxs belonging to Tpx and AhpE families, shedding light on the evolutionary history of Mycoplasmataceae Prxs and giving support to the hypothesis of a relatively recent loss of the Cys R within this family. Moreover, mutational analyses provided insights into MhPrx function with one, two, or without catalytic cysteines. While removal of the MhPrx putative Cys P caused complete activity loss, confirming its catalytic role, the introduction of a second cysteine in a site correspondent to that of the Cys R of a 2-Cys orthologue, as in the MhPrx supposed ancestral form, was compatible with enzyme activity. Overall, our phylogenetic and mutational studies support that MhPrx recently diverged from a 2-Cys Prx ancestor and pave the way for future studies addressing structural, functional, and evolutive aspects of peroxiredoxin subfamilies in Mollicutes and other bacteria.

Manipulation, salience, and nudges.

Science.gov (United States)

Noggle, Robert

2018-03-01

Cass Sunstein and Richard Thaler recommend helping people make better decisions by employing 'nudges', which they define as noncoercive methods of influencing choice for the better. Not surprisingly, healthcare practitioners and public policy professionals have become interested in whether nudges might be a promising method of improving health-related behaviors without resorting to heavy-handed methods such as coercion, deception, or government regulation. Many nudges seem unobjectionable as they merely improve the quality and quantity available for the decision-maker. However, other nudges influence decision-making in ways that do not involve providing more and better information. Nudges of this sort raise concerns about manipulation. This paper will focus on noninformational nudges that operate by changing the salience of various options. It will survey two approaches to understanding manipulation, one which sees manipulation as a kind of pressure, and one that sees it as a kind of trickery. On the pressure view, salience nudges do not appear to be manipulative. However, on the trickery view (which the author favors), salience nudges will be manipulative if they increase the salience so that it is disproportionate to that fact's true relevance and importance for the decision at hand. By contrast, salience nudges will not be manipulative if they merely highlight some fact that is true and important for the decision at hand. The paper concludes by providing examples of both manipulative and nonmanipulative salience nudges. © 2017 John Wiley & Sons Ltd.

Variation in antiviral 2',5'-oligoadenylate synthetase (2'5'AS) enzyme activity is controlled by a single-nucleotide polymorphism at a splice-acceptor site in the OAS1 gene

DEFF Research Database (Denmark)

Bonnevie-Nielsen, Vagn; Field, L Leigh; Lu, Shao

2005-01-01

It is likely that human genetic differences mediate susceptibility to viral infection and virus-triggered disorders. OAS genes encoding the antiviral enzyme 2',5'-oligoadenylate synthetase (2'5'AS) are critical components of the innate immune response to viruses. This enzyme uses adenosine......=.0044), but not spousal pairs, suggesting strong genetic control of basal activity. We next analyzed association between basal activity and 15 markers across the OAS gene cluster. Significant association was detected at multiple markers, the strongest being at an A/G single-nucleotide polymorphism...... at the exon 7 splice-acceptor site (AG or AA) of the OAS1 gene. At this unusual polymorphism, allele G had a higher gene frequency in persons with high enzyme activity than in those with low enzyme activity (0.44 vs. 0.20; P=3 x 10(-11)). Enzyme activity varied in a dose-dependent manner across the GG, GA...

Manipulator comparative testing program

International Nuclear Information System (INIS)

Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N.; Fujita, Y.; Maeda, M.

1986-01-01

The Manipulator Comparative Testing Program examined differences among manipulator systems from the United States and Japan. The manipulator systems included the Meidensha BILARM 83A, the Model M-2 of Central Research Laboratories Division of Sargent Industries (CRL), and the GCA Corporation PaR Systems Model 6000. The site of testing was the Remote Operations Maintenance Demonstration (ROMD) facility, operated by the Fuel Recycle Division in the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL). In all stages of testing, operators using the CRL Model M-2 manipulator had consistently lower times to completion and error rates than they did using other machines. Performance was second best with the Meidensha BILARM 83A in master-slave mode. Performance with the BILARM in switchbox mode and the PaR 6000 manipulator was approximately equivalent in terms of criteria recorded in testing. These data show no impact of force reflection on task performance

Influence of Tribulus terrestris on testicular enzyme in fresh water ornamental fish Poecilia latipinna.

Science.gov (United States)

Kavitha, P; Subramanian, P

2011-12-01

The influence of Tribulus terrestris on the activities of testicular enzyme in Poecilia latipinna was assessed in lieu of reproductive manipulation. Different concentrations of (100, 150, 200, 250, and 300 mg) Tribulus terrestris extract and of a control were tested for testicular activity of enzymes in Poecilia latipinna for 2 months. The testis and liver were homogenized separately in 0.1 mol/l potassium phosphate buffer (0.1 mol/l, pH 7.2). The crude homogenate was centrifuged, and supernatant obtained was used as an enzyme extract for determination of activities. The activities of testicular functional enzyme ALP, ACP, SDH, LDH, and G6PDH levels were changed to different extent in treated groups compared with that of the control. The total body weight and testis weight were increased with the Tribulus terrestris-treated fish (Poecilia latipinna). These results suggest that Tribulus terrestris induced the testicular enzyme activity that may aid in the male reproductive functions. It is discernible from the present study that Tribulus terrestris has the inducing effect on reproductive system of Poecilia latipinna.

Temperature and UV light affect the activity of marine cell-free enzymes

Directory of Open Access Journals (Sweden)

B. Thomson

2017-09-01

Full Text Available Microbial extracellular enzymatic activity (EEA is the rate-limiting step in the degradation of organic matter in the oceans. These extracellular enzymes exist in two forms: cell-bound, which are attached to the microbial cell wall, and cell-free, which are completely free of the cell. Contrary to previous understanding, cell-free extracellular enzymes make up a substantial proportion of the total marine EEA. Little is known about these abundant cell-free enzymes, including what factors control their activity once they are away from their sites (cells. Experiments were run to assess how cell-free enzymes (excluding microbes respond to ultraviolet radiation (UVR and temperature manipulations, previously suggested as potential control factors for these enzymes. The experiments were done with New Zealand coastal waters and the enzymes studied were alkaline phosphatase (APase, β-glucosidase, (BGase, and leucine aminopeptidase (LAPase. Environmentally relevant UVR (i.e. in situ UVR levels measured at our site reduced cell-free enzyme activities by up to 87 % when compared to controls, likely a consequence of photodegradation. This effect of UVR on cell-free enzymes differed depending on the UVR fraction. Ambient levels of UV radiation were shown to reduce the activity of cell-free enzymes for the first time. Elevated temperatures (15 °C increased the activity of cell-free enzymes by up to 53 % when compared to controls (10 °C, likely by enhancing the catalytic activity of the enzymes. Our results suggest the importance of both UVR and temperature as control mechanisms for cell-free enzymes. Given the projected warming ocean environment and the variable UVR light regime, it is possible that there could be major changes in the cell-free EEA and in the enzymes contribution to organic matter remineralization in the future.

Diamond-based single-photon emitters

International Nuclear Information System (INIS)

Aharonovich, I; Castelletto, S; Simpson, D A; Su, C-H; Greentree, A D; Prawer, S

2011-01-01

The exploitation of emerging quantum technologies requires efficient fabrication of key building blocks. Sources of single photons are extremely important across many applications as they can serve as vectors for quantum information-thereby allowing long-range (perhaps even global-scale) quantum states to be made and manipulated for tasks such as quantum communication or distributed quantum computation. At the single-emitter level, quantum sources also afford new possibilities in terms of nanoscopy and bio-marking. Color centers in diamond are prominent candidates to generate and manipulate quantum states of light, as they are a photostable solid-state source of single photons at room temperature. In this review, we discuss the state of the art of diamond-based single-photon emitters and highlight their fabrication methodologies. We present the experimental techniques used to characterize the quantum emitters and discuss their photophysical properties. We outline a number of applications including quantum key distribution, bio-marking and sub-diffraction imaging, where diamond-based single emitters are playing a crucial role. We conclude with a discussion of the main challenges and perspectives for employing diamond emitters in quantum information processing.

Master-slave manipulator

International Nuclear Information System (INIS)

Haaker, L.W.; Jelatis, D.G.

1981-01-01

A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, is described. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. (U.K.)

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

Science.gov (United States)

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

Leadership Manipulation and Ethics in Storytelling

OpenAIRE

Auvinen, Tommi; Lämsä, Anna-Maija; Sintonen, Teppo; Takala, Tuomo

2013-01-01

This article focuses on exerting influence in leadership, namely manipulation in storytelling. Manipulation is usually considered an unethical approach to leadership. We will argue that manipulation is a more complex phenomenon than just an unethical way of acting in leadership. We will demonstrate through an empirical qualitative study that there are various types of manipulation through storytelling. This article makes a contribution to the literature on manipulation through leadership stor...

MATHEMATICAL MODEL MANIPULATOR ROBOTS

Directory of Open Access Journals (Sweden)

O. N. Krakhmalev

2015-12-01

Full Text Available A mathematical model to describe the dynamics of manipulator robots. Mathematical model are the implementation of the method based on the Lagrange equation and using the transformation matrices of elastic coordinates. Mathematical model make it possible to determine the elastic deviations of manipulator robots from programmed motion trajectories caused by elastic deformations in hinges, which are taken into account in directions of change of the corresponding generalized coordinates. Mathematical model is approximated and makes it possible to determine small elastic quasi-static deviations and elastic vibrations. The results of modeling the dynamics by model are compared to the example of a two-link manipulator system. The considered model can be used when performing investigations of the mathematical accuracy of the manipulator robots.

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Using Manipulatives in Math Instruction.

Science.gov (United States)

Marzola, Eileen S.

1987-01-01

Guidelines for teachers to better use manipulatives in the teaching of mathematics to learning disabled learners are offered including a rationale for manipulatives, selection crteria, principles underlying productive use of manipulatives, and making the transition from the concrete to the symbolic. Suggested materials and distributors are listed.…

Directed evolution of enzymes using microfluidic chips

Science.gov (United States)

Pilát, Zdeněk.; Ježek, Jan; Šmatlo, Filip; Kaůka, Jan; Zemánek, Pavel

2016-12-01

Enzymes are highly versatile and ubiquitous biological catalysts. They can greatly accelerate large variety of reactions, while ensuring appropriate catalytic activity and high selectivity. These properties make enzymes attractive biocatalysts for a wide range of industrial and biomedical applications. Over the last two decades, directed evolution of enzymes has transformed the field of protein engineering. We have devised microfluidic systems for directed evolution of haloalkane dehalogenases in emulsion droplets. In such a device, individual bacterial cells producing mutated variants of the same enzyme are encapsulated in microdroplets and supplied with a substrate. The conversion of a substrate by the enzyme produced by a single bacterium changes the pH in the droplet which is signalized by pH dependent fluorescence probe. The droplets with the highest enzymatic activity can be separated directly on the chip by dielectrophoresis and the resultant cell lineage can be used for enzyme production or for further rounds of directed evolution. This platform is applicable for fast screening of large libraries in directed evolution experiments requiring mutagenesis at multiple sites of a protein structure.

Self-templated synthesis of single-crystal and single-domain ferroelectric nanoplates

KAUST Repository

Chao, Chunying

2012-08-15

Free-standing single-crystal PbTiO 3 nanoplates (see picture) were synthesized by a facile hydrothermal method. A "self-templated" crystal growth is presumed to lead to the formation of the PbTiO 3 nanoplates, which have ferroelectric single-domain structures, whose polarization areas can be manipulated by writing and reading. The nanoplates are also effective catalysts for the oxidation of carbon monoxide. © 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Balanced articulated manipulator

International Nuclear Information System (INIS)

Francois, Daniel; Germond, J.-C.; Marchal, Paul; Vertut, Jean.

1976-01-01

The description is given of a manipulator of the type comprising a master arm and a slave arm, capable of working in a containment restricted by a wall fitted with an aperture to introduce the slave arm into the containment. According to the invention this manipulator is permanently balanced irrespective of its distortions when it is secured to the wall of the containment in which it is desired to work. The entire manipulator is also balanced when being set up and when moved outside the containment, in relation to a supporting axle. This result is achieved in a simplified manner by giving homothetic shapes to the various component parts of the slave and master arms, the master arm having at least one balancing weight [fr

Direct Manipulation in Virtual Reality

Science.gov (United States)

Bryson, Steve

2003-01-01

Virtual Reality interfaces offer several advantages for scientific visualization such as the ability to perceive three-dimensional data structures in a natural way. The focus of this chapter is direct manipulation, the ability for a user in virtual reality to control objects in the virtual environment in a direct and natural way, much as objects are manipulated in the real world. Direct manipulation provides many advantages for the exploration of complex, multi-dimensional data sets, by allowing the investigator the ability to intuitively explore the data environment. Because direct manipulation is essentially a control interface, it is better suited for the exploration and analysis of a data set than for the publishing or communication of features found in that data set. Thus direct manipulation is most relevant to the analysis of complex data that fills a volume of three-dimensional space, such as a fluid flow data set. Direct manipulation allows the intuitive exploration of that data, which facilitates the discovery of data features that would be difficult to find using more conventional visualization methods. Using a direct manipulation interface in virtual reality, an investigator can, for example, move a data probe about in space, watching the results and getting a sense of how the data varies within its spatial volume.

Identification of parallel and divergent optimization solutions for homologous metabolic enzymes

Directory of Open Access Journals (Sweden)

Robert F. Standaert

2018-06-01

Full Text Available Metabolic pathway assembly typically involves the expression of enzymes from multiple organisms in a single heterologous host. Ensuring that each enzyme functions effectively can be challenging, since many potential factors can disrupt proper pathway flux. Here, we compared the performance of two enzyme homologs in a pathway engineered to allow Escherichia coli to grow on 4-hydroxybenzoate (4-HB, a byproduct of lignocellulosic biomass deconstruction. Single chromosomal copies of the 4-HB 3-monooxygenase genes pobA and praI, from Pseudomonas putida KT2440 and Paenibacillus sp. JJ-1B, respectively, were introduced into a strain able to metabolize protocatechuate (PCA, the oxidation product of 4-HB. Neither enzyme initially supported consistent growth on 4-HB. Experimental evolution was used to identify mutations that improved pathway activity. For both enzymes, silent mRNA mutations were identified that increased enzyme expression. With pobA, duplication of the genes for PCA metabolism allowed growth on 4-HB. However, with praI, growth required a mutation in the 4-HB/PCA transporter pcaK that increased intracellular concentrations of 4-HB, suggesting that flux through PraI was limiting. These findings demonstrate the value of directed evolution strategies to rapidly identify and overcome diverse factors limiting enzyme activity. Keywords: Lignin, Protocatechuate, Experimental evolution

Identification of parallel and divergent optimization solutions for homologous metabolic enzymes.

Science.gov (United States)

Standaert, Robert F; Giannone, Richard J; Michener, Joshua K

2018-06-01

Metabolic pathway assembly typically involves the expression of enzymes from multiple organisms in a single heterologous host. Ensuring that each enzyme functions effectively can be challenging, since many potential factors can disrupt proper pathway flux. Here, we compared the performance of two enzyme homologs in a pathway engineered to allow Escherichia coli to grow on 4-hydroxybenzoate (4-HB), a byproduct of lignocellulosic biomass deconstruction. Single chromosomal copies of the 4-HB 3-monooxygenase genes pobA and praI , from Pseudomonas putida KT2440 and Paenibacillus sp. JJ-1B, respectively, were introduced into a strain able to metabolize protocatechuate (PCA), the oxidation product of 4-HB. Neither enzyme initially supported consistent growth on 4-HB. Experimental evolution was used to identify mutations that improved pathway activity. For both enzymes, silent mRNA mutations were identified that increased enzyme expression. With pobA , duplication of the genes for PCA metabolism allowed growth on 4-HB. However, with praI , growth required a mutation in the 4-HB/PCA transporter pcaK that increased intracellular concentrations of 4-HB, suggesting that flux through PraI was limiting. These findings demonstrate the value of directed evolution strategies to rapidly identify and overcome diverse factors limiting enzyme activity.

Dual-mode optical fiber-based tweezers for robust trapping and manipulation of absorbing particles in air

Science.gov (United States)

Sil, Souvik; Kanti Saha, Tushar; Kumar, Avinash; Bera, Sudipta K.; Banerjee, Ayan

2017-12-01

We develop an optical tweezers system using a single dual-mode optical fiber where mesoscopic absorbing particles can be trapped in three dimensions and manipulated employing photophoretic forces. We generate a superposition of fundamental and first order Hermite-Gaussian beam modes by the simple innovation of coupling a laser into a commercial optical fiber designed to be single mode for a wavelength higher than that of the laser. We achieve robust trapping of the absorbing particles for hours using both the pure fundamental and superposition mode beams and attain large manipulation velocities of ˜5 mm s-1 in the axial direction and ˜0.75 mm s-1 in the radial direction. We then demonstrate that the superposition mode is more effective in trapping and manipulation compared to the fundamental mode by around 80%, which may be increased several times by the use of a pure first order Hermite-Gaussian mode. The work has promising implications for trapping and spectroscopy of aerosols in air using simple optical fiber-based traps.

Molecular Imaging of Hydrolytic Enzymes Using PET and SPECT.

Science.gov (United States)

Rempel, Brian P; Price, Eric W; Phenix, Christopher P

2017-01-01

Hydrolytic enzymes are a large class of biological catalysts that play a vital role in a plethora of critical biochemical processes required to maintain human health. However, the expression and/or activity of these important enzymes can change in many different diseases and therefore represent exciting targets for the development of positron emission tomography (PET) and single-photon emission computed tomography (SPECT) radiotracers. This review focuses on recently reported radiolabeled substrates, reversible inhibitors, and irreversible inhibitors investigated as PET and SPECT tracers for imaging hydrolytic enzymes. By learning from the most successful examples of tracer development for hydrolytic enzymes, it appears that an early focus on careful enzyme kinetics and cell-based studies are key factors for identifying potentially useful new molecular imaging agents.

Development of 6-axis portable manipulator which traces over 3-dimensional curved surface for ultrasonic inspection

International Nuclear Information System (INIS)

Hayashi, Tetsuji; Tsuzuki, Satoshi; Tsunewaki, Hiroshi.

1993-01-01

A 6-axis portable manipulator, weighing 120 N (12.3 kg) which traces over a 3-dimensional curved surface for ultrasonic testing has been developed. The manipulator body is made of carbon-fiber-reinforced plastic and magnesium alloy. A feature of the system is that deviation of the manipulator from its nominal path caused by arm bending due to its own weight can be corrected. The deviation is calculated by premeasuring spring coefficients and hysteresis characteristics of the arm structure. In a mock-up calibration performance test the accuracy was shown to be as high as that of a human inspector. The manipulator can be installed within 3 minutes by a single person. Joint angles are calculated with a direct memory access (DMA) handler using a poling method. Signals are transmitted to servo-controllers through an optical fiber of 2.5 Mbps. (author)

Characteristic single glucosinolates from Moringa oleifera: Induction of detoxifying enzymes and lack of genotoxic activity in various model systems.

Science.gov (United States)

Förster, Nadja; Mewis, Inga; Glatt, Hansruedi; Haack, Michael; Brigelius-Flohé, Regina; Schreiner, Monika; Ulrichs, Christian

2016-11-09

Leaves of Moringa oleifera are used by tribes as biological cancer medicine. Scientific investigations with M. oleifera conducted so far have almost exclusively used total plant extracts. Studies on the activity of single compounds are missing. Therefore, the biological effects of the two main aromatic multi-glycosylated glucosinolates of M. oleifera were investigated in the present study. The cytotoxic effects of M. oleifera glucosinolates were identified for HepG2 cells (NRU assay), for V79-MZ cells (HPRT assay, SCE assay), and for two Salmonella typhimurium strains (Ames test). Genotoxic effects of these glucosinolates were not observed (Ames test, HPRT assay, and SCE assay). Reporter gene assays revealed a significant increase in the ARE-dependent promoter activity of NQO1 and GPx2 indicating an activation of the Nrf2 pathway by M. oleifera glucosinolates. Since both enzymes can also be induced via activation of the AhR, plasmids containing promoters of both enzymes mutated in the respective binding sites (pGL3enh-hNQO1-ARE, pGL3enh-hNQO1-XRE, pGL3bas-hGPX2-mutARE, pGL3bas-hGPX2-mutXRE) were transfected. Analyses revealed that the majority of the stimulating effects was mediated by the ARE motif, whereas the XRE motif played only a minor role. The stimulating effects of M. oleifera glucosinolates could be demonstrated both at the transcriptional (reporter gene assay, real time-PCR) and translational levels (enzyme activity) making them interesting compounds for further investigation.

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

Resolved motion control enables the end effector to be moved as a rigid body in space without having to work out manually the joint combinations needed. Since a rigid body in space has three independent translational and three independent rotational movements, a manipulator with at least six joints can be controlled in this way. Normally the manipulator has more than six joints providing an infinite number of ways of moving the tip in the desired direction and this redundancy can be exploited in a variety of ways. Resolved motion tests performed on a hydraulically operated heavy duty manipulator at the Dungeness nuclear power plant are described. The results have shown that manipulators with as many as ten joints can be controlled under resolved tip motion and the areas which are critical to the performance of this type of control have been identified. (UK)

Stereoscopically Observing Manipulative Actions.

Science.gov (United States)

Ferri, S; Pauwels, K; Rizzolatti, G; Orban, G A

2016-08-01

The purpose of this study was to investigate the contribution of stereopsis to the processing of observed manipulative actions. To this end, we first combined the factors "stimulus type" (action, static control, and dynamic control), "stereopsis" (present, absent) and "viewpoint" (frontal, lateral) into a single design. Four sites in premotor, retro-insular (2) and parietal cortex operated specifically when actions were viewed stereoscopically and frontally. A second experiment clarified that the stereo-action-specific regions were driven by actions moving out of the frontoparallel plane, an effect amplified by frontal viewing in premotor cortex. Analysis of single voxels and their discriminatory power showed that the representation of action in the stereo-action-specific areas was more accurate when stereopsis was active. Further analyses showed that the 4 stereo-action-specific sites form a closed network converging onto the premotor node, which connects to parietal and occipitotemporal regions outside the network. Several of the specific sites are known to process vestibular signals, suggesting that the network combines observed actions in peripersonal space with gravitational signals. These findings have wider implications for the function of premotor cortex and the role of stereopsis in human behavior. © The Author 2016. Published by Oxford University Press.

Modeling the manipulator and flipper pose effects on tip over stability of a tracked mobile manipulator

CSIR Research Space (South Africa)

Dube, C

2011-11-01

Full Text Available Mobile manipulators are used in a number of different applications such as bomb disposal, mining robotics, and search and rescue operations. These mobile manipulators are highly susceptible to tip over due to the motion of the manipulator...

Modelling and Intelligent Control of an Elastic Link Robot Manipulator

Directory of Open Access Journals (Sweden)

Malik Loudini

2013-01-01

Full Text Available In this paper, precise control of the end-point position of a planar single-link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed-loop control scheme to be applied is the standard Proportional-Derivative (PD type fuzzy logic controller (FLC, also known as PD-type Mamdani's FLC (MPDFLC. Then, a genetic algorithm (GA is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC are implemented and tested to achieve a precise control of the manipulator end-point. The performances of the adopted closed-loop intelligent control strategies are examined via simulation experiments.

One Nonlinear PID Control to Improve the Control Performance of a Manipulator Actuated by a Pneumatic Muscle Actuator

Directory of Open Access Journals (Sweden)

Jun Zhong

2014-05-01

Full Text Available Braided pneumatic muscle actuator shows highly nonlinear properties between displacements and forces, which are caused by nonlinearity of pneumatic system and nonlinearity of its geometric construction. In this paper, a new model based on Bouc-Wen differential equation is proposed to describe the hysteretic behavior caused by its structure. The hysteretic loop between contractile force and displacement is dissolved into linear component and hysteretic component. Relationship between pressure within muscle actuator and parameters of the proposed model is discussed. A single degree of freedom manipulator actuated by PMA is designed. On the basis of the proposed model, a novel cascade position controller is designed. Single neuron adaptive PID algorithm is adopted to cope with the nonlinearity and model uncertainties of the manipulator. The outer loop of the controller is to handle position tracking problem and the inner loop is to control pressure. The controller is applied to the manipulator and experiments are conducted. Results demonstrate the effectiveness of the proposed controller.

Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

Directory of Open Access Journals (Sweden)

Jianxun Fu

2015-05-01

Full Text Available This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.

Cooling and manipulation of a levitated nanoparticle with an optical fiber trap

International Nuclear Information System (INIS)

Mestres, Pau; Berthelot, Johann; Spasenović, Marko; Gieseler, Jan; Novotny, Lukas; Quidant, Romain

2015-01-01

Accurate delivery of small targets in high vacuum is a pivotal task in many branches of science and technology. Beyond the different strategies developed for atoms, proteins, macroscopic clusters, and pellets, the manipulation of neutral particles over macroscopic distances still poses a formidable challenge. Here, we report an approach based on a mobile optical trap operated under feedback control that enables cooling and long range 3D manipulation of a silica nanoparticle in high vacuum. We apply this technique to load a single nanoparticle into a high-finesse optical cavity through a load-lock vacuum system. We foresee our scheme to benefit the field of optomechanics with levitating nano-objects as well as ultrasensitive detection and monitoring

Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes

Directory of Open Access Journals (Sweden)

Bin Zi

2012-11-01

Full Text Available The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs. The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and d'Alembert's principle, and a mathematical model of the CPMMCs is developed and presented with dynamic simulation. The constant orientation workspace analysis of the CPMMCs is carried out additionally. As an example, a cooperative cable parallel manipulator for triple mobile cranes with 6 Degrees of Freedom is investigated on the basis of the above design objectives.

Single droplet drying for optimal spray drying of enzymes and probiotics

NARCIS (Netherlands)

Schutyser, M.A.I.; Perdana, J.A.; Boom, R.M.

2012-01-01

Spray drying is a mild and cost-effective convective drying method. It can be applied to stabilise heat sensitive ingredients, such as enzymes and probiotic bacteria, albeit in industrial practice for example freeze drying or freezing are often preferred. The reason is that optimum drying conditions

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

In Praise of Manipulation

NARCIS (Netherlands)

Dowding, Keith; Van Hees, Martin

Many theorists believe that the manipulation of voting procedures is a serious problem. Accordingly, much of social choice theory examines the conditions under which strategy-proofness can be ensured, and what kind of procedures do a better job of preventing manipulation. This article argues that

Powered manipulator control arm

International Nuclear Information System (INIS)

Le Mouee, Theodore; Vertut, Jean; Marchal, Paul; Germon, J.C.; Petit, Michel

1975-01-01

A remote operated control arm for powered manipulators is described. It includes an assembly allowing several movements with position sensors for each movement. The number of possible arm movements equals the number of possible manipulator movements. The control systems may be interrupted as required. One part of the arm is fitted with a system to lock it with respect to another part of the arm without affecting the other movements, so long as the positions of the manipulator and the arm have not been brought into complete coincidence. With this system the locking can be ended when complete concordance is achieved [fr

The direct manipulation shell

International Nuclear Information System (INIS)

Allen, M.E.; Christiansen, M.

1992-01-01

Accelerator controls systems provide parameter display pages which allow the operator to monitor and manipulate selected control points in the system. Display pages are generally implemented as either hand-crafted, purpose-built programs; or by using a specialized display page layout tool. These two methods of display page development exhibit the classic trade-off between functionality vs. ease of implementation. In the Direct Manipulation Shell we approach the process of developing a display page in a manifestly object-oriented manner. This is done by providing a general framework for interactively instantiating and manipulating display objects. (author)

Image manipulation as research misconduct.

Science.gov (United States)

Parrish, Debra; Noonan, Bridget

2009-06-01

A growing number of research misconduct cases handled by the Office of Research Integrity involve image manipulations. Manipulations may include simple image enhancements, misrepresenting an image as something different from what it is, and altering specific features of an image. Through a study of specific cases, the misconduct findings associated with image manipulation, detection methods and those likely to identify such manipulations, are discussed. This article explores sanctions imposed against guilty researchers and the factors that resulted in no misconduct finding although relevant images clearly were flawed. Although new detection tools are available for universities and journals to detect questionable images, this article explores why these tools have not been embraced.

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

Webster, D.A.; Challinor, S.F.

1993-01-01

A survey of redundant facilities at Sellafield has identified that in many cases the conventional means of deploying remote handling equipment are not appropriate and that novel means must be employed. However, decommissioning is not a value adding activity and so expensive one off designs must be avoided. The paper will describe BNFL's approach to the synthesis from proprietary parts of a manipulator which can lift 3 te at a horizontal reach of over 5 metres and yet can still perform the dextrous manipulation necessary to remove small items. It will also cover the development of the manipulator control systems and the adaption of commercial handtools to be manipulator friendly. (author)

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

Full Text Available The aim of this essay is to investigate discursive, cognitive and social aspects of manipulation in regard to the dialogues of the literary fictional character of Gandalf in the trilogy of The Lord of the Rings. Accordingly, the researcher has taken a multidisciplinary approach to an account of discursive manipulation, and focuses on the cognitive dimensions of manipulation. As a result, the researcher demonstrates meticulously how manipulation involves intensifying the power, moral superiority and the credibility of the speaker(s, while abusing the others (recipients, along with an emotional and attractive way of expression, and supplemented by reasonable facts and documents in regard to a specific issue.

County-Scale Spatial Distribution of Soil Enzyme Activities and Enzyme Activity Indices in Agricultural Land: Implications for Soil Quality Assessment

Directory of Open Access Journals (Sweden)

Xiangping Tan

2014-01-01

Full Text Available Here the spatial distribution of soil enzymatic properties in agricultural land was evaluated on a county-wide (567 km2 scale in Changwu, Shaanxi Province, China. The spatial variations in activities of five hydrolytic enzymes were examined using geostatistical methods. The relationships between soil enzyme activities and other soil properties were evaluated using both an integrated total enzyme activity index (TEI and the geometric mean of enzyme activities (GME. At the county scale, soil invertase, phosphatase, and catalase activities were moderately spatially correlated, whereas urease and dehydrogenase activities were weakly spatially correlated. Correlation analysis showed that both TEI and GME were better correlated with selected soil physicochemical properties than single enzyme activities. Multivariate regression analysis showed that soil OM content had the strongest positive effect while soil pH had a negative effect on the two enzyme activity indices. In addition, total phosphorous content had a positive effect on TEI and GME in orchard soils, whereas alkali-hydrolyzable nitrogen and available potassium contents, respectively, had negative and positive effects on these two enzyme indices in cropland soils. The results indicate that land use changes strongly affect soil enzyme activities in agricultural land, where TEI provides a sensitive biological indicator for soil quality.

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

Successful operation of nuclear plant is largely dependent on safe handling of radio-active material. In order to reduce this handling problem and minimise the exposure of radiation, various handling equipment and manipulators have been developed according to the requirements. Manufacture of nuclear fuel, which is the most important part of the nuclear industry, involves handling of uranium ingots weighing approximately 250 kg. This paper describes a specially designed hydraulic manipulator for handling of the ingots in a limited space. It was designed to grab and handle the ingots in any position. This has following drive motions: (1)gripping and releasing, (2)lifting and lowering (z-motion), (3)rotation about the horizontal axis (azimuth drive), (4)rotation about the job axis, and (5)rotation about the vertical axis. For horizontal motion (X and Y axis motion) this equipment is mounted on a motorised trolley, so that it can move inside the workshop. For all drives except the rotation about the job axis, hydraulic cylinders have been used with a battery operated power pack. Trolley drive is also given power from same battery. This paper describes the design aspects of this manipulator. (author). 4 figs

Enzymes involved in organellar DNA replication in photosynthetic eukaryotes.

Science.gov (United States)

Moriyama, Takashi; Sato, Naoki

2014-01-01

Plastids and mitochondria possess their own genomes. Although the replication mechanisms of these organellar genomes remain unclear in photosynthetic eukaryotes, several organelle-localized enzymes related to genome replication, including DNA polymerase, DNA primase, DNA helicase, DNA topoisomerase, single-stranded DNA maintenance protein, DNA ligase, primer removal enzyme, and several DNA recombination-related enzymes, have been identified. In the reference Eudicot plant Arabidopsis thaliana, the replication-related enzymes of plastids and mitochondria are similar because many of them are dual targeted to both organelles, whereas in the red alga Cyanidioschyzon merolae, plastids and mitochondria contain different replication machinery components. The enzymes involved in organellar genome replication in green plants and red algae were derived from different origins, including proteobacterial, cyanobacterial, and eukaryotic lineages. In the present review, we summarize the available data for enzymes related to organellar genome replication in green plants and red algae. In addition, based on the type and distribution of replication enzymes in photosynthetic eukaryotes, we discuss the transitional history of replication enzymes in the organelles of plants.

A Review of Maximizing Muscle Building Capabilities with Anabolic Enzymes

Directory of Open Access Journals (Sweden)

Elvis Agbons

2017-07-01

Full Text Available Building muscle at a rate faster than the human body would under normal circumstances is of great importance in skills and activities that require intense muscular effort. Although physical training stands as the backbone of muscle building, physiological variations make it an unfair yardstick in measuring individual efforts. Other methods of muscle building such as specialised nutrition and the use of digestive enzymes in breaking down proteins for quick absorption are also commonly used together with physical training. The use of anabolic substances, however, has proved more successful than any of the aforementioned methods. Nevertheless, with it comes ethical, legal, and clinical issues especially in sports. In spite of this, athletes still find ways of circumventing test protocols which have been a major issue for the World Anti-Doping Agency. However, advancements in science have opened the doorway for anabolic enzymes which are the ultimate muscle growers to be more or less, directly manipulated. One method is gene doping which involves altering gene expressions. The future of muscle building lies in man’s ability to decisively alter the functioning of these enzymes directly.

On-chip particle trapping and manipulation

Science.gov (United States)

Leake, Kaelyn Danielle

The ability to control and manipulate the world around us is human nature. Humans and our ancestors have used tools for millions of years. Only in recent years have we been able to control objects at such small levels. In order to understand the world around us it is frequently necessary to interact with the biological world. Optical trapping and manipulation offer a non-invasive way to move, sort and interact with particles and cells to see how they react to the world around them. Optical tweezers are ideal in their abilities but they require large, non-portable, and expensive setups limiting how and where we can use them. A cheap portable platform is required in order to have optical manipulation reach its full potential. On-chip technology offers a great solution to this challenge. We focused on the Liquid-Core Anti-Resonant Reflecting Optical Waveguide (liquid-core ARROW) for our work. The ARROW is an ideal platform, which has anti-resonant layers which allow light to be guided in liquids, allowing for particles to easily be manipulated. It is manufactured using standard silicon manufacturing techniques making it easy to produce. The planner design makes it easy to integrate with other technologies. Initially I worked to improve the ARROW chip by reducing the intersection losses and by reducing the fluorescence and background on the ARROW chip. The ARROW chip has already been used to trap and push particles along its channel but here I introduce several new methods of particle trapping and manipulation on the ARROW chip. Traditional two beam traps use two counter propagating beams. A trapping scheme that uses two orthogonal beams which counter to first instinct allow for trapping at their intersection is introduced. This scheme is thoroughly predicted and analyzed using realistic conditions. Simulations of this method were done using a program which looks at both the fluidics and optical sources to model complex situations. These simulations were also used to

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

International Nuclear Information System (INIS)

Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

2016-01-01

To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

Manipulating Single Microdroplets of NaCl Solutions

DEFF Research Database (Denmark)

Utoft, Anders; Kinoshita, Koji; Bitterfield, Deborah

2018-01-01

fraction of S = 1.9, the saturation concentration of NaCl in aqueous solution as measured with nanograms of material (5.5 ± 0.1 M), the diffusion coefficient for water in octanol, D = (1.96 ± 0.10) × 10−6 cm2/s, and the effect of the solvent’s activity on dissolution kinetics. It is further shown...... growth are affected by changing the bathing medium from octanol to decane. A much slower loss of water-solvent and concomitant slower up-concentration of the NaCl solute resulted in a lower tendency to nucleate and slower crystal growth because much less excess material was available at the onset...... of nucleation in the decane system as compared to the octanol system. Thus, the crystal structure is reported to be dendritic for NaCl solution microdroplets dissolving rapidly and nucleating violently in octanol, while they are formed as single cubic crystals in a gentler way for solution-dissolution in decane...

Design and experimental evaluation of flexible manipulator control algorithms

International Nuclear Information System (INIS)

Kwon, D.S.; Hwang, D.H.; Babcock, S.M.; Kress, R.L.

1995-01-01

Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

Noltingk, B.E.; Owen, C.K.V.

With increasing age the integrity of more remote parts of reactors, such as the core restraints, is questioned so there is a need for a means of access to these places to carry out inspection, minor repairs and alterations. Conventional standpipe manipulators are about 20 m long so that extending them further presents difficulties of load capacity, rigidity, dexterity and control which must increase steeply with range. The proposal outlined here is for a mobile manipulator which can climb at the end of a cable (CLImbing MANipulator - CLIMAN) into a reactor and reach well beyond the range of a fixed base machine. In addition to virtually unlimited range such a mobile manipulator has twice as many degrees of freedom as a fixed base machine. Its body or base can be manoeuvred with six degrees of freedom so as to obtain the maximum coverage and obstacle avoidance for its manipulator. It is proposed that it should be manually controlled. (author)

Test bed control center design concept for Tank Waste Retrieval Manipulator Systems

International Nuclear Information System (INIS)

Sundstrom, E.; Draper, J.V.; Fausz, A.

1995-01-01

This paper describes the design concept for the control center for the Single Shell Tank Waste Retrieval Manipulator System test bed and the design process behind the concept. The design concept supports all phases of the test bed mission, including technology demonstration, comprehensive system testing, and comparative evaluation for further development and refinement of the TWRMS for field operations

Interpersonal relationship manipulation at a personal level

Directory of Open Access Journals (Sweden)

Andreja Hribernik

2010-12-01

Full Text Available Manipulation is not unknown or strange to any of us. We have all experienced it, or perhaps even practiced it. It is wrong not to recognize it, to find excuses for it, and, above all, it is wrong not to decide to change one’s behaviour. Long-lasting use of manipulation leaves consequences on all the parties involved: the victim, the observer and the perpetrator. Manipulation is a relation between persons which does not consider the needs of everybody involved. It means exploitation and misleading, inhumane and unethical behaviour on the part of the manipulator, which he uses in order gain success, self-confirmation and to achieve his goals. In the act of manipulation personal boundaries of the other person are violated since the manipulator enforces his dominance and subjectedness of the victim. The manipulator invades the victim’s personal integrity, limiting their potential. He isolates, controls and intimidates them; by devises a system to catch the victims, to entangle them in his net and suck them up like a spider. If the manipulation is very successful, the other person does not recognize it as such; they consider themselves happy to be cooperating with the manipulator, as they identify his goals as their own. Therefore, the manipulator can be said to have stolen the manipulated person’s soul.

Simulation of robot manipulators

International Nuclear Information System (INIS)

Kress, R.L.; Babcock, S.M.; Bills, K.C.; Kwon, D.S.; Schoenwald, D.A.

1995-01-01

This paper describes Oak Ridge National Laboratory's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories' Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment

Ploidy Manipulation of Zebrafish Embryos with Heat Shock 2 Treatment

OpenAIRE

Baars, Destiny L.; Takle, Kendra A.; Heier, Jonathon; Pelegri, Francisco

2016-01-01

Manipulation of ploidy allows for useful transformations, such as diploids to tetraploids, or haploids to diploids. In the zebrafish Danio rerio, specifically the generation of homozygous gynogenetic diploids is useful in genetic analysis because it allows the direct production of homozygotes from a single heterozygous mother. This article describes a modified protocol for ploidy duplication based on a heat pulse during the first cell cycle, Heat Shock 2 (HS2). Through inhibition of centriole...

A six degrees of freedom mems manipulator

NARCIS (Netherlands)

de Jong, B.R.

2006-01-01

This thesis reports about a six degrees of freedom (DOF) precision manipulator in MEMS, concerning concept generation for the manipulator followed by design and fabrication (of parts) of the proposed manipulation concept in MEMS. Researching the abilities of 6 DOF precision manipulation in MEMS is

A control method for manipulators with redundancy

International Nuclear Information System (INIS)

Furusho, Junji; Usui, Hiroyuki

1989-01-01

Redundant manipulators have more ability than nonredundant ones in many aspects such as avoiding obstacles, avoiding singular states, etc. In this paper, a control algorithm for redundant manipulators working under the circumstance in the presence of obstacles is presented. First, the measure of manipulability for robot manipulators under obstacle circumstances is defined. Then, the control algorithm for the obstacle avoidance is derived by using this measure of manipulability. The obstacle avoidance and the maintenance of good posture are simultaneously achieved by this algorithm. Lastly, an experiment and simulation results using an eight degree of freedom manipulator are shown. (author)

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

The Central Electricity Generating Board has a requirement for a manipulator which can deploy to its work location around obstacles. A multilink manipulator has been designed for this purpose. A computer control system designed to ease manipulator operation is described. Using the control program, the manipulator may be deployed using just 2 joysticks. Experience in the use of the program with an inspection manipulator at Sizewell 'A' Nuclear Power Station is discussed. When used to control a manipulator of 9 hydraulically actuated degrees of freedom, a control accuracy of about 1.5% of full extension has been achieved. (author)

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

Manipulation and mobilisation for neck pain contrasted against an inactive control or another active treatment.

Science.gov (United States)

Gross, Anita; Langevin, Pierre; Burnie, Stephen J; Bédard-Brochu, Marie-Sophie; Empey, Brian; Dugas, Estelle; Faber-Dobrescu, Michael; Andres, Cristy; Graham, Nadine; Goldsmith, Charles H; Brønfort, Gert; Hoving, Jan L; LeBlanc, Francis

2015-09-23

Manipulation and mobilisation are commonly used to treat neck pain. This is an update of a Cochrane review first published in 2003, and previously updated in 2010. To assess the effects of manipulation or mobilisation alone compared wiith those of an inactive control or another active treatment on pain, function, disability, patient satisfaction, quality of life and global perceived effect in adults experiencing neck pain with or without radicular symptoms and cervicogenic headache (CGH) at immediate- to long-term follow-up. When appropriate, to assess the influence of treatment characteristics (i.e. technique, dosage), methodological quality, symptom duration and subtypes of neck disorder on treatment outcomes. Review authors searched the following computerised databases to November 2014 to identify additional studies: the Cochrane Central Register of Controlled Trials (CENTRAL), MEDLINE, EMBASE and the Cumulative Index to Nursing and Allied Health Literature (CINAHL). We also searched ClinicalTrials.gov, checked references, searched citations and contacted study authors to find relevant studies. We updated this search in June 2015, but these results have not yet been incorporated. Randomised controlled trials (RCTs) undertaken to assess whether manipulation or mobilisation improves clinical outcomes for adults with acute/subacute/chronic neck pain. Two review authors independently selected studies, abstracted data, assessed risk of bias and applied Grades of Recommendation, Assessment, Development and Evaluation (GRADE) methods (very low, low, moderate, high quality). We calculated pooled risk ratios (RRs) and standardised mean differences (SMDs). We included 51 trials (2920 participants, 18 trials of manipulation/mobilisation versus control; 34 trials of manipulation/mobilisation versus another treatment, 1 trial had two comparisons). Cervical manipulation versus inactive control: For subacute and chronic neck pain, a single manipulation (three trials, no meta

Psychoacoustical evaluation of the pitch-synchronous overlap-and-add speech-waveform manipulation technique using single-format stimuli

NARCIS (Netherlands)

Kortekaas, R.W.L.; Kohlrausch, A.G.

1997-01-01

This article presents two experiments dealing with a psychoacoustical evaluation of the pitch synchronous overlap-and-add (PSOLA) technique. This technique has been developed for modification of duration and fundamental frequency of speech and is based on simple waveform manipulations. Both

Learning Area and Perimeter with Virtual Manipulatives

Science.gov (United States)

Bouck, Emily; Flanagan, Sara; Bouck, Mary

2015-01-01

Manipulatives are considered a best practice for educating students with disabilities, but little research exists which examines virtual manipulatives as tool for supporting students in mathematics. This project investigated the use of a virtual manipulative through the National Library of Virtual Manipulatives--polynominoes (i.e., tiles)--as a…

Action of ionizing radiation on the carbohydrate metabolism enzymes

International Nuclear Information System (INIS)

Cherkasova, L.S.; Mironova, T.M.

1976-01-01

It follows from data reported in literature and those obtained in our laboratory that ionizing radiation does not drastically change the activity of enzymes of the carbohydrate metabolism in tissues of an animal organism. The data are reported on the effect of a whole-body single, fractionated or continuous irradiation of the enzymes of carbohydrate metabolism and the accompanying interrelated co-operative redistributions within the processes of aerobic and anaerobic glycolysis, and the pentose route of their conversion. The dependence of the postirradiation changes in the activity of enzymes on the neuroendocrine system response to irradiation has been demonstrated

Plasma manipulation techniques for positron storage in a multicell trap

International Nuclear Information System (INIS)

Danielson, J. R.; Weber, T. R.; Surko, C. M.

2006-01-01

New plasma manipulation techniques are described that are central to the development of a multicell Penning trap designed to increase positron storage by orders of magnitude (e.g., to particle numbers N≥10 12 ). The experiments are done using test electron plasmas. A technique is described to move plasmas across the confining magnetic field and to deposit them at specific radial and azimuthal positions. Techniques to fill and operate two in-line plasma cells simultaneously, and the use of 1 kV confinement potentials are demonstrated. These experiments establish the capabilities to create, confine, and manipulate plasmas with the parameters required for a multicell trap; namely, particle numbers >10 10 in a single cell with plasma temperature ≤0.2 eV for plasma lengths ∼10 cm and radii ≤0.2 cm. The updated design of a multicell positron trap for 10 12 particles is described

Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

Directory of Open Access Journals (Sweden)

Zhiyong Yang

2008-11-01

Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

Directory of Open Access Journals (Sweden)

Zhiyong Yang

2008-03-01

Full Text Available With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and coupling. Unfortunately, the present-day commercial controlles cannot provide satisfying performance for its single axis linear control only. Therefore, aimed at a novel 2-DOF (Degree of Freedom parallel manipulator called Diamond 600, a motor-mechanism coupling dynamic model based control scheme employing the computed torque control algorithm are presented in this paper. First, the integrated dynamic coupling model is deduced, according to equivalent torques between the mechanical structure and the PM (Permanent Magnetism servomotor. Second, computed torque controller is described in detail for the above proposed model. At last, a series of numerical simulations and experiments are carried out to test the effectiveness of the system, and the results verify the favourable tracking ability and robustness.

High precision redundant robotic manipulator

International Nuclear Information System (INIS)

Young, K.K.D.

1998-01-01

A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs

Bioprinting Living Biofilms through Optogenetic Manipulation.

Science.gov (United States)

Huang, Yajia; Xia, Aiguo; Yang, Guang; Jin, Fan

2018-04-18

In this paper, we present a new strategy for microprinting dense bacterial communities with a prescribed organization on a substrate. Unlike conventional bioprinting techniques that require bioinks, through optogenetic manipulation, we directly manipulated the behaviors of Pseudomonas aeruginosa to allow these living bacteria to autonomically form patterned biofilms following prescribed illumination. The results showed that through optogenetic manipulation, patterned bacterial communities with high spatial resolution (approximately 10 μm) could be constructed in 6 h. Thus, optogenetic manipulation greatly increases the range of available bioprinting techniques.

Molecular Imaging of Hydrolytic Enzymes Using PET and SPECT

OpenAIRE

Rempel, Brian P.; Price, Eric W.; Phenix, Christopher P.

2017-01-01

Hydrolytic enzymes are a large class of biological catalysts that play a vital role in a plethora of critical biochemical processes required to maintain human health. However, the expression and/or activity of these important enzymes can change in many different diseases and therefore represent exciting targets for the development of positron emission tomography (PET) and single-photon emission computed tomography (SPECT) radiotracers. This review focuses on recently reported radiolabeled sub...

Assembly and multiple gene expression of thermophilic enzymes in Escherichia coli for in vitro metabolic engineering.

Science.gov (United States)

Ninh, Pham Huynh; Honda, Kohsuke; Sakai, Takaaki; Okano, Kenji; Ohtake, Hisao

2015-01-01

In vitro reconstitution of an artificial metabolic pathway is an emerging approach for the biocatalytic production of industrial chemicals. However, several enzymes have to be separately prepared (and purified) for the construction of an in vitro metabolic pathway, thereby limiting the practical applicability of this approach. In this study, genes encoding the nine thermophilic enzymes involved in a non-ATP-forming chimeric glycolytic pathway were assembled in an artificial operon and co-expressed in a single recombinant Escherichia coli strain. Gene expression levels of the thermophilic enzymes were controlled by their sequential order in the artificial operon. The specific activities of the recombinant enzymes in the cell-free extract of the multiple-gene-expression E. coli were 5.0-1,370 times higher than those in an enzyme cocktail prepared from a mixture of single-gene-expression strains, in each of which a single one of the nine thermophilic enzymes was overproduced. Heat treatment of a crude extract of the multiple-gene-expression cells led to the denaturation of indigenous proteins and one-step preparation of an in vitro synthetic pathway comprising only a limited number of thermotolerant enzymes. Coupling this in vitro pathway with other thermophilic enzymes including the H2 O-forming NADH oxidase or the malate/lactate dehydrogenase facilitated one-pot conversion of glucose to pyruvate or lactate, respectively. © 2014 Wiley Periodicals, Inc.

Master-slave-manipulator 'EMSM I'

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The apparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weight compensation. (orig.) [de

Master-slave-manipulator EMSM I

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1976-01-01

A master-slave manipulator with electric force transmission and reflection was developed for the first time in the German Federal Republic. The aparatus belongs to the class of 200 N carrying capacity. It is intended mainly for nuclear purposes and especially for use in large hot cells and also for medium and heavy manipulator vehicles. The most obvious innovations compared with previously known foreign electric master-slave manipulators are two additional possibilities of movement and the electric dead weightcompensation. (orig.) [de

Using torsion to manipulate spin currents

Science.gov (United States)

Fumeron, Sébastien; Berche, Bertrand; Medina, Ernesto; Santos, Fernando A. N.; Moraes, Fernando

2017-02-01

We address the problem of quantum particles moving on a manifold characterised by the presence of torsion along a preferential axis. In fact, such a torsion may be taylored by the presence of a single screw dislocation, whose Burgers vector measures the torsion amplitude. The problem, first treated in the relativistic limit describing fermions that couple minimally to torsion, is then analysed in the Pauli limit. We show that torsion induces a geometric potential and also that it couples generically to the phase of the wave function, giving rise to the possibility of using torsion to manipulate spin currents in the case of spinor wave functions. These results emerge as an alternative strategy for using screw dislocations in the design of spintronic-based devices.

Effects of culture conditions on monosaccharide composition of Ganoderma lucidum exopolysaccharide and on activities of related enzymes.

Science.gov (United States)

Peng, Lin; Qiao, Shuangkui; Xu, Zhenghong; Guan, Feng; Ding, Zhongyang; Gu, Zhenghua; Zhang, Liang; Shi, Guiyang

2015-11-20

We investigated the relationship between monosaccharide composition of Ganoderma lucidum exopolysaccharide (EPS) and activities of EPS synthesis enzymes under various culture temperatures and initial pH values. The mole percentages of three major EPS monosaccharides, glucose, galactose and mannose, varied depending on culture conditions and the resulting EPS displayed differing anti-tumor activities. In nine tested enzymes, higher enzyme activities were correlated with higher temperature and lower initial pH. Altered mole percentages of galactose and mannose under various culture conditions were associated with activities of α-phosphoglucomutase (PGM) and phosphoglucose isomerase (PGI), respectively, and that of mannose was also associated with phosphomannose isomerase (PMI) activity only under various pH. Our findings suggest that mole percentages of G. lucidum EPS monosaccharides can be manipulated by changes of culture conditions that affect enzyme activities, and that novel fermentation strategies based on this approach may enhance production and biological activity of EPS. Copyright © 2015 Elsevier Ltd. All rights reserved.

Using Manipulatives to Teach Elementary Mathematics

Science.gov (United States)

Boggan, Matthew; Harper, Sallie; Whitmire, Anna

2010-01-01

The purpose of this paper is to explain the importance and benefits of math manipulatives. For decades, the National Council of Teachers of Mathematics has encouraged school districts nationwide to use manipulatives in mathematical instruction. The value of manipulatives has been recognized for many years, but some teachers are reluctant to use…

Electromagnetic illusion with isotropic and homogeneous materials through scattering manipulation

International Nuclear Information System (INIS)

Yang, Fan; Mei, Zhong Lei; Jiang, Wei Xiang; Cui, Tie Jun

2015-01-01

A new isotropic and homogeneous illusion device for electromagnetic waves is proposed. This single-shelled device can change the fingerprint of the covered object into another one by manipulating the scattering of the composite structure. We show that an electrically small sphere can be disguised as another small one with different electromagnetic parameters. The device can even make a dielectric sphere (electrically small) behave like a conducting one. Full-wave simulations confirm the performance of proposed illusion device. (paper)

Outline of a Hardware Reconfiguration Framework for Modular Industrial Mobile Manipulators

DEFF Research Database (Denmark)

Schou, Casper; Bøgh, Simon; Madsen, Ole

2014-01-01

This paper presents concepts and ideas of a hard- ware reconfiguration framework for modular industrial mobile manipulators. Mobile manipulators pose a highly flexible pro- duction resource due to their ability to autonomously navigate between workstations. However, due to this high flexibility new...... approaches to the operation of the robots are needed. Reconfig- uring the robot to a new task should be carried out by shop floor operators and, thus, be both quick and intuitive. Late research has already proposed a method for intuitive robot programming. However, this relies on a predetermined hardware...... configuration. Finding a single multi-purpose hardware configuration suited to all tasks is considered unrealistic. As a result, the need for reconfiguration of the hardware is inevitable. In this paper an outline of a framework for making hardware reconfiguration quick and intuitive is presented. Two main...

From Single Microparticles to Microfluidic Emulsification

DEFF Research Database (Denmark)

Kinoshita, K.; Ortiz, Elisa Parra; Hussein, Abdirazak

2016-01-01

The micropipette manipulation technique is capable of making fundamental single particle measurements and analyses. This information is critical for establishing processing parameters in systems such as microfluidics and homogenization. To demonstrate what can be achieved at the single particle l...... a very useful tool for understanding microsphere-processes and hence can help to establish process conditions without resorting to expensive and material-consuming bulk particle runs....

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

Full Text Available Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.

Network analysis of metabolic enzyme evolution in Escherichia coli

Directory of Open Access Journals (Sweden)

Kraulis Per

2004-02-01

Full Text Available Abstract Background The two most common models for the evolution of metabolism are the patchwork evolution model, where enzymes are thought to diverge from broad to narrow substrate specificity, and the retrograde evolution model, according to which enzymes evolve in response to substrate depletion. Analysis of the distribution of homologous enzyme pairs in the metabolic network can shed light on the respective importance of the two models. We here investigate the evolution of the metabolism in E. coli viewed as a single network using EcoCyc. Results Sequence comparison between all enzyme pairs was performed and the minimal path length (MPL between all enzyme pairs was determined. We find a strong over-representation of homologous enzymes at MPL 1. We show that the functionally similar and functionally undetermined enzyme pairs are responsible for most of the over-representation of homologous enzyme pairs at MPL 1. Conclusions The retrograde evolution model predicts that homologous enzymes pairs are at short metabolic distances from each other. In general agreement with previous studies we find that homologous enzymes occur close to each other in the network more often than expected by chance, which lends some support to the retrograde evolution model. However, we show that the homologous enzyme pairs which may have evolved through retrograde evolution, namely the pairs that are functionally dissimilar, show a weaker over-representation at MPL 1 than the functionally similar enzyme pairs. Our study indicates that, while the retrograde evolution model may have played a small part, the patchwork evolution model is the predominant process of metabolic enzyme evolution.

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

Full Text Available Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

Directory of Open Access Journals (Sweden)

Bin Zi

2012-08-01

Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

Geometric manipulation of the quantum states of two-level atoms

International Nuclear Information System (INIS)

Tian, Mingzhen; Barber, Zeb W.; Fischer, Joe A.; Babbitt, Wm. Randall

2004-01-01

Manipulation of the quantum states of two-level atoms has been investigated using laser-controlled geometric phase change, which has the potential to build robust quantum logic gates for quantum computing. For a qubit based on two electronic transition levels of an atom, two basic quantum operations that can make any universal single qubit gate have been designed employing resonant laser pulses. An operation equivalent to a phase gate has been demonstrated using Tm 3+ doped in a yttrium aluminum garnet crystal

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

Three, large-volume coverage manipulator systems were designed and built for the Defense Water Processing Facility at the Savannah River Laboratory. These stainless steel systems will be used for high-pressure spray decontamination of waste containers and large process equipment modules. Each system has a manipulator arm, folding boom, and vertical drive and guide structure. Handling capacity is 45 kg, horizontal reach is 4.6 m with a 180-deg swing motion, and the vertical travel is 6 m. The system is remotely removable and replaceable in modules using an overhead crane and an impact wrench. The manipulator arm has seven motions: Shoulder rotation and pivot, elbow pivot, wrist pivot and rotation, and grip open-close. All motions are variable speed and are slip-clutch protected to prevent overloading from external forces (collisions)

Light-Addressed Electrodeposition of Enzyme-Entrapped Chitosan Membranes for Multiplexed Enzyme-Based Bioassays Using a Digital Micromirror Device

Directory of Open Access Journals (Sweden)

Yeu-Long Jiang

2013-08-01

Full Text Available This paper describes a light-addressed electrolytic system used to perform an electrodeposition of enzyme-entrapped chitosan membranes for multiplexed enzyme-based bioassays using a digital micromirror device (DMD. In this system, a patterned light illumination is projected onto a photoconductive substrate serving as a photo-cathode to electrolytically produce hydroxide ions, which leads to an increased pH gradient. The high pH generated at the cathode can cause a local gelation of chitosan through sol-gel transition. By controlling the illumination pattern on the DMD, a light-addressed electrodeposition of chitosan membranes with different shapes and sizes, as well as multiplexed micropatterning, was performed. The effect of the illumination time of the light pattern on the dimensional resolution of chitosan membrane formation was examined experimentally. Moreover, multiplexed enzyme-based bioassay of enzyme-entrapped chitosan membranes was also successfully demonstrated through the electrodeposition of the chitosan membranes with various shapes/sizes and entrapping different enzymes. As a model experiment, glucose and ethanol were simultaneously detected in a single detection chamber without cross-talk using shape-coded chitosan membranes entrapped with glucose oxidase (GOX, peroxidase (POD, and Amplex Red (AmR or alcohol oxidase (AOX, POD, and AmR by using same fluorescence indicator (AmR.

Ultrafast electric phase control of a single exciton qubit

Science.gov (United States)

Widhalm, Alex; Mukherjee, Amlan; Krehs, Sebastian; Sharma, Nandlal; Kölling, Peter; Thiede, Andreas; Reuter, Dirk; Förstner, Jens; Zrenner, Artur

2018-03-01

We report on the coherent phase manipulation of quantum dot excitons by electric means. For our experiments, we use a low capacitance single quantum dot photodiode which is electrically controlled by a custom designed SiGe:C BiCMOS chip. The phase manipulation is performed and quantified in a Ramsey experiment, where ultrafast transient detuning of the exciton energy is performed synchronous to double pulse π/2 ps laser excitation. We are able to demonstrate electrically controlled phase manipulations with magnitudes up to 3π within 100 ps which is below the dephasing time of the quantum dot exciton.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

Manipulating Strings in Python

Directory of Open Access Journals (Sweden)

William J. Turkel

2012-07-01

Full Text Available This lesson is a brief introduction to string manipulation techniques in Python. Knowing how to manipulate strings plays a crucial role in most text processing tasks. If you’d like to experiment with the following lessons, you can write and execute short programs as we’ve been doing, or you can open up a Python shell / Terminal to try them out on the command line.

System Integration for Real-time Mobile Manipulation

OpenAIRE

Oftadeh, Reza; Aref, Mohammad M.; Ghabcheloo, Reza; Mattila, Jouni

2014-01-01

Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator ’s mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based con...

Modeling manipulation in medical education.

Science.gov (United States)

Dailey, Jason I

2010-05-01

As residents and medical students progress through their medical training, they are presented with multiple instances in which they feel they must manipulate the healthcare system and deceive others in order to efficiently treat their patients. This, however, creates a culture of manipulation resulting in untoward effects on trainees' ethical and professional development. Yet manipulation need not be a skill necessary to practice medicine, and steps should be taken by both individuals and institutions to combat the view that the way medicine must be practiced "in the real world" is somehow different from what one's affective moral sense implores.

Professional responsibility in relation to cervical spine manipulation.

Science.gov (United States)

Refshauge, Kathryn M; Parry, Sharon; Shirley, Debra; Larsen, Dale; Rivett, Darren A; Boland, Rob

2002-01-01

Manipulation of the cervical spine is one of the few potentially life-threatening procedures performed by physiotherapists. Is it worth the risk? A comparison of risks versus benefits indicates that at present, the risks of cervical manipulation outweigh the benefits: manipulation has yet to be shown to be more effective for neck pain and headache than other interventions such as mobilisation, whereas the risks, although infrequent, are serious. This analysis is of particular concern because the conditions for which manipulation is indicated are benign and usually self-limiting. Because physiotherapists have legal and ethical obligations to the community to avoid foreseeable harm and provide optimum care, it may be prudent to determine who in our profession should perform cervical manipulation. That is, the profession could restrict the practice of cervical spine manipulation. Although all registered physiotherapists in Australia are entitled to perform cervical manipulation, few choose to use this intervention. Therefore, it might be feasible to encourage those practitioners who wish to use cervical manipulation to undertake formal education programs. Such a requirement could be embodied in a code of practice that discourages those without formal training from performing cervical manipulation. By taking such measures, we could ensure that our profession exercises wisdom in its monitoring and use of cervical manipulation.

Acetobacter turbidans α-Amino Acid Ester Hydrolase. How a Single Mutation Improves an Antibiotic-Producing Enzyme

NARCIS (Netherlands)

Barends, Thomas R.M.; Polderman-Tijmes, Jolanda J.; Jekel, Peter A.; Williams, Christopher; Wybenga, Gjalt; Janssen, Dick B.; Dijkstra, Bauke W.

2006-01-01

The α-amino acid ester hydrolase (AEH) from Acetobacter turbidans is a bacterial enzyme catalyzing the hydrolysis and synthesis of β-lactam antibiotics. The crystal structures of the native enzyme, both unliganded and in complex with the hydrolysis product D-phenylglycine are reported, as well as

Enzyme

Science.gov (United States)

Enzymes are complex proteins that cause a specific chemical change in all parts of the body. For ... use them. Blood clotting is another example of enzymes at work. Enzymes are needed for all body ...

Cell-permeable nanobodies for targeted immunolabelling and antigen manipulation in living cells.

Science.gov (United States)

Herce, Henry D; Schumacher, Dominik; Schneider, Anselm F L; Ludwig, Anne K; Mann, Florian A; Fillies, Marion; Kasper, Marc-André; Reinke, Stefan; Krause, Eberhard; Leonhardt, Heinrich; Cardoso, M Cristina; Hackenberger, Christian P R

2017-08-01

Functional antibody delivery in living cells would enable the labelling and manipulation of intracellular antigens, which constitutes a long-thought goal in cell biology and medicine. Here we present a modular strategy to create functional cell-permeable nanobodies capable of targeted labelling and manipulation of intracellular antigens in living cells. The cell-permeable nanobodies are formed by the site-specific attachment of intracellularly stable (or cleavable) cyclic arginine-rich cell-penetrating peptides to camelid-derived single-chain VHH antibody fragments. We used this strategy for the non-endocytic delivery of two recombinant nanobodies into living cells, which enabled the relocalization of the polymerase clamp PCNA (proliferating cell nuclear antigen) and tumour suppressor p53 to the nucleolus, and thereby allowed the detection of protein-protein interactions that involve these two proteins in living cells. Furthermore, cell-permeable nanobodies permitted the co-transport of therapeutically relevant proteins, such as Mecp2, into the cells. This technology constitutes a major step in the labelling, delivery and targeted manipulation of intracellular antigens. Ultimately, this approach opens the door towards immunostaining in living cells and the expansion of immunotherapies to intracellular antigen targets.

Cell-permeable nanobodies for targeted immunolabelling and antigen manipulation in living cells

Science.gov (United States)

Herce, Henry D.; Schumacher, Dominik; Schneider, Anselm F. L.; Ludwig, Anne K.; Mann, Florian A.; Fillies, Marion; Kasper, Marc-André; Reinke, Stefan; Krause, Eberhard; Leonhardt, Heinrich; Cardoso, M. Cristina; Hackenberger, Christian P. R.

2017-08-01

Functional antibody delivery in living cells would enable the labelling and manipulation of intracellular antigens, which constitutes a long-thought goal in cell biology and medicine. Here we present a modular strategy to create functional cell-permeable nanobodies capable of targeted labelling and manipulation of intracellular antigens in living cells. The cell-permeable nanobodies are formed by the site-specific attachment of intracellularly stable (or cleavable) cyclic arginine-rich cell-penetrating peptides to camelid-derived single-chain VHH antibody fragments. We used this strategy for the non-endocytic delivery of two recombinant nanobodies into living cells, which enabled the relocalization of the polymerase clamp PCNA (proliferating cell nuclear antigen) and tumour suppressor p53 to the nucleolus, and thereby allowed the detection of protein-protein interactions that involve these two proteins in living cells. Furthermore, cell-permeable nanobodies permitted the co-transport of therapeutically relevant proteins, such as Mecp2, into the cells. This technology constitutes a major step in the labelling, delivery and targeted manipulation of intracellular antigens. Ultimately, this approach opens the door towards immunostaining in living cells and the expansion of immunotherapies to intracellular antigen targets.

An Analysis of Manipulation Strategies in Stock Markets

OpenAIRE

Rasim Ozcan

2012-01-01

Manipulative transactions, which affect both the supply and demand side of the markets, have been studied by academic circles and it was concluded that manipulation exerts negative impact on markets. A market with manipulation is considered as less trustworthy and credible compared to a market without manipulation, which in turn, affects demand. Manipulations affecting both the supply and demand should be closely monitored by stock market investors as well as legislative, executive, and regul...

The Anatomy of Virtual Manipulative Apps: Using Grounded Theory to Conceptualize and Evaluate Educational Apps that Contain Virtual Manipulatives

OpenAIRE

Boyer-Thurgood, Jennifer M.

2017-01-01

This exploratory qualitative study used grounded theory to investigate the anatomy of educational apps that contain virtual manipulatives. For this study 100 virtual manipulatives within educational apps designed for the iPad were observed by the researcher in order to expand the explanations of and build theory about virtual manipulatives within apps. Affordance theory was used to frame all six phases of the study in which the researcher identified virtual manipulatives situated within educa...

Probabilistic approach to manipulator kinematics and dynamics

International Nuclear Information System (INIS)

Rao, S.S.; Bhatti, P.K.

2001-01-01

A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures

Single-molecule analysis of DNA replication in Xenopus egg extracts

NARCIS (Netherlands)

Yardimci, Hasan; Loveland, Anna B.; van Oijen, Antoine M.; Walter, Johannes C.; Mechali, Marcel

The recent advent in single-molecule imaging and manipulation methods has made a significant impact on the understanding of molecular mechanisms underlying many essential cellular processes. Single-molecule techniques such as electron microscopy and DNA fiber assays have been employed to study the

Coproduction of detergent compatible bacterial enzymes and stain removal evaluation.

Science.gov (United States)

Niyonzima, Francois N; More, Sunil S

2015-10-01

Most of the detergents that are presently produced contain the detergent compatible enzymes to improve and accelerate the washing performance by removing tough stains. The process is environment friendly as the use of enzymes in the detergent formulation reduces the utilization of toxic detergent constituents. The current trend is to use the detergent compatible enzymes that are active at low and ambient temperature in order to save energy and maintain fabric quality. As the detergent compatible bacterial enzymes are used together in the detergent formulation, it is important to co-produce the detergent enzymes in a single fermentation medium as the enzyme stability is assured, and production cost gets reduced enormously. The review reports on the production, purification, characterization and application of detergent compatible amylases, lipases, and proteases are available. However, there is no specific review or minireview on the concomitant production of detergent compatible amylases, lipases, and proteases. In this minireview, the coproduction of detergent compatible enzymes by bacterial species, enzyme stability towards detergents and detergent components, and stain release analysis were discussed. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Primordial-like enzymes from bacteria with reduced genomes.

Science.gov (United States)

Ferla, Matteo P; Brewster, Jodi L; Hall, Kelsi R; Evans, Gary B; Patrick, Wayne M

2017-08-01

The first cells probably possessed rudimentary metabolic networks, built using a handful of multifunctional enzymes. The promiscuous activities of modern enzymes are often assumed to be relics of this primordial era; however, by definition these activities are no longer physiological. There are many fewer examples of enzymes using a single active site to catalyze multiple physiologically-relevant reactions. Previously, we characterized the promiscuous alanine racemase (ALR) activity of Escherichia coli cystathionine β-lyase (CBL). Now we have discovered that several bacteria with reduced genomes lack alr, but contain metC (encoding CBL). We characterized the CBL enzymes from three of these: Pelagibacter ubique, the Wolbachia endosymbiont of Drosophila melanogaster (wMel) and Thermotoga maritima. Each is a multifunctional CBL/ALR. However, we also show that CBL activity is no longer required in these bacteria. Instead, the wMel and T. maritima enzymes are physiologically bi-functional alanine/glutamate racemases. They are not highly active, but they are clearly sufficient. Given the abundance of the microorganisms using them, we suggest that much of the planet's biochemistry is carried out by enzymes that are quite different from the highly-active exemplars usually found in textbooks. Instead, primordial-like enzymes may be an essential part of the adaptive strategy associated with streamlining. © 2017 The Authors. Molecular Microbiology Published by John Wiley & Sons Ltd.

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

Integrating enzyme immobilization and protein engineering: An alternative path for the development of novel and improved industrial biocatalysts.

Science.gov (United States)

Bernal, Claudia; Rodríguez, Karen; Martínez, Ronny

2018-06-09

Enzyme immobilization often achieves reusable biocatalysts with improved operational stability and solvent resistance. However, these modifications are generally associated with a decrease in activity or detrimental modifications in catalytic properties. On the other hand, protein engineering aims to generate enzymes with increased performance at specific conditions by means of genetic manipulation, directed evolution and rational design. However, the achieved biocatalysts are generally generated as soluble enzymes, -thus not reusable- and their performance under real operational conditions is uncertain. Combined protein engineering and enzyme immobilization approaches have been employed as parallel or consecutive strategies for improving an enzyme of interest. Recent reports show efforts on simultaneously improving both enzymatic and immobilization components through genetic modification of enzymes and optimizing binding chemistry for site-specific and oriented immobilization. Nonetheless, enzyme engineering and immobilization are usually performed as separate workflows to achieve improved biocatalysts. In this review, we summarize and discuss recent research aiming to integrate enzyme immobilization and protein engineering and propose strategies to further converge protein engineering and enzyme immobilization efforts into a novel "immobilized biocatalyst engineering" research field. We believe that through the integration of both enzyme engineering and enzyme immobilization strategies, novel biocatalysts can be obtained, not only as the sum of independently improved intrinsic and operational properties of enzymes, but ultimately tailored specifically for increased performance as immobilized biocatalysts, potentially paving the way for a qualitative jump in the development of efficient, stable biocatalysts with greater real-world potential in challenging bioprocess applications. Copyright © 2018. Published by Elsevier Inc.

A portable modular architecture for robotic manipulator control

International Nuclear Information System (INIS)

Butler, P.L.

1993-01-01

A control architecture has been developed to provide a framework for robotic manipulator control. This architecture, called the Modular Integrated Control Architecture (MICA), has been successfully applied to two different manipulator systems. MICA is a portable system in two respects. First, it can be used for the control of different types of manipulator systems. Second, the MICA code is portable across several operating environments. This portability allows the sharing of common control code among various systems. A major portion of MICA is the precise control of multiple processors that have to be coordinated to control a manipulator system. By having NUCA control the processor synchronization, the system developer can concentrate on the specific aspects of a new manipulator system. MICA also provides standard functions for trajectory generation that can be used for most manipulators. Custom trajectory generators can be easily added to suit the needs of a particular robotic control system. Another facility that MICA provides is a simulation of the manipulator, allowing the control code to be simulated before trying it on a manipulator system. Using this technique, one can develop code for a manipulator system without risking damage to the arm during development

A shuttle and space station manipulator system for assembly, docking, maintenance cargo handling and spacecraft retrieval (preliminary design). Volume 1: Management summary

Science.gov (United States)

1972-01-01

A preliminary design is established for a general purpose manipulator system which can be used interchangeably on the shuttle and station and can be transferred back and forth between them. Control of the manipulator is accomplished by hard wiring from internal control stations in the shuttle or station. A variety of shuttle and station manipulator operations are considered including servicing the Large Space Telescope; however, emphasis is placed on unloading modules from the shuttle and assembling the space station. Simulation studies on foveal stereoscopic viewing and manipulator supervisory computer control have been accomplished to investigate the feasibility of their use in the manipulator system. The basic manipulator system consists of a single 18.3 m long, 7 degree of freedom (DOF), electrically acutated main boom with an auxiliary 3 DOF electrically actuated, extendible 18.3 m maximum length, lighting, and viewing boom. A 3 DOF orientor assembly is located at the tip of the viewing boom to provide camera pan, tilt, and roll.

Managerial Incentives and Stock Price Manipulation

OpenAIRE

Peng, Lin; Röell, Ailsa A

2009-01-01

This paper presents a rational expectations model of optimal executive compensation in a setting where managers are in a position to manipulate short-term stock prices, and managers' propensity to manipulate is uncertain. Stock-based incentives elicit not only productive effort, but also costly information manipulation. We analyze the tradeoffs involved in conditioning pay on long- versus short-term performance and characterize a second-best optimal compensation scheme. The paper shows manipu...

From Single Microparticles to Microfluidic Emulsification: Fundamental Properties (Solubility, Density, Phase Separation from Micropipette Manipulation of Solvent, Drug and Polymer Microspheres

Directory of Open Access Journals (Sweden)

Koji Kinoshita

2016-11-01

Full Text Available The micropipette manipulation technique is capable of making fundamental single particle measurements and analyses. This information is critical for establishing processing parameters in systems such as microfluidics and homogenization. To demonstrate what can be achieved at the single particle level, the micropipette technique was used to form and characterize the encapsulation of Ibuprofen (Ibp into poly(lactic-co-glycolic acid (PLGA microspheres from dichloromethane (DCM solutions, measuring the loading capacity and solubility limits of Ibp in typical PLGA microspheres. Formed in phosphate buffered saline (PBS, pH 7.4, Ibp/PLGA/DCM microdroplets were uniformly solidified into Ibp/PLGA microparticles up to drug loadings (DL of 41%. However, at DL 50 wt% and above, microparticles showed a phase separated pattern. Working with single microparticles, we also estimated the dissolution time of pure Ibp microspheres in the buffer or in detergent micelle solutions, as a function of the microsphere size and compare that to calculated dissolution times using the Epstein-Plesset (EP model. Single, pure Ibp microparticles precipitated as liquid phase microdroplets that then gradually dissolved into the surrounding PBS medium. Analyzing the dissolution profiles of Ibp over time, a diffusion coefficient of 5.5 ± 0.2 × 10−6 cm2/s was obtained by using the EP model, which was in excellent agreement with the literature. Finally, solubilization of Ibp into sodium dodecyl sulfate (SDS micelles was directly visualized microscopically for the first time by the micropipette technique, showing that such micellization could increase the solubility of Ibp from 4 to 80 mM at 100 mM SDS. We also introduce a particular microfluidic device that has recently been used to make PLGA microspheres, showing the importance of optimizing the flow parameters. Using this device, perfectly smooth and size-homogeneous microparticles were formed for flow rates of 0.167 mL/h for

Kinematic sensitivity of robot manipulators

Science.gov (United States)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

A links manipulator simulation program interim report

International Nuclear Information System (INIS)

Noble, R.A.

1987-04-01

A computer program to simulate the performance of the Heysham II rail-following manipulator has been developed. The program is being used to develop and test the rail-following control algorithms which will be used to control movements of the manipulator when it is operating below the gas baffle dome. The simulation includes the dynamic responses of the manipulator joint drives, excluding friction, backlash and compliance. It also includes full details of the manipulator's geometry. A method is given whereby the actual manipulator dynamics can be written into the program once these have been established by measurement. The program is written in FORTRAN and runs on a Perkin-Elmer 3220 mini-computer. The simulation program responds to velocity demands on the individual joints. These will normally come from the control program, in which they will be manually controlled by a joystick. A sigma 5664 colour graphics generator is programmed to display the current position of the manipulator. (UK)

Synthesis of single-molecule nanocars.

Science.gov (United States)

Vives, Guillaume; Tour, James M

2009-03-17

p-carborane- and ruthenium-based wheels with greater solubility in organic solvents. Although fullerene wheels must be attached in the final synthetic step, p-carborane- and ruthenium-based wheels do not inhibit organometallic coupling reactions, which allows a more convergent synthesis of molecular machines. We also prepared functional nanotrucks for the transport of atoms and molecules, as well as self-assembling nanocars and nanotrains. Although engineering challenges such as movement over long distance and non-atomically flat surfaces remain, the greatest current research challenge is imaging. The detailed study of nanocars requires complementary single molecule imaging techniques such as STM, AFM, TEM, or single-molecule fluorescence microscopy. Further developments in engineering and synthesis could lead to enzyme-like manipulation and assembly of atoms and small molecules in nonbiological environments.

Manipulators

International Nuclear Information System (INIS)

Andre, Y.; Routelous, F.; Spina, G.; Perpina, J.; Suquet, J.; Rossi, M.; Zanca, M.; Billiet, A.; Madec, L.; Lemoine, T.; Gaboriaud, G.; Aubert, B.; Rosenwald, J.C.; Neuenschwander, S.; Brisse, H.; Rehel, J.L.; Rebibo, G.; Bensimon, J.L.; Kulski, A.; Serhal, M.; Nguyen, K.V.; Lescure, R.; Cymbalista, M.

2005-01-01

Three articles have for purpose the radiation doses optimization in medical imaging. The first one concerns the radiation protection of manipulators working at a PET scan post, the second one concerns more particularly the optimization of doses delivered in pediatric computerized tomography, the third one is devoted to a comparison between radiation dose and image quality through scanners of adult temporal bone. (N.C.)

Positional control of space robot manipulator

Science.gov (United States)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

Science.gov (United States)

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Show Me the Money: A Systematic Exploration of Manipulations, Moderators, and Mechanisms of Priming Effects.

Science.gov (United States)

Caruso, Eugene M; Shapira, Oren; Landy, Justin F

2017-08-01

A major challenge for accumulating knowledge in psychology is the variation in methods and participant populations across studies in a single domain. We offer a systematic approach to addressing this challenge and implement it in the domain of money priming. In three preregistered experiments ( N = 4,649), participants were exposed to one of a number of money manipulations before completing self-report measures of money activation (Study 1); engaging in a behavioral-persistence task (Study 3); completing self-report measures of subjective wealth, self-sufficiency, and communion-agency (Studies 1-3); and completing demographic questions (Studies 1-3). Four of the five manipulations we tested activated the concept of money, but, contrary to what we expected based on the preponderance of the published literature, no manipulation consistently affected any dependent measure. Moderation by sociodemographic characteristics was sparse and inconsistent across studies. We discuss implications for theories of money priming and explain how our approach can complement recent efforts to build a reproducible, cumulative psychological science.

Coccolithophores: Functional Biodiversity, Enzymes and Bioprospecting

Directory of Open Access Journals (Sweden)

Michael J. Allen

2011-04-01

Full Text Available Emiliania huxleyi is a single celled, marine phytoplankton with global distribution. As a key species for global biogeochemical cycling, a variety of strains have been amassed in various culture collections. Using a library consisting of 52 strains of E. huxleyi and an ‘in house‘ enzyme screening program, we have assessed the functional biodiversity within this species of fundamental importance to global biogeochemical cycling, whilst at the same time determining their potential for exploitation in biocatalytic applications. Here, we describe the screening of E. huxleyi strains, as well as a coccolithovirus infected strain, for commercially relevant biocatalytic enzymes such as acid/alkali phosphodiesterase, acid/alkali phosphomonoesterase, EC1.1.1-type dehydrogenase, EC1.3.1-type dehydrogenase and carboxylesterase.

Better with Byzantine: Manipulation-Optimal Mechanisms

Science.gov (United States)

Othman, Abraham; Sandholm, Tuomas

A mechanism is manipulable if it is in some agents’ best interest to misrepresent their private information. The revelation principle establishes that, roughly, anything that can be accomplished by a manipulable mechanism can also be accomplished with a truthful mechanism. Yet agents often fail to play their optimal manipulations due to computational limitations or various flavors of incompetence and cognitive biases. Thus, manipulable mechanisms in particular should anticipate byzantine play. We study manipulation-optimal mechanisms: mechanisms that are undominated by truthful mechanisms when agents act fully rationally, and do better than any truthful mechanism if any agent fails to act rationally in any way. This enables the mechanism designer to do better than the revelation principle would suggest, and obviates the need to predict byzantine agents’ irrational behavior. We prove a host of possibility and impossibility results for the concept which have the impression of broadly limiting possibility. These results are largely in line with the revelation principle, although the considerations are more subtle and the impossibility not universal.

Combining polysaccharide biosynthesis and transport in a single enzyme: dual-function cell wall glycan synthases.

Directory of Open Access Journals (Sweden)

Jonathan Kent Davis

2012-06-01

Full Text Available Extracellular polysaccharides are synthesized by a wide variety of species, from unicellular bacteria and Archaea to the largest multicellular plants and animals in the biosphere. In every case, the biosynthesis of these polymers requires transport across a membrane, from the cytosol to either the lumen of secretory pathway organelles or directly into the extracellular space. Although some polysaccharide biosynthetic substrates are moved across the membrane to sites of polysaccharide synthesis by separate transporter proteins before being incorporated into polymers by glycosyltransferase proteins, many polysaccharide biosynthetic enzymes appear to have both transporter and transferase activities. In these cases, the biosynthetic enzymes utilize substrate on one side of the membrane and deposit the polymer product on the other side. This review discusses structural characteristics of plant cell wall glycan synthases that couple synthesis with transport, drawing on what is known about such dual-function enzymes in other species.

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

Kungl, D.; Loesser, D.; Heitzenroeder, P.; Cerdan, G.

1989-01-01

TFTR plans to begin D-T experiments in mid 1990. The D-T experimental program will produce approximately one hundred shots, with a neutron generation rate of 10 19 neutrons per shot. This will result in high levels of activation in TFTR, especially in the vacuum vessel. The primary purpose of the Maintenance Manipulator is to provide a means of remotely performing certain defined maintenance and inspection tasks inside the vacuum torus so as to minimize personnel exposure to radiation. The manipulator consists of a six-link folding boom connected to a fixed boom on a movable carriage. The entire manipulator is housed in a vacuum antechamber connected to the vacuum torus, through a port formerly used for a vacuum pumping duct. The configuration extends 180 0 in either direction to provide complete coverage of the torus. The four 3500 l/s turbopumps which were formerly used in the pumping duct will be mounted on the antechamber. The manipulator will utilize two end effectors. The first, called a General Inspection Arm (GIA) provides a movable platform to an inspection camera and an in-vacuum leak detector. The second is a bilateral, force-reflecting pair of slave arms which utilize specially developed tools to perform several maintenance functions. All components except the slave arms are capable of operating in TFTR's vacuum environment and during 150 0 C bakeout of the torus. (orig.)

MANIPULATING CONSUMERS THROUGH ADVERTISING

Directory of Open Access Journals (Sweden)

Nicoleta -Andreea Neacşu

2012-12-01

Full Text Available Marketing communication has evolved steadily in the direction of increasing complexity and increasing volume of funds needed to run their own actions. More than ever, consumers are exposed to an overwhelming variety of sources and communication tehniques, the information received being numerous, diverse and polyvalent. The desire to make more efficient the marketing communication activity urges the broadcasters to encode messages, to use effective means of propagation in order to obtain a high degree of control on receptors and to influence the consumption attitudes. Between the means used for this purpose, manipulation tehniques are well known. This paper highlights the main conclusions drawn as a result of a quantitative marketing research on the adult population from Braşov in order to identify the attitudes and opinions of consumers from Braşov regarding the manipulation techniques used by commercial practices and advertising.The results of the research have shown that 82% of the respondents buy products in promotional offers, and 18% choose not to buy these products and 61% of the respondents consider that they have not been manipulated not even once, while only 39% believe that they have been manipulated at least once through advertising or commercial practices. Advertisements on TV have a strong influence on consumers, 81% of the respondents considering that at least once they have bought a product because of a TV commercial.

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

Chung, J.H.; Velinsky, S.A.; Hess, R.A.

1998-01-01

This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The redundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two subsystems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteristics. Simulation results show the promise of the developed algorithm

On stiffening cables of a long reach manipulator

International Nuclear Information System (INIS)

Wang, S.L.; Santiago, P.

1996-01-01

A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator's slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator's stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator's wrist

Model Manipulation for End-User Modelers

DEFF Research Database (Denmark)

Acretoaie, Vlad

, and transformations using their modeling notation and editor of choice. The VM* languages are implemented via a single execution engine, the VM* Runtime, built on top of the Henshin graph-based transformation engine. This approach combines the benefits of flexibility, maturity, and formality. To simplify model editor......End-user modelers are domain experts who create and use models as part of their work. They are typically not Software Engineers, and have little or no programming and meta-modeling experience. However, using model manipulation languages developed in the context of Model-Driven Engineering often...... requires such experience. These languages are therefore only used by a small subset of the modelers that could, in theory, benefit from them. The goals of this thesis are to substantiate this observation, introduce the concepts and tools required to overcome it, and provide empirical evidence in support...

Database of ligand-induced domain movements in enzymes

Directory of Open Access Journals (Sweden)

Hayward Steven

2009-03-01

Full Text Available Abstract Background Conformational change induced by the binding of a substrate or coenzyme is a poorly understood stage in the process of enzyme catalysed reactions. For enzymes that exhibit a domain movement, the conformational change can be clearly characterized and therefore the opportunity exists to gain an understanding of the mechanisms involved. The development of the non-redundant database of protein domain movements contains examples of ligand-induced domain movements in enzymes, but this valuable data has remained unexploited. Description The domain movements in the non-redundant database of protein domain movements are those found by applying the DynDom program to pairs of crystallographic structures contained in Protein Data Bank files. For each pair of structures cross-checking ligands in their Protein Data Bank files with the KEGG-LIGAND database and using methods that search for ligands that contact the enzyme in one conformation but not the other, the non-redundant database of protein domain movements was refined down to a set of 203 enzymes where a domain movement is apparently triggered by the binding of a functional ligand. For these cases, ligand binding information, including hydrogen bonds and salt-bridges between the ligand and specific residues on the enzyme is presented in the context of dynamical information such as the regions that form the dynamic domains, the hinge bending residues, and the hinge axes. Conclusion The presentation at a single website of data on interactions between a ligand and specific residues on the enzyme alongside data on the movement that these interactions induce, should lead to new insights into the mechanisms of these enzymes in particular, and help in trying to understand the general process of ligand-induced domain closure in enzymes. The website can be found at: http://www.cmp.uea.ac.uk/dyndom/enzymeList.do

Manipulation Robustness of Collaborative Filtering

OpenAIRE

Benjamin Van Roy; Xiang Yan

2010-01-01

A collaborative filtering system recommends to users products that similar users like. Collaborative filtering systems influence purchase decisions and hence have become targets of manipulation by unscrupulous vendors. We demonstrate that nearest neighbors algorithms, which are widely used in commercial systems, are highly susceptible to manipulation and introduce new collaborative filtering algorithms that are relatively robust.

Comparative analysis of hydraulic crane-manipulating installations transport and technological machines and industrial robots hydraulic manipulators

Directory of Open Access Journals (Sweden)

Lagerev I.A.

2016-09-01

Full Text Available The article presents results of comparative analysis of hydraulic crane-manipulator installations of mobile transport and technological machines and hydraulic manipulators of industrial robots. The comparative analysis is based on consid-eration of a wide range of types and sizes indicated technical devices of both domestic and foreign production: 1580 structures of cranes and more than 450 structures of industrial robots. It was performed in the following areas: func-tional purpose and basic technical characteristics; a design; the loading conditions of the model and failures in operation process; approaches to the design, calculation methods and mathematical modeling. The conclusions about the degree of similarity and the degree of difference hydraulic crane-manipulator installations of transport and technological ma-chines and hydraulic industrial robot manipulators from the standpoint of their design and modeling occurring in them during operation of dynamic and structural processes.

Hybrid bilayer plasmonic metasurface efficiently manipulates visible light

Science.gov (United States)

Qin, Fei; Ding, Lu; Zhang, Lei; Monticone, Francesco; Chum, Chan Choy; Deng, Jie; Mei, Shengtao; Li, Ying; Teng, Jinghua; Hong, Minghui; Zhang, Shuang; Alù, Andrea; Qiu, Cheng-Wei

2016-01-01

Metasurfaces operating in the cross-polarization scheme have shown an interesting degree of control over the wavefront of transmitted light. Nevertheless, their inherently low efficiency in visible light raises certain concerns for practical applications. Without sacrificing the ultrathin flat design, we propose a bilayer plasmonic metasurface operating at visible frequencies, obtained by coupling a nanoantenna-based metasurface with its complementary Babinet-inverted copy. By breaking the radiation symmetry because of the finite, yet small, thickness of the proposed structure and benefitting from properly tailored intra- and interlayer couplings, such coupled bilayer metasurface experimentally yields a conversion efficiency of 17%, significantly larger than that of earlier single-layer designs, as well as an extinction ratio larger than 0 dB, meaning that anomalous refraction dominates the transmission response. Our finding shows that metallic metasurface can counterintuitively manipulate the visible light as efficiently as dielectric metasurface (~20% in conversion efficiency in Lin et al.’s study), although the metal’s ohmic loss is much higher than dielectrics. Our hybrid bilayer design, still being ultrathin (~λ/6), is found to obey generalized Snell’s law even in the presence of strong couplings. It is capable of efficiently manipulating visible light over a broad bandwidth and can be realized with a facile one-step nanofabrication process. PMID:26767195

Dynamic whole-body robotic manipulation

Science.gov (United States)

Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

2013-05-01

The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

The age of enlightenment: evolving opportunities in brain research through optical manipulation of neuronal activity

Directory of Open Access Journals (Sweden)

Jason eJerome

2011-12-01

Full Text Available Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging and 2-photon stimulation techniques. Exciting new developments in optogenetics complement neurotransmitter uncaging techniques by providing cell-type specificity and in vivo usability, providing optical access to the neural substrates of behavior. Here we review the rapid evolution of methods for the optical manipulation of neuronal activity, emphasizing crucial recent developments.

The age of enlightenment: evolving opportunities in brain research through optical manipulation of neuronal activity.

Science.gov (United States)

Jerome, Jason; Heck, Detlef H

2011-01-01

Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging, and two-photon stimulation techniques. Exciting new developments in optogenetics complement neurotransmitter uncaging techniques by providing cell-type specificity and in vivo usability, providing optical access to the neural substrates of behavior. Here we review the rapid evolution of methods for the optical manipulation of neuronal activity, emphasizing crucial recent developments.

Detection of the Single Nucleotide Polymorphism at Position rs2735940 in the Human Telomerase Reverse Transcriptase Gene by the Introduction of a New Restriction Enzyme Site for the PCR-RFLP Assay.

Science.gov (United States)

Wang, Sihua; Ding, Mingcui; Duan, Xiaoran; Wang, Tuanwei; Feng, Xiaolei; Wang, Pengpeng; Yao, Wu; Wu, Yongjun; Yan, Zhen; Feng, Feifei; Yu, Songcheng; Wang, Wei

2017-09-01

It has been shown that the single nucleotide polymorphism (SNP) of the rs2735940 site in the human telomerase reverse transcriptase ( hTERT ) gene is associated with increased cancer risk. The traditional method to detect SNP genotypes is polymerase chain reaction-restriction fragment length polymorphism (PCR-RFLP). However, there is a limitation to utilizing PCR-RFLP due to a lack of proper restriction enzyme sites at many polymorphic loci. This study used an improved PCR-RFLP method with a mismatched base for detection of the SNP rs2735940. A new restriction enzyme cutting site was created by created restriction site PCR (CRS-PCR), and in addition, the restriction enzyme Msp I for CRS-PCR was cheaper than other enzymes. We used this novel assay to determine the allele frequencies in 552 healthy Chinese Han individuals, and found the allele frequencies to be 63% for allele C and 37% for allele T In summary, the modified PCR-RFLP can be used to detect the SNP of rs2735940 with low cost and high efficiency. © 2017 by the Association of Clinical Scientists, Inc.

Data manipulation with R

CERN Document Server

Abedin, Jaynal

2014-01-01

This book is a step-by step, example-oriented tutorial that will show both intermediate and advanced users how data manipulation is facilitated smoothly using R.This book is aimed at intermediate to advanced level users of R who want to perform data manipulation with R, and those who want to clean and aggregate data effectively. Readers are expected to have at least an introductory knowledge of R and some basic administration work in R, such as installing packages and calling them when required.

Nanocaged enzymes with enhanced catalytic activity and increased stability against protease digestion

Science.gov (United States)

Zhao, Zhao; Fu, Jinglin; Dhakal, Soma; Johnson-Buck, Alexander; Liu, Minghui; Zhang, Ting; Woodbury, Neal W.; Liu, Yan; Walter, Nils G.; Yan, Hao

2016-01-01

Cells routinely compartmentalize enzymes for enhanced efficiency of their metabolic pathways. Here we report a general approach to construct DNA nanocaged enzymes for enhancing catalytic activity and stability. Nanocaged enzymes are realized by self-assembly into DNA nanocages with well-controlled stoichiometry and architecture that enabled a systematic study of the impact of both encapsulation and proximal polyanionic surfaces on a set of common metabolic enzymes. Activity assays at both bulk and single-molecule levels demonstrate increased substrate turnover numbers for DNA nanocage-encapsulated enzymes. Unexpectedly, we observe a significant inverse correlation between the size of a protein and its activity enhancement. This effect is consistent with a model wherein distal polyanionic surfaces of the nanocage enhance the stability of active enzyme conformations through the action of a strongly bound hydration layer. We further show that DNA nanocages protect encapsulated enzymes against proteases, demonstrating their practical utility in functional biomaterials and biotechnology. PMID:26861509

Nanocaged enzymes with enhanced catalytic activity and increased stability against protease digestion

Science.gov (United States)

Zhao, Zhao; Fu, Jinglin; Dhakal, Soma; Johnson-Buck, Alexander; Liu, Minghui; Zhang, Ting; Woodbury, Neal W.; Liu, Yan; Walter, Nils G.; Yan, Hao

2016-02-01

Cells routinely compartmentalize enzymes for enhanced efficiency of their metabolic pathways. Here we report a general approach to construct DNA nanocaged enzymes for enhancing catalytic activity and stability. Nanocaged enzymes are realized by self-assembly into DNA nanocages with well-controlled stoichiometry and architecture that enabled a systematic study of the impact of both encapsulation and proximal polyanionic surfaces on a set of common metabolic enzymes. Activity assays at both bulk and single-molecule levels demonstrate increased substrate turnover numbers for DNA nanocage-encapsulated enzymes. Unexpectedly, we observe a significant inverse correlation between the size of a protein and its activity enhancement. This effect is consistent with a model wherein distal polyanionic surfaces of the nanocage enhance the stability of active enzyme conformations through the action of a strongly bound hydration layer. We further show that DNA nanocages protect encapsulated enzymes against proteases, demonstrating their practical utility in functional biomaterials and biotechnology.

Phosphoenolpyruvate-dependent protein kinase enzyme I of Streptococcus faecalis: purification and properties of the enzyme and characterization of its active center

International Nuclear Information System (INIS)

Alpert, C.A.; Frank, R.; Stueber, K.D.; Deutscher, J.; Hengstenberg, W.

1985-01-01

Enzyme I, the phosphoenolpyruvate:protein phosphotransferase (EC 2.7.3.9), which is part of the bacterial phosphoenolpyruvate-(PEP) dependent phosphotransferase system, has been purified from Streptococcus faecalis by using a large-scale preparation. Size exclusion chromatography revealed a molecular weight of 140,000. On sodium dodecyl sulfate gels, enzyme I gave one band with a molecular weight of 70,000, indicating that enzyme I consists of two identical subunits. The first 59 amino acids of the amino-terminal part of the protein have been sequenced. It showed some similarities with enzyme I of Salmonella typhimurium. The active center of enzyme I has also been determined. After phosphorylation with [ 32 P]PEP, the enzyme was cleaved by using different proteases. Labeled peptides were isolated by high-performance liquid chromatography on a reversed-phase column. The amino acid composition or amino acid sequence of the peptides has been determined. The largest labeled peptide was obtained with Lys-C protease and had the following sequence: -Ala-Phe-Val-Thr-Asp-Ile-Gly- Gly-Arg-Thr-Ser-His*-Ser-Ala-Ile-Met-Ala-Arg-Ser-Leu-Glu-Ile-Pro-Ala- Ile-Val-Gly-Thr-Lys-. It has previously been shown that the phosphoryl group is bound to the N-3 position of a histidyl residue in phosphorylated enzyme I. The single His in position 12 of the above peptide must therefore carry the phosphoryl group

Stock Market Manipulation on the Hong Kong Stock Exchange

Directory of Open Access Journals (Sweden)

Dionigi Gerace

2014-10-01

Full Text Available This study is the first to empirically examine stock market manipulation on the Hong Kong Stock Exchange. The dataset contains 40 cases of market manipulation from 1996 to 2009 that were successfully prosecuted by the Hong Kong Securities & Futures Commission. Manipulation is found to negatively impact market efficiency measures such as the bid-ask spread and volatility. Markets appear incapable of efficiently responding to the presence of manipulators and are characterised by information asymmetry. Manipulators were successfully able to raise prices and exit the market. This finding contradicts views that trade-based manipulation is entirely unprofitable and self-deterring. The victimisation of information-seeking investors and the market as a whole provides a strong rationale for all jurisdictions, including Australia, to have effective laws that prohibit manipulation and for robust enforcement of those laws to further deter market manipulation.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

Hudson, Thomas C.; Helser, Aren T.; Sonnenwald, Diane H.

2004-01-01

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...

Convergent evolution of caffeine in plants by co-option of exapted ancestral enzymes.

Science.gov (United States)

Huang, Ruiqi; O'Donnell, Andrew J; Barboline, Jessica J; Barkman, Todd J

2016-09-20

Convergent evolution is a process that has occurred throughout the tree of life, but the historical genetic and biochemical context promoting the repeated independent origins of a trait is rarely understood. The well-known stimulant caffeine, and its xanthine alkaloid precursors, has evolved multiple times in flowering plant history for various roles in plant defense and pollination. We have shown that convergent caffeine production, surprisingly, has evolved by two previously unknown biochemical pathways in chocolate, citrus, and guaraná plants using either caffeine synthase- or xanthine methyltransferase-like enzymes. However, the pathway and enzyme lineage used by any given plant species is not predictable from phylogenetic relatedness alone. Ancestral sequence resurrection reveals that this convergence was facilitated by co-option of genes maintained over 100 million y for alternative biochemical roles. The ancient enzymes of the Citrus lineage were exapted for reactions currently used for various steps of caffeine biosynthesis and required very few mutations to acquire modern-day enzymatic characteristics, allowing for the evolution of a complete pathway. Future studies aimed at manipulating caffeine content of plants will require the use of different approaches given the metabolic and genetic diversity revealed by this study.

Tension Stiffened and Tendon Actuated Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

Particle Manipulation Methods in Droplet Microfluidics.

Science.gov (United States)

Tenje, Maria; Fornell, Anna; Ohlin, Mathias; Nilsson, Johan

2018-02-06

This Feature describes the different particle manipulation techniques available in the droplet microfluidics toolbox to handle particles encapsulated inside droplets and to manipulate whole droplets. We address the advantages and disadvantages of the different techniques to guide new users.

Screen-printable sol-gel enzyme-containing carbon inks.

Science.gov (United States)

Wang, J; Pamidi, P V; Park, D S

1996-08-01

Enzymes usually cannot withstand the high-temperature curing associated with the thick-film fabrication process and require a separate immobilization step in connection with the production of single-use biosensors. We report on the development of sol-gel-derived enzyme-containing carbon inks that display compatibility with the screen-printing process. Such coupling of sol-gel and thick-film technologies offers a one-step fabrication of disposable enzyme electrodes, as it obviates the need for thermal curing. The enzyme-containing sol-gel carbon ink, prepared by dispersing the biocatalyst, along with the graphite powder and a binder, within the sol-gel precursors, is cured very rapidly (10 min) at low temperature (4 °C). The influence of the ink preparation conditions is explored, and the sensor performance is evaluated in connection with the incorporation of glucose oxidase or horseradish peroxidase. The resulting strips are stable for at least 3 months. Such sol-gel-derived carbon inks should serve as hosts for other heat-sensitive biomaterials in connection with the microfabrication of various thick-film biosensors.

Characterization of the cellular response triggered by gold nanoparticle-mediated laser manipulation.

Science.gov (United States)

Kalies, Stefan; Keil, Sebastian; Sender, Sina; Hammer, Susanne C; Antonopoulos, Georgios C; Schomaker, Markus; Ripken, Tammo; Murua Escobar, Hugo; Meyer, Heiko; Heinemann, Dag

2015-11-01

Laser-based transfection techniques have proven high applicability in several cell biologic applications. The delivery of different molecules using these techniques has been extensively investigated. In particular, new high-throughput approaches such as gold nanoparticle–mediated laser transfection allow efficient delivery of antisense molecules or proteins into cells preserving high cell viabilities. However, the cellular response to the perforation procedure is not well understood. We herein analyzed the perforation kinetics of single cells during resonant gold nanoparticle–mediated laser manipulation with an 850-ps laser system at a wavelength of 532 nm. Inflow velocity of propidium iodide into manipulated cells reached a maximum within a few seconds. Experiments based on the inflow of FM4-64 indicated that the membrane remains permeable for a few minutes for small molecules. To further characterize the cellular response postmanipulation, we analyzed levels of oxidative heat or general stress. Although we observed an increased formation of reactive oxygen species by an increase of dichlorofluorescein fluorescence, heat shock protein 70 was not upregulated in laser-treated cells. Additionally, no evidence of stress granule formation was visible by immunofluorescence staining. The data provided in this study help to identify the cellular reactions to gold nanoparticle–mediated laser manipulation.

Sugarcane expressed sequences tags (ESTs encoding enzymes involved in lignin biosynthesis pathways

Directory of Open Access Journals (Sweden)

Ramos Rose Lucia Braz

2001-01-01

Full Text Available Lignins are phenolic polymers found in the secondary wall of plant conductive systems where they play an important role by reducing the permeability of the cell wall to water. Lignins are also responsible for the rigidity of the cell wall and are involved in mechanisms of resistance to pathogens. The metabolic routes and enzymes involved in synthesis of lignins have been largely characterized and representative genes that encode enzymes involved in these processes have been cloned from several plant species. The synthesis of lignins is liked to the general metabolism of the phenylpropanoids in plants, having enzymes (e.g. phenylalanine ammonia-lyase (PAL, cinnamate 4-hydroxylase (C4H and caffeic acid O-methyltransferase (COMT common to other processes as well as specific enzymes such as cinnamoyl-CoA reductase (CCR and cinnamyl alcohol dehydrogenase (CAD. Some maize and sorghum mutants, shown to have defective in CAD and/or COMT activity, are easier to digest because they have a reduced lignin content, something which has motivated different research groups to alter the lignin content and composition of model plants by genetic engineering try to improve, for example, the efficiency of paper pulping and digestibility. In the work reported in this paper, we have made an inventory of the sugarcane expressed sequence tag (EST coding for enzymes involved in lignin metabolism which are present in the sugarcane EST genome project (SUCEST database. Our analysis focused on the key enzymes ferulate-5-hydroxylase (F5H, caffeic acid O-methyltransferase (COMT, caffeoyl CoA O-methyltransferase (CCoAOMT, hydroxycinnamate CoA ligase (4CL, cinnamoyl-CoA reductase (CCR and cinnamyl alcohol dehydrogenase (CAD. The comparative analysis of these genes with those described in other species could be used as molecular markers for breeding as well as for the manipulation of lignin metabolism in sugarcane.

Manipulation or Mobilisation for Neck Pain

NARCIS (Netherlands)

Gross, Anita; Miller, Jordan; D'Sylva, Jonathan; Burnie, Stephen J.; Goldsmith, Charles H.; Graham, Nadine; Haines, Ted; Brønfort, Gert; Hoving, Jan L.

2010-01-01

Background Manipulation and mobilisation are often used, either alone or combined with other treatment approaches, to treat neck pain. Objectives To assess if manipulation or mobilisation improves pain, function/disability, patient satisfaction, quality of life, and global perceived effect in adults

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

Science.gov (United States)

Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

2018-05-10

Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real-world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.

Enzyme Informatics

Science.gov (United States)

Alderson, Rosanna G.; Ferrari, Luna De; Mavridis, Lazaros; McDonagh, James L.; Mitchell, John B. O.; Nath, Neetika

2012-01-01

Over the last 50 years, sequencing, structural biology and bioinformatics have completely revolutionised biomolecular science, with millions of sequences and tens of thousands of three dimensional structures becoming available. The bioinformatics of enzymes is well served by, mostly free, online databases. BRENDA describes the chemistry, substrate specificity, kinetics, preparation and biological sources of enzymes, while KEGG is valuable for understanding enzymes and metabolic pathways. EzCatDB, SFLD and MACiE are key repositories for data on the chemical mechanisms by which enzymes operate. At the current rate of genome sequencing and manual annotation, human curation will never finish the functional annotation of the ever-expanding list of known enzymes. Hence there is an increasing need for automated annotation, though it is not yet widespread for enzyme data. In contrast, functional ontologies such as the Gene Ontology already profit from automation. Despite our growing understanding of enzyme structure and dynamics, we are only beginning to be able to design novel enzymes. One can now begin to trace the functional evolution of enzymes using phylogenetics. The ability of enzymes to perform secondary functions, albeit relatively inefficiently, gives clues as to how enzyme function evolves. Substrate promiscuity in enzymes is one example of imperfect specificity in protein-ligand interactions. Similarly, most drugs bind to more than one protein target. This may sometimes result in helpful polypharmacology as a drug modulates plural targets, but also often leads to adverse side-effects. Many cheminformatics approaches can be used to model the interactions between druglike molecules and proteins in silico. We can even use quantum chemical techniques like DFT and QM/MM to compute the structural and energetic course of enzyme catalysed chemical reaction mechanisms, including a full description of bond making and breaking. PMID:23116471

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

Full Text Available Abstrak Sistem robot manipulator ini merupakan mekanisme lengan yang terdiri dari serangkaian segmen yang digunakan untuk menangkap dan memindahkan benda dengan beberapa derajat kebebasan. Dalam perkembangannya, robot manipulator telah digunakan dalam melaksanakan misi tertentu dan membantu operasi di ruang angkasa. Robot biasanya berinteraksi dengan sistem tangan, dan dalam kegiatan industri tangan biasanya disebut sebagai gripper. Penulis menggunakan metode simulasi teknik yang dapat menentukan sistem gerak kinematika robot. Simulasi teknik adalah metode yang digunakan untuk mendesain dan menganalisa gerakan robot dimana hasil dari respon gerakan robot yang didapat mendekati hasil dalam keadaan sebenarnya. Simulasi juga dapat menghemat waktu dan biaya yang digunakan dalam mendesain robot gripper manipulator lima jari dengan elemen prismatik. Dengan menggunakan kontrol PID diharapkan respon gerak kinematik dari setiap joint robot manipulator mencapai perfomance yang terbaik seperti overshoot yang kecil, dan kondisi tenang (steady state dalam waktu yang singkat disertai dengan keselahan penggerak yang kecil. Melalui proses Advance tuning pada PID kontrol selesai didapatkan parameter penguat pada PID kontrol yaitu Kp = 0.7194, Ki = 8.306 dan Kd = 0.0061sehingga tercapai performance gerakan kinematika robot gripper manipulator yang terbaik sesuai yang dikehendaki oleh user dengan rise time yang singkat 0.52 detik, waktu puncak yang singkat 0.52 detik, maksimum overshoot yang kecil 1,8%, kesetebailan response dicapai pada 0.76 detik dan kesalahan penggerak yang sangat kecil 0.32%. Kata kunci: Robot gripper manipulator, PID control, gerakan kinematika Abstract A robot gripper manipulator system mechanism comprising a series of segments that are used to capture and move objects with multiple degrees of freedom. In the process, the robot manipulator has been used in carrying out the specific mission and assist operations in space. Robot manipulator

Manipulating individual dichlorotin phthalocyanine molecules on Cu(100) surface at room temperature by scanning tunneling microscopy

International Nuclear Information System (INIS)

Li, Chao; Xiang, Feifei; Wang, Zhongping; Liu, Xiaoqing; Jiang, Danfeng; Wang, Li; Wang, Guang; Zhang, Xueao; Chen, Wei

2014-01-01

Single molecule manipulations have been achieved on dichlorotin phthalocyanine(SnCl 2 Pc) molecules adsorbed on Cu (100) at room temperature. Scanning tunneling microscopy observations directly demonstrate that the individual SnCl 2 Pc molecules can be moved along the [100] direction on Cu(100) surface by employing a scanning tunneling microscope tip fixed at the special position of the molecules. The orientation of the molecule can be switched between two angles of ±28° with respect to the [011] surface direction in the same way. Dependences of the probability of molecular motion on the distances between the tip and the molecules reveal that the mechanism for such manipulation of a SnCl 2 Pc molecule is dominated by the repulsive interactions between the tip and the molecules. With the assistance of this manipulation process, a prototype molecular storage array with molecular orientation as information carrier and an artificial hydrogen bonded supramolecular structure have been constructed on the surface. (paper)

Scale and diversity following manipulation of productivity and disturbance in Californian coastal grasslands

DEFF Research Database (Denmark)

Sandel, Brody Steven; Corbin, Jeff

2012-01-01

the responses of species–area relationships to experimental manipulations are more consistent than richness at any single scale. Location Northern Californian coastal grasslands. Methods We applied disturbance and productivity reduction treatments over 4 yr at two sites. We assessed changes in species richness...... known. We ask whether the response of species richness to experimental manipulation of productivity and disturbance varies across small spatial scales (0.016–4 m2). We show that species–area relationships are well suited to summarize cross-scale responses of species richness, and ask whether...... over five grain sizes, encompassing a 256-fold range of plot size. This allowed us to construct a species–area relationship for each experimental plot in each sampling year. We used the slope of the species–area relationship to summarize changes in species richness across multiple spatial scales...

Ensemble Architecture for Prediction of Enzyme-ligand Binding Residues Using Evolutionary Information.

Science.gov (United States)

Pai, Priyadarshini P; Dattatreya, Rohit Kadam; Mondal, Sukanta

2017-11-01

Enzyme interactions with ligands are crucial for various biochemical reactions governing life. Over many years attempts to identify these residues for biotechnological manipulations have been made using experimental and computational techniques. The computational approaches have gathered impetus with the accruing availability of sequence and structure information, broadly classified into template-based and de novo methods. One of the predominant de novo methods using sequence information involves application of biological properties for supervised machine learning. Here, we propose a support vector machines-based ensemble for prediction of protein-ligand interacting residues using one of the most important discriminative contributing properties in the interacting residue neighbourhood, i. e., evolutionary information in the form of position-specific- scoring matrix (PSSM). The study has been performed on a non-redundant dataset comprising of 9269 interacting and 91773 non-interacting residues for prediction model generation and further evaluation. Of the various PSSM-based models explored, the proposed method named ROBBY (pRediction Of Biologically relevant small molecule Binding residues on enzYmes) shows an accuracy of 84.0 %, Matthews Correlation Coefficient of 0.343 and F-measure of 39.0 % on 78 test enzymes. Further, scope of adding domain knowledge such as pocket information has also been investigated; results showed significant enhancement in method precision. Findings are hoped to boost the reliability of small-molecule ligand interaction prediction for enzyme applications and drug design. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

Anderson, Robert J.; Morse, William D.; Shirey, David L.; Cdebaca, DanielL M.; Hoffman, John P. Jr.; Lucy, William E.

2000-01-01

The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS

Phenomena of Inter-age Manipulations in Interaction "Teacher-Student"

Directory of Open Access Journals (Sweden)

Miklyaeva A.V.,

2017-01-01

Full Text Available Thearticlepresentsthe results of studies of the phenomenon empirical inter-age manipulation in the pedagogical interaction. Inter-age manipulation is considered a form of manipulation carried out on the basis of an appeal to the participants in the interaction age roles. Based on the results of a survey 109 teenagers 13-15 years, using a questionnaire, color test of relations and projective drawing shows that inter-age manipulation is a common way to impact on the students, elected teacher. Teachers are the subjects of inter-age manipulation more often than students. It was revealed that the effectiveness of inter-age manipulation in pedagogical interaction increases if it is meaningful is consistent with the normative content of age roles, as well as «inter-age distance" between the teacher and the students. The greatest effectiveness of have inter-age manipulation undertaken for older teachers, and manipulation "from below" from young teachers

Advances in single chain technology.

Science.gov (United States)

Gonzalez-Burgos, Marina; Latorre-Sanchez, Alejandro; Pomposo, José A

2015-10-07

The recent ability to manipulate and visualize single atoms at atomic level has given rise to modern bottom-up nanotechnology. Similar exquisite degree of control at the individual polymeric chain level for producing functional soft nanoentities is expected to become a reality in the next few years through the full development of so-called "single chain technology". Ultra-small unimolecular soft nano-objects endowed with useful, autonomous and smart functions are the expected, long-term valuable output of single chain technology. This review covers the recent advances in single chain technology for the construction of soft nano-objects via chain compaction, with an emphasis in dynamic, letter-shaped and compositionally unsymmetrical single rings, complex multi-ring systems, single chain nanoparticles, tadpoles, dumbbells and hairpins, as well as the potential end-use applications of individual soft nano-objects endowed with useful functions in catalysis, sensing, drug delivery and other uses.

Robust high-performance control for robotic manipulators

Science.gov (United States)

Seraji, Homayoun (Inventor)

1991-01-01

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

Maximum allowable load on wheeled mobile manipulators

International Nuclear Information System (INIS)

Habibnejad Korayem, M.; Ghariblu, H.

2003-01-01

This paper develops a computational technique for finding the maximum allowable load of mobile manipulator during a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints applied to resolving the redundancy are the most important factors. To resolve extra D.O.F introduced by the base mobility, additional constraint functions are proposed directly in the task space of mobile manipulator. Finally, in two numerical examples involving a two-link planar manipulator mounted on a differentially driven mobile base, application of the method to determining maximum allowable load is verified. The simulation results demonstrates the maximum allowable load on a desired trajectory has not a unique value and directly depends on the additional constraint functions which applies to resolve the motion redundancy

Laser Diode Beam Basics, Manipulations and Characterizations

CERN Document Server

Sun, Haiyin

2012-01-01

Many optical design technical books are available for many years which mainly deal with image optics design based on geometric optics and using sequential raytracing technique. Some books slightly touched laser beam manipulation optics design. On the other hand many books on laser diodes have been published that extensively deal with laser diode physics with little touching on laser diode beam manipulations and characterizations. There are some internet resources dealing with laser diode beams. However, these internet resources have not covered enough materials with enough details on laser diode beam manipulations and characterizations. A technical book concentrated on laser diode beam manipulations and characterizations can fit in to the open and provide useful information to laser diode users. Laser Diode Beam Basics, Manipulations and  Characterizations is concentrated on the very practical side of the subject, it only discusses the basic physics and mathematics that are necessary for the readers in order...

Manipulatives Work!

Science.gov (United States)

Moch, Peggy L.

2001-01-01

Fifth graders (n=16) engaged in manipulative activities to improve their grasp of math concepts; one-third were identified as exceptional children. Posttest results after 12 lessons showed the overall class average increased from 49% to 59% and all areas improved compared to pretest scores. Attitude changes were also apparent. (Contains 24…

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

1985-01-01

The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

Seismic qualification of existing safety class manipulators

International Nuclear Information System (INIS)

Wu, Ting-shu; Moran, T.J.

1992-01-01

There are two bridge type electromechanical manipulators within a nuclear fuel handling facility which were constructed over twenty-five years ago. At that time, there were only minimal seismic considerations. These manipulators together with the facility are being reactivated. Detailed analyses have shown that the manipulators will satisfy the requirements of ANSI/AISC N690-1984 when they are subjected to loadings including the site specific design basis earthquake. 4 refs

Control of master-slave manipulator using virtual force

International Nuclear Information System (INIS)

Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

1994-01-01

We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

How to Make the Most of Math Manipulatives.

Science.gov (United States)

Burns, Marilyn

1996-01-01

A discussion of how to use math manipulatives to teach elementary students focuses on essential program elements: what math manipulatives are and why they are used, common questions about math manipulatives, how one teacher introduced the geoboard into the classroom, and pattern block activities. (SM)

Limited diagnostic value of enzyme analysis in patients with mitochondrial tRNA mutations

DEFF Research Database (Denmark)

Wibrand, Flemming; Jeppesen, Tina Dysgaard; Frederiksen, Anja L

2010-01-01

We evaluated the diagnostic value of respiratory chain (RC) enzyme analysis of muscle in adult patients with mitochondrial myopathy (MM). RC enzyme activity was measured in muscle biopsies from 39 patients who carry either the 3243A>G mutation, other tRNA point mutations, or single, large......, respectively, in these three groups. The results indicate that RC enzyme analysis in muscle is not a sensitive test for MM in adults. In these patients, abnormal muscle histochemistry appears to be a better predictor ofMM....

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

Leal, Alexandre S.; Campos, Tarcisio P.R.

1995-01-01

Robotic application for industrial plants is discussed and a computational model for a mechanical manipulator of three links is presented. A neural network feed-forward type has been used to model the dynamic control of the manipulator. A graphic interface was developed in C programming language as a virtual world in order to visualize and simulate the arm movements handling radioactive waste environment. (author). 7 refs, 5 figs

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

Science.gov (United States)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

Digital Manipulation in Scientific Images: Some Ethical Considerations.

Science.gov (United States)

Hayden, James E.

2000-01-01

Discusses the importance of images in the publishing and presentation of scientific research. Explains the use of photographs as scientific data in research. Lists some reasons for the manipulation of images, and clarifies the acceptable and unacceptable limits of manipulation and image manipulation policy. (Author/YDS)

Manipulation of Neutrophils by Porphyromonas gingivalis in the Development of Periodontitis.

Science.gov (United States)

Sochalska, Maja; Potempa, Jan

2017-01-01

The pathogenesis of the chronic periodontal disease is associated with a skewed host inflammatory response to periodontal pathogens, such as Porphyromonas gingivalis , that accounts for the majority of periodontal tissue damage. Neutrophils are the most abundant leukocytes in periodontal pockets and depending on the stage of the disease, also plentiful PMNs are present in the inflamed gingival tissue and the gingival crevice. They are the most efficient phagocytes and eliminate pathogens by a variety of means, which are either oxygen-dependent or -independent. However, these secretory lethal weapons do not strictly discriminate between pathogens and host tissue. Current studies describe conflicting findings about neutrophil involvement in periodontal disease. On one hand literature indicate that hyper-reactive neutrophils are the main immune cell type responsible for this observed tissue damage and disease progression. Deregulation of neutrophil survival and functions, such as chemotaxis, migration, secretion of antimicrobial peptides or enzymes, and production of reactive oxygen species, contribute to observed tissue injury and the clinical signs of periodontal disease. On the other hand neutrophils deficiencies in patients and mice also result in periodontal phenotype. Therefore, P. gingivalis represents a periodontal pathogen that manipulates the immune responses of PMNs, employing several virulence factors, such as gingipains, serine proteases, lipid phosphatases, or fimbriae. This review will sum up studies devoted to understanding different strategies utilized by P. gingivalis to manipulate PMNs survival and functions in order to inhibit killing by a granular content, prolong inflammation, and gain access to nutrient resources.

Spatial distribution of enzyme driven reactions at micro-scales

Science.gov (United States)

Kandeler, Ellen; Boeddinghaus, Runa; Nassal, Dinah; Preusser, Sebastian; Marhan, Sven; Poll, Christian

2017-04-01

Studies of microbial biogeography can often provide key insights into the physiologies, environmental tolerances, and ecological strategies of soil microorganisms that dominate in natural environments. In comparison with aquatic systems, soils are particularly heterogeneous. Soil heterogeneity results from the interaction of a hierarchical series of interrelated variables that fluctuate at many different spatial and temporal scales. Whereas spatial dependence of chemical and physical soil properties is well known at scales ranging from decimetres to several hundred metres, the spatial structure of soil enzymes is less clear. Previous work has primarily focused on spatial heterogeneity at a single analytical scale using the distribution of individual cells, specific types of organisms or collective parameters such as bacterial abundance or total microbial biomass. There are fewer studies that have considered variations in community function and soil enzyme activities. This presentation will give an overview about recent studies focusing on spatial pattern of different soil enzymes in the terrestrial environment. Whereas zymography allows the visualization of enzyme pattern in the close vicinity of roots, micro-sampling strategies followed by MUF analyses clarify micro-scale pattern of enzymes associated to specific microhabitats (micro-aggregates, organo-mineral complexes, subsoil compartments).

Energy conservation and maximal entropy production in enzyme reactions.

Science.gov (United States)

Dobovišek, Andrej; Vitas, Marko; Brumen, Milan; Fajmut, Aleš

2017-08-01

A procedure for maximization of the density of entropy production in a single stationary two-step enzyme reaction is developed. Under the constraints of mass conservation, fixed equilibrium constant of a reaction and fixed products of forward and backward enzyme rate constants the existence of maximum in the density of entropy production is demonstrated. In the state with maximal density of entropy production the optimal enzyme rate constants, the stationary concentrations of the substrate and the product, the stationary product yield as well as the stationary reaction flux are calculated. The test, whether these calculated values of the reaction parameters are consistent with their corresponding measured values, is performed for the enzyme Glucose Isomerase. It is found that calculated and measured rate constants agree within an order of magnitude, whereas the calculated reaction flux and the product yield differ from their corresponding measured values for less than 20 % and 5 %, respectively. This indicates that the enzyme Glucose Isomerase, considered in a non-equilibrium stationary state, as found in experiments using the continuous stirred tank reactors, possibly operates close to the state with the maximum in the density of entropy production. Copyright © 2017 Elsevier B.V. All rights reserved.

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

International Nuclear Information System (INIS)

Geisinger, Joseph W. Ph.D.

2001-01-01

ARM Automation, Inc. is developing a FR-amework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator FR-om these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC(trademark)s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost

Manipulation of biological samples using micro and nano techniques.

Science.gov (United States)

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Improvement of the M/S manipulator maintenance at OSL

International Nuclear Information System (INIS)

Kuwana, Koichi; Ouchi, Hiroshi; Ito, Yutaka; Sato, Yoshihiro; Midorikawa, Mituhiro; Hayakawa, Tuyoshi

2010-01-01

The safeguards inspection samples from the JNFL Rokkasho Reprocessing Plant (RRP) are received and analyzed at the On Site Laboratory (OSL). Since the samples from the input accountancy tank of the RRP contain a lot of fission products, they are treated in a hot-cell line with a M/S (Master /Slave) manipulator. Special equipment and tools were used for the maintenance of the M/S manipulator, especially for the exchange of the M/S manipulator. However, the manipulator exchange work was not easy due to the limitation of the space in the OSL. For solution to this problem, a monorail and monorail hoist equipment was installed onto wall surface of analytical room close to each M/S manipulator, and then it made the exchange of M/S manipulator easy without special equipment and tools. Additionally, operator was freed from the burden of working space arranging for the exchange of M/S manipulator such as removing of analytical equipments. This report represents the improvement of operation for the exchange of M/S manipulator with installation of monorail and hoist equipment. (author)

Manipulations of Totalitarian Nazi Architecture

Science.gov (United States)

Antoszczyszyn, Marek

2017-10-01

The paper takes under considerations controversies surrounding German architecture designed during Nazi period between 1933-45. This architecture is commonly criticized for being out of innovation, taste & elementary sense of beauty. Moreover, it has been consequently wiped out from architectural manuals, probably for its undoubted associations with the totalitarian system considered as the most maleficent in the whole history. But in the meantime the architecture of another totalitarian system which appeared to be not less sinister than Nazi one is not stigmatized with such verve. It is Socrealism architecture, developed especially in East Europe & reportedly containing lots of similarities with Nazi architecture. Socrealism totalitarian architecture was never condemned like Nazi one, probably due to politically manipulated propaganda that influenced postwar public opinion. This observation leads to reflection that maybe in the same propaganda way some values of Nazi architecture are still consciously dissembled in order to hide the fact that some rules used by Nazi German architects have been also consciously used after the war. Those are especially manipulations that allegedly Nazi architecture consisted of. The paper provides some definitions around totalitarian manipulations as well as ideological assumptions for their implementation. Finally, the register of confirmed manipulations is provided with use of photo case study.

Lazy motion planning for robotic manipulators

NARCIS (Netherlands)

Andrien, A.R.P.; van de Molengraft, M.J.G.; Bruyninckx, H.P.J.

2017-01-01

Robotic manipulators are making a shift towards mobile bases in both industry and domestic environments, which puts high demands on efficient use of the robot’s limited energy resources. In this work, the problem of reducing energy usage of a robot manipulator during a task is investigated. We

Manipulators inspired by the tongue of the chameleon.

Science.gov (United States)

Debray, Alexis

2011-06-01

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Manipulators inspired by the tongue of the chameleon

International Nuclear Information System (INIS)

Debray, Alexis

2011-01-01

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s -1 and accelerations 350 m s -2 , with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s -1 with an acceleration of 573 m s -2 while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Manipulators inspired by the tongue of the chameleon

Energy Technology Data Exchange (ETDEWEB)

Debray, Alexis, E-mail: debray.alexis@canon.co.jp [Canon Incorporation, 3-30-2, Shimomaruko, Ohta-ku, Tokyo 146-8501 (Japan)

2011-06-15

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s{sup -1} and accelerations 350 m s{sup -2}, with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s{sup -1} with an acceleration of 573 m s{sup -2} while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Can earnings manipulation create value?

OpenAIRE

Anton Miglo

2008-01-01

Existing literature usually considers earnings manipulation to be a negative social phenomenon. We argue that earnings manipulation can be a part of the equilibrium relationships between firm's insiders and outsiders. We consider an optimal contract between an entrepreneur and an investor where the entrepreneur is subject to a double moral hazard problem (one being the choice of production effort and the other being intertemporal substitution, which consists of transferring cash flows between...

Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

Science.gov (United States)

Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

2017-12-01

To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

A Geometry Deformation Model for Braided Continuum Manipulators

Directory of Open Access Journals (Sweden)

S. M. Hadi Sadati

2017-06-01

Full Text Available Continuum manipulators have gained significant attention in the robotic community due to their high dexterity, deformability, and reachability. Modeling of such manipulators has been shown to be very complex and challenging. Despite many research attempts, a general and comprehensive modeling method is yet to be established. In this paper, for the first time, we introduce the bending effect in the model of a braided extensile pneumatic actuator with both stiff and bendable threads. Then, the effect of the manipulator cross-section deformation on the constant curvature and variable curvature models is investigated using simple analytical results from a novel geometry deformation method and is compared to experimental results. We achieve 38% mean reference error simulation accuracy using our constant curvature model for a braided continuum manipulator in presence of body load and 10% using our variable curvature model in presence of extensive external loads. With proper model assumptions and taking to account the cross-section deformation, a 7–13% increase in the simulation mean error accuracy is achieved compared to a fixed cross-section model. The presented models can be used for the exact modeling and design optimization of compound continuum manipulators by providing an analytical tool for the sensitivity analysis of the manipulator performance. Our main aim is the application in minimal invasive manipulation with limited workspaces and manipulators with regional tunable stiffness in their cross section.

Comparing Different Strategies in Directed Evolution of Enzyme Stereoselectivity: Single- versus Double-Code Saturation Mutagenesis.

Science.gov (United States)

Sun, Zhoutong; Lonsdale, Richard; Li, Guangyue; Reetz, Manfred T

2016-10-04

Saturation mutagenesis at sites lining the binding pockets of enzymes constitutes a viable protein engineering technique for enhancing or inverting stereoselectivity. Statistical analysis shows that oversampling in the screening step (the bottleneck) increases astronomically as the number of residues in the randomization site increases, which is the reason why reduced amino acid alphabets have been employed, in addition to splitting large sites into smaller ones. Limonene epoxide hydrolase (LEH) has previously served as the experimental platform in these methodological efforts, enabling comparisons between single-code saturation mutagenesis (SCSM) and triple-code saturation mutagenesis (TCSM); these employ either only one or three amino acids, respectively, as building blocks. In this study the comparative platform is extended by exploring the efficacy of double-code saturation mutagenesis (DCSM), in which the reduced amino acid alphabet consists of two members, chosen according to the principles of rational design on the basis of structural information. The hydrolytic desymmetrization of cyclohexene oxide is used as the model reaction, with formation of either (R,R)- or (S,S)-cyclohexane-1,2-diol. DCSM proves to be clearly superior to the likewise tested SCSM, affording both R,R- and S,S-selective mutants. These variants are also good catalysts in reactions of further substrates. Docking computations reveal the basis of enantioselectivity. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

2010-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

Physics Based Vision Systems for Robotic Manipulation

Data.gov (United States)

National Aeronautics and Space Administration — With the increase of robotic manipulation tasks (TA4.3), specifically dexterous manipulation tasks (TA4.3.2), more advanced computer vision algorithms will be...

Biomimicry enhances sequential reactions of tethered glycolytic enzymes, TPI and GAPDHS.

Directory of Open Access Journals (Sweden)

Chinatsu Mukai

Full Text Available Maintaining activity of enzymes tethered to solid interfaces remains a major challenge in developing hybrid organic-inorganic devices. In nature, mammalian spermatozoa have overcome this design challenge by having glycolytic enzymes with specialized targeting domains that enable them to function while tethered to a cytoskeletal element. As a step toward designing a hybrid organic-inorganic ATP-generating system, we implemented a biomimetic site-specific immobilization strategy to tether two glycolytic enzymes representing different functional enzyme families: triose phosphoisomerase (TPI; an isomerase and glyceraldehyde 3-phosphate dehydrogenase (GAPDHS; an oxidoreductase. We then evaluated the activities of these enzymes in comparison to when they were tethered via classical carboxyl-amine crosslinking. Both enzymes show similar surface binding regardless of immobilization method. Remarkably, specific activities for both enzymes were significantly higher when tethered using the biomimetic, site-specific immobilization approach. Using this biomimetic approach, we tethered both enzymes to a single surface and demonstrated their function in series in both forward and reverse directions. Again, the activities in series were significantly higher in both directions when the enzymes were coupled using this biomimetic approach versus carboxyl-amine binding. Our results suggest that biomimetic, site-specific immobilization can provide important functional advantages over chemically specific, but non-oriented attachment, an important strategic insight given the growing interest in recapitulating entire biological pathways on hybrid organic-inorganic devices.

Biomimicry enhances sequential reactions of tethered glycolytic enzymes, TPI and GAPDHS.

Science.gov (United States)

Mukai, Chinatsu; Gao, Lizeng; Bergkvist, Magnus; Nelson, Jacquelyn L; Hinchman, Meleana M; Travis, Alexander J

2013-01-01

Maintaining activity of enzymes tethered to solid interfaces remains a major challenge in developing hybrid organic-inorganic devices. In nature, mammalian spermatozoa have overcome this design challenge by having glycolytic enzymes with specialized targeting domains that enable them to function while tethered to a cytoskeletal element. As a step toward designing a hybrid organic-inorganic ATP-generating system, we implemented a biomimetic site-specific immobilization strategy to tether two glycolytic enzymes representing different functional enzyme families: triose phosphoisomerase (TPI; an isomerase) and glyceraldehyde 3-phosphate dehydrogenase (GAPDHS; an oxidoreductase). We then evaluated the activities of these enzymes in comparison to when they were tethered via classical carboxyl-amine crosslinking. Both enzymes show similar surface binding regardless of immobilization method. Remarkably, specific activities for both enzymes were significantly higher when tethered using the biomimetic, site-specific immobilization approach. Using this biomimetic approach, we tethered both enzymes to a single surface and demonstrated their function in series in both forward and reverse directions. Again, the activities in series were significantly higher in both directions when the enzymes were coupled using this biomimetic approach versus carboxyl-amine binding. Our results suggest that biomimetic, site-specific immobilization can provide important functional advantages over chemically specific, but non-oriented attachment, an important strategic insight given the growing interest in recapitulating entire biological pathways on hybrid organic-inorganic devices.

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

2011-10-01

Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

Full Text Available Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator's mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller.

Development of a maintenance manipulator for TFTR

International Nuclear Information System (INIS)

Holloway, C.

1986-01-01

The maintenance manipulator is a device permanently connected to the Tokamak Fusion Test Reactor (TFTR) vacuum vessel and is located in close proximity to the tokamak. It is used for the inspection and maintenance of in-vessel components whilst the machine remains under vacuum. The total system comprises a vacuum vessel ante-chamber that houses the manipulator, an articulated boom and carriage that transports and positions a dexterous end-effector, and end-effector that supports maintenance tooling, and an inspection system. Because of the maintenance manipulator's operating environment, there are many challenging engineering features, i.e., temperatures up to 150 0 C, changing magnetic fields in space and time that act on the manipulator whilst it is at rest, neutron neutron fluxes of up to 10/sup 11/cm/sup -2/s/sup -1/, and, last but not least, UHV conditions. This paper describes the development of the vacuum system, the maintenance manipulator, and inspective devices. It includes the methods employed to overcome the engineering difficulties and the application of information gained from other advanced technology programs, such as space and nuclear fission

Pancreatic Enzymes

Science.gov (United States)

... Contact Us DONATE NOW GENERAL DONATION PURPLESTRIDE Pancreatic enzymes Home Facing Pancreatic Cancer Living with Pancreatic Cancer ... and see a registered dietitian. What are pancreatic enzymes? Pancreatic enzymes help break down fats, proteins and ...

Highly specific detection of genetic modification events using an enzyme-linked probe hybridization chip.

Science.gov (United States)

Zhang, M Z; Zhang, X F; Chen, X M; Chen, X; Wu, S; Xu, L L

2015-08-10

The enzyme-linked probe hybridization chip utilizes a method based on ligase-hybridizing probe chip technology, with the principle of using thio-primers for protection against enzyme digestion, and using lambda DNA exonuclease to cut multiple PCR products obtained from the sample being tested into single-strand chains for hybridization. The 5'-end amino-labeled probe was fixed onto the aldehyde chip, and hybridized with the single-stranded PCR product, followed by addition of a fluorescent-modified probe that was then enzymatically linked with the adjacent, substrate-bound probe in order to achieve highly specific, parallel, and high-throughput detection. Specificity and sensitivity testing demonstrated that enzyme-linked probe hybridization technology could be applied to the specific detection of eight genetic modification events at the same time, with a sensitivity reaching 0.1% and the achievement of accurate, efficient, and stable results.

Both a Nicotinic Single Nucleotide Polymorphism (SNP) and a Noradrenergic SNP Modulate Working Memory Performance when Attention Is Manipulated

Science.gov (United States)

Greenwood, Pamela M.; Sundararajan, Ramya; Lin, Ming-Kuan; Kumar, Reshma; Fryxell, Karl J.; Parasuraman, Raja

2009-01-01

We investigated the relation between the two systems of visuospatial attention and working memory by examining the effect of normal variation in cholinergic and noradrenergic genes on working memory performance under attentional manipulation. We previously reported that working memory for location was impaired following large location precues,…

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

Universal and Deterministic Manipulation of the Quantum State of Harmonic Oscillators: A Route to Unitary Gates for Fock State Qubits

International Nuclear Information System (INIS)

Santos, Marcelo Franca

2005-01-01

We present a simple quantum circuit that allows for the universal and deterministic manipulation of the quantum state of confined harmonic oscillators. The scheme is based on the selective interactions of the referred oscillator with an auxiliary three-level system and a classical external driving source, and enables any unitary operations on Fock states, two by two. One circuit is equivalent to a single qubit unitary logical gate on Fock states qubits. Sequences of similar protocols allow for complete, deterministic, and state-independent manipulation of the harmonic oscillator quantum state

Dynamic relationships between microbial biomass, respiration, inorganic nutrients and enzyme activities: informing enzyme based decomposition models

Directory of Open Access Journals (Sweden)

Daryl L Moorhead

2013-08-01

Full Text Available We re-examined data from a recent litter decay study to determine if additional insights could be gained to inform decomposition modeling. Rinkes et al. (2013 conducted 14-day laboratory incubations of sugar maple (Acer saccharum or white oak (Quercus alba leaves, mixed with sand (0.4% organic C content or loam (4.1% organic C. They measured microbial biomass C, carbon dioxide efflux, soil ammonium, nitrate, and phosphate concentrations, and β-glucosidase (BG, β-N-acetyl-glucosaminidase (NAG, and acid phosphatase (AP activities on days 1, 3, and 14. Analyses of relationships among variables yielded different insights than original analyses of individual variables. For example, although respiration rates per g soil were higher for loam than sand, rates per g soil C were actually higher for sand than loam, and rates per g microbial C showed little difference between treatments. Microbial biomass C peaked on day 3 when biomass-specific activities of enzymes were lowest, suggesting uptake of litter C without extracellular hydrolysis. This result refuted a common model assumption that all enzyme production is constitutive and thus proportional to biomass, and/or indicated that part of litter decay is independent of enzyme activity. The length and angle of vectors defined by ratios of enzyme activities (BG/NAG versus BG/AP represent relative microbial investments in C (length, and N and P (angle acquiring enzymes. Shorter lengths on day 3 suggested low C limitation, whereas greater lengths on day 14 suggested an increase in C limitation with decay. The soils and litter in this study generally had stronger P limitation (angles > 45˚. Reductions in vector angles to < 45˚ for sand by day 14 suggested a shift to N limitation. These relational variables inform enzyme-based models, and are usually much less ambiguous when obtained from a single study in which measurements were made on the same samples than when extrapolated from separate studies.

Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

Science.gov (United States)

Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

2013-11-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

Pose Space Surface Manipulation

Directory of Open Access Journals (Sweden)

Yusuke Yoshiyasu

2012-01-01

Full Text Available Example-based mesh deformation techniques produce natural and realistic shapes by learning the space of deformations from examples. However, skeleton-based methods cannot manipulate a global mesh structure naturally, whereas the mesh-based approaches based on a translational control do not allow the user to edit a local mesh structure intuitively. This paper presents an example-driven mesh editing framework that achieves both global and local pose manipulations. The proposed system is built with a surface deformation method based on a two-step linear optimization technique and achieves direct manipulations of a model surface using translational and rotational controls. With the translational control, the user can create a model in natural poses easily. The rotational control can adjust the local pose intuitively by bending and twisting. We encode example deformations with a rotation-invariant mesh representation which handles large rotations in examples. To incorporate example deformations, we infer a pose from the handle translations/rotations and perform pose space interpolation, thereby avoiding involved nonlinear optimization. With the two-step linear approach combined with the proposed multiresolution deformation method, we can edit models at interactive rates without losing important deformation effects such as muscle bulging.

Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator

International Nuclear Information System (INIS)

Horade, M; Kojima, M; Kamiyama, K; Kurata, T; Mae, Y; Arai, T

2015-01-01

In order to realize effective micro-manipulation using a micro-manipulator system, an optimum end-effector is proposed. Cell-manipulation experiments using mouse fibroblast cells are conducted, and the usability of the proposed end-effector is confirmed. A key advantage of the micro-manipulator is high-accuracy, high-speed 3D micro- and nano-scale positioning. Micro-manipulation has often been used in research involving biological cells. However, there are two important concerns with the micro-manipulator system: gripping efficiency and the release of gripped objects. When it is not possible to grip a micro-object, such as a cell, near its center, the object may be dropped during manipulation. Since the acquisition of exact position information for a micro-object in the vertical direction is difficult using a microscope, the gripping efficiency of the end-effector should be improved. Therefore, technical skill or operational support is required. Since, on the micro-scale, surface forces such as the adsorption force are greater than body forces, such as the gravitational force, the adhesion force between the end-effector and the object is strong. Therefore, manipulation techniques without adhesion are required for placed an object at an arbitrary position. In the present study, we consider direct physical contact between the end-effector and objects. First, the design and materials of the end-effector for micro-scale manipulation were optimized, and an end-effector with an optimum shape to increase the grip force was fabricated. Second, the surface of the end-effector tip was made uneven, and the adhesion force from increasing on the micro-scale was prevented. When an end-effector with an uneven surface was used, release without adhesion was successful 85.0% of the time. On the other hand, when an end-effector without an uneven surface was used, release without adhesion was successful 6.25% of the time. Therefore, the superiority of a structure with an uneven

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

Joseph W. Geisinger, Ph.D.

2001-07-31

ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

Laser manipulation of atomic and molecular flows

Science.gov (United States)

Lilly, Taylor C.

The continuing advance of laser technology enables a range of broadly applicable, laser-based flow manipulation techniques. The characteristics of these laser-based flow manipulations suggest that they may augment, or be superior to, such traditional electro-mechanical methods as ionic flow control, shock tubes, and small scale wind tunnels. In this study, methodology was developed for investigating laser flow manipulation techniques, and testing their feasibility for a number of aerospace, basic physics, and micro technology applications. Theories for laser-atom and laser-molecule interactions have been under development since the advent of laser technology. The theories have yet to be adequately integrated into kinetic flow solvers. Realizing this integration would greatly enhance the scaling of laser-species interactions beyond the realm of ultra-cold atomic physics. This goal was realized in the present study. A representative numerical investigation, of laser-based neutral atomic and molecular flow manipulations, was conducted using near-resonant and non-resonant laser fields. To simulate the laser interactions over a range of laser and flow conditions, the following tools were employed: a custom collisionless gas particle trajectory code and a specifically modified version of the Direct Simulation Monte Carlo statistical kinetic solver known as SMILE. In addition to the numerical investigations, a validating experiment was conducted. The experimental results showed good agreement with the numerical simulations when experimental parameters, such as finite laser line width, were taken into account. Several areas of interest were addressed: laser induced neutral flow steering, collimation, direct flow acceleration, and neutral gas heating. Near-resonant continuous wave laser, and non-resonant pulsed laser, interactions with cesium and nitrogen were simulated. These simulations showed trends and some limitations associated with these interactions, used for flow

Model for how type I restriction enzymes select cleavage sites in DNA

International Nuclear Information System (INIS)

Studier, F.W.; Bandyopadhyay, P.K.

1988-01-01

Under appropriate conditions, digestion of phage T7 DNA by the type I restriction enzyme EcoK produces an orderly progression of discrete DNA fragments. All details of the fragmentation pattern can be explained on the basis of the known properties of type I enzymes, together with two further assumptions: (i) in the ATP-stimulated translocation reaction, the enzyme bound at the recognition sequence translocates DNA toward itself from both directions simultaneously; and (ii) when translocation causes neighboring enzymes to meet, they cut the DNA between them. The kinetics of digestion at 37 degree C indicates that the rate of translocation of DNA from each side of a bound enzyme is about 200 base pairs per second, and the cuts are completed within 15-25 sec of the time neighboring enzymes meet. The resulting DNA fragments each contain a single recognition site with an enzyme (or subunit) remaining bound to it. At high enzyme concentrations, such fragments can bu further degraded, apparently by cooperation between the specifically bound and excess enzymes. This model is consistent with a substantial body of previous work on the nuclease activity of EcoB and EcoK, and it explains in a simple way how cleavage sites are selected

Judging Nudging : Answering the Manipulation Objection

NARCIS (Netherlands)

Nys, Thomas; Engelen, Bart

2017-01-01

Is it ever justified to ‘nudge’ people towards their own health? In this article, we argue that it is. We do so by arguing (1) that nudges are not necessarily – as is commonly thought – manipulative; (2) that even those nudges that are manipulative can be justified, for instance, when they preserve

Surgical manipulation of mammalian embryos in vitro.

Science.gov (United States)

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

Whole-embryo culture systems are useful in the fields of not only embryology but also teratology, toxicology, pharmacology, and physiology. Of the many advantages of whole-embryo culture, we focus here on the surgical manipulation of mammalian embryos. Whole-embryo culture allows us to manipulate mammalian embryos, similarly to fish, amphibian and avian embryos. Many surgical experiments have been performed in mammalian embryos in vitro. Such surgical manipulation alters the destiny of morphogenesis of the embryos and can answer many questions concerning developmental issues. As an example of surgical manipulation using whole-embryo culture systems, one of our experiments is described. Microsurgical electrocauterization of the deep preaxial mesodermal programmed cell death zone (fpp) in the footplate prevented the manifestation of polydactyly in genetic polydactyly mouse embryos (Pdn/Pdn), in which fpp was abolished.

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

1984-07-01

The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2-deg deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables

Automatic camera tracking for remote manipulators

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

1984-04-01

The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2 0 deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables

A systematic review of the use of dosage form manipulation to obtain required doses to inform use of manipulation in paediatric practice.

Science.gov (United States)

Richey, Roberta H; Hughes, Clare; Craig, Jean V; Shah, Utpal U; Ford, James L; Barker, Catrin E; Peak, Matthew; Nunn, Anthony J; Turner, Mark A

2017-02-25

This study sought to determine whether there is an evidence base for drug manipulation to obtain the required dose, a common feature of paediatric clinical practice. A systematic review of the data sources, PubMed, EMBASE, CINAHL, IPA and the Cochrane database of systematic reviews, was used. Studies that considered the dose accuracy of manipulated medicines of any dosage form, evidence of safety or harm, bioavailability, patient experience, tolerability, contamination and comparison of methods of manipulation were included. Case studies and letters were excluded. Fifty studies were eligible for inclusion, 49 of which involved tablets being cut, split, crushed or dispersed. The remaining one study involved the manipulation of suppositories of one drug. No eligible studies concerning manipulation of oral capsules or liquids, rectal enemas, nebuliser solutions, injections or transdermal patches were identified. Twenty four of the tablet studies considered dose accuracy using weight and/or drug content. In studies that considered weight using adapted pharmacopoeial specifications, the percentage of halved tablets meeting these specifications ranged from 30% to 100%. Eighteen studies investigated bioavailability, pharmacokinetics or clinical outcomes following manipulations which included nine delayed or modified release formulations. In each of these nine studies the entirety of the dosage form was administered. Only one of the 18 studies was identified where drugs were manipulated to obtain a proportion of the dosage form, and that proportion administered. The five studies that considered patient perception found that having to manipulate the tablets did not have a negative impact on adherence. Of the 49 studies only two studies reported investigating children. This review yielded limited evidence to support manipulation of medicines for children. The results cannot be extrapolated between dosage forms, methods of manipulation or between different brands of the same

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

Mackey, L.A.; Stenovec, G.M.

1984-01-01

As exploration and production proceed into deeper water, remotely operated vehicles (ROVs) and their manipulators acquire many of the tasks now performed by divers in shallower water. The resulting increased complexity of work tasks requires more dexterious manipulators. Even the most sophisticated of the manipulators today cannot perform many of the work tasks now performed by divers in shallower waters. Manipulators cannot yet duplicate the functions of the human hand. How much technology must be improved to perform the desired tasks, and how much adapting of the work task or equipment must be done to achieve a workable underwater robotics environment?

Genetic manipulation of carotenoid biosynthesis and photoprotection.

Science.gov (United States)

Pogson, B J; Rissler, H M

2000-10-29

There are multiple complementary and redundant mechanisms to provide protection against photo-oxidative damage, including non-photochemical quenching (NPQ). NPQ dissipates excess excitation energy as heat by using xanthophylls in combination with changes to the light-harvesting complex (LHC) antenna. The xanthophylls are oxygenated carotenoids that in addition to contributing to NPQ can quench singlet or triplet chlorophyll and are necessary for the assembly and stability of the antenna. We have genetically manipulated the expression of the epsilon-cyclase and beta-carotene hydroxylase carotenoid biosynthetic enzymes in Arabidopsis thaliana. The epsilon-cyclase overexpression confirmed that lut2 (lutein deficient) is a mutation in the epsilon-cyclase gene and demonstrated that lutein content can be altered at the level of mRNA abundance with levels ranging from 0 to 180% of wild-type. Also, it is clear that lutein affects the induction and extent of NPQ. The deleterious effects of lutein deficiency on NPQ in Arabidopsis and Chlamydomonas are additive, no matter what the genetic background, whether npq1 (zeaxanthin deficient), aba1 or antisense beta-hydroxylase (xanthophyll cycle pool decreased). Additionally, increasing lutein content causes a marginal, but significant, increase in the rate of induction of NPQ despite a reduction in the xanthophyll cycle pool size.

Voltage controlled nano-injection system for single-cell surgery

Science.gov (United States)

Seger, R. Adam; Actis, Paolo; Penfold, Catherine; Maalouf, Michelle; Vilozny, Boaz; Pourmand, Nader

2015-01-01

Manipulation and analysis of single cells is the next frontier in understanding processes that control the function and fate of cells. Herein we describe a single-cell injection platform based on nanopipettes. The system uses scanning microscopy techniques to detect cell surfaces, and voltage pulses to deliver molecules into individual cells. As a proof of concept, we injected adherent mammalian cells with fluorescent dyes. PMID:22899383

Manipulation of entanglement and its realisation using trapped ions

International Nuclear Information System (INIS)

Jonathan, Daniel

2001-01-01

Entanglement is a fundamental physical resource at the heart of quantum information theory. This Thesis contributes to its study by approaching it from two separate directions: the laws governing its manipulation, and its creation within a concrete physical setting. I begin by studying the manipulation of entangled pure states of two quantum systems when (i) only a single copy of each system is available and (ii) only a restricted class of physical operations are allowed to be performed on them. One physically reasonable class, denoted LQCC, is the set of all possible quantum operations realised on each system by local agents, who are allowed to communicate with each other only by classical means. Given these conditions, I find a minimal set of entropic-like state functions that completely determine which manipulations can be realised. Applications to useful protocols such as entanglement concentration are discussed. Further elaboration allows also the determination of the most faithful approximation to a given target state that can be attained under LQCC, and the most faithful teleportation protocol achievable when only partial entanglement is available. The study of a more general class of transformations demonstrates that entanglement can also be a re-usable resource. Specifically, I show that the mere presence of further entanglement allows the realisation of transformations which are impossible under LQCC alone. The extra entanglement is not consumed in any way, acting as a 'catalyst'. Applications of this counter-intuitive effect are discussed. In the second part of the Thesis, I turn to the concrete creation and manipulation of entanglement within the system of laser-cooled, trapped ions. After a brief survey of known schemes, I propose a new method for realising two-qubit quantum logic gates within this system. The scheme is based on the AC Stark shift (lightshift) induced by laser light resonant with the ionic transition frequency. At specific laser

Interpersonal relationship manipulation at a personal level

OpenAIRE

Andreja Hribernik

2010-01-01

Manipulation is not unknown or strange to any of us. We have all experienced it, or perhaps even practiced it. It is wrong not to recognize it, to find excuses for it, and, above all, it is wrong not to decide to change one’s behaviour. Long-lasting use of manipulation leaves consequences on all the parties involved: the victim, the observer and the perpetrator. Manipulation is a relation between persons which does not consider the needs of everybody involved. It means exploitation and mislea...

W-026, acceptance test report manipulator system

International Nuclear Information System (INIS)

Watson, T.L.

1997-01-01

The purpose of the WRAP Manipulator System Acceptance Test Plan (ATP) is to verify that the 4 glovebox sets of WRAP manipulator components, including rail/carriage, slave arm, master controller and auxiliary equipment, meets the requirements of the functional segments of 14590 specification. The demonstration of performance elements of the ATP are performed as a part of the Assembly specifications. Manipulator integration is integrated in the performance testing of the gloveboxes. Each requirement of the Assembly specification will be carried out in conjunction with glovebox performance tests

Toward a generalized and high-throughput enzyme screening system based on artificial genetic circuits.

Science.gov (United States)

Choi, Su-Lim; Rha, Eugene; Lee, Sang Jun; Kim, Haseong; Kwon, Kilkoang; Jeong, Young-Su; Rhee, Young Ha; Song, Jae Jun; Kim, Hak-Sung; Lee, Seung-Goo

2014-03-21

Large-scale screening of enzyme libraries is essential for the development of cost-effective biological processes, which will be indispensable for the production of sustainable biobased chemicals. Here, we introduce a genetic circuit termed the Genetic Enzyme Screening System that is highly useful for high-throughput enzyme screening from diverse microbial metagenomes. The circuit consists of two AND logics. The first AND logic, the two inputs of which are the target enzyme and its substrate, is responsible for the accumulation of a phenol compound in cell. Then, the phenol compound and its inducible transcription factor, whose activation turns on the expression of a reporter gene, interact in the other logic gate. We confirmed that an individual cell harboring this genetic circuit can present approximately a 100-fold higher cellular fluorescence than the negative control and can be easily quantified by flow cytometry depending on the amounts of phenolic derivatives. The high sensitivity of the genetic circuit enables the rapid discovery of novel enzymes from metagenomic libraries, even for genes that show marginal activities in a host system. The crucial feature of this approach is that this single system can be used to screen a variety of enzymes that produce a phenol compound from respective synthetic phenyl-substrates, including cellulase, lipase, alkaline phosphatase, tyrosine phenol-lyase, and methyl parathion hydrolase. Consequently, the highly sensitive and quantitative nature of this genetic circuit along with flow cytometry techniques could provide a widely applicable toolkit for discovering and engineering novel enzymes at a single cell level.

Syringyl lignin is unaltered by severe sinapyl alcohol dehydrogenase suppression in tobacco

OpenAIRE

Barakate, Abdellah; Stephens, Jennifer; Goldie, Alison; Hunter, William N.; Marshall, David; Hancock, Robert D.; Lapierre, Catherine; Morreele, Kris; Boerjane, Wout

2011-01-01

The manipulation of lignin could, in principle, facilitate efficient biofuel production from plant biomass. Despite intensive study of the lignin pathway, uncertainty exists about the enzyme catalyzing the last step in syringyl (S) monolignol biosynthesis, the reduction of sinapaldehyde to sinapyl alcohol. Traditional schemes of the pathway suggested that both guaiacyl (G) and S monolignols are produced by a single substrate-versatile enzyme, cinnamyl alcohol dehydrogenase (CAD). This was cha...

Microfluidics for single cell analysis

DEFF Research Database (Denmark)

Jensen, Marie Pødenphant

Isolation and manipulation of single cells have gained an increasing interest from researchers because of the heterogeneity of cells from the same cell culture. Single cell analysis can ensure a better understanding of differences between individual cells and potentially solve a variety of clinical...... problems. In this thesis lab on a chip systems for rare single cell analysis are investigated. The focus was to develop a commercial, disposable device for circulating tumour cell (CTC) analysis. Such a device must be able to separate rare cells from blood samples and subsequently capture the specific...... cells, and simultaneously be fabricated and operated at low costs and be user-friendly. These challenges were addressed through development of two microfluidic devices, one for rare cell isolation based on pinched flow fractionation (PFF) and one for single cell capture based on hydrodynamic trapping...

Measuring the Enzyme Activity of Arabidopsis Deubiquitylating Enzymes.

Science.gov (United States)

Kalinowska, Kamila; Nagel, Marie-Kristin; Isono, Erika

2016-01-01

Deubiquitylating enzymes, or DUBs, are important regulators of ubiquitin homeostasis and substrate stability, though the molecular mechanisms of most of the DUBs in plants are not yet understood. As different ubiquitin chain types are implicated in different biological pathways, it is important to analyze the enzyme characteristic for studying a DUB. Quantitative analysis of DUB activity is also important to determine enzyme kinetics and the influence of DUB binding proteins on the enzyme activity. Here, we show methods to analyze DUB activity using immunodetection, Coomassie Brilliant Blue staining, and fluorescence measurement that can be useful for understanding the basic characteristic of DUBs.

Coherent properties of single quantum dot transitions and single photon emission

Energy Technology Data Exchange (ETDEWEB)

Ester, Patrick

2008-04-23

of the first laser pulse. The relative phase of the QDs exciton can be controlled externally via the bias voltage. This effect is the basis for the observation of RAMSEY-fringes, which are presented in this work. The coherent manipulation of the p-shell is the basis for a novel excitation scheme for single photon emission. In this work it is shown that the first excited state can be coherently manipulated, similar to the ground state. (orig.)

Coherent properties of single quantum dot transitions and single photon emission

International Nuclear Information System (INIS)

Ester, Patrick

2008-01-01

of the first laser pulse. The relative phase of the QDs exciton can be controlled externally via the bias voltage. This effect is the basis for the observation of RAMSEY-fringes, which are presented in this work. The coherent manipulation of the p-shell is the basis for a novel excitation scheme for single photon emission. In this work it is shown that the first excited state can be coherently manipulated, similar to the ground state. (orig.)

Ultra-fast optical manipulation of single proteins binding to the actin cytoskeleton

Science.gov (United States)

Capitanio, Marco; Gardini, Lucia; Pavone, Francesco Saverio

2014-02-01

In the last decade, forces and mechanical stresses acting on biological systems are emerging as regulatory factors essential for cell life. Emerging evidences indicate that factors such as applied forces or the rigidity of the extracellular matrix (ECM) determine the shape and function of cells and organisms1. Classically, the regulation of biological systems is described through a series of biochemical signals and enzymatic reactions, which direct the processes and cell fate. However, mechanotransduction, i.e. the conversion of mechanical forces into biochemical and biomolecular signals, is at the basis of many biological processes fundamental for the development and differentiation of cells, for their correct function and for the development of pathologies. We recently developed an in vitro system that allows the investigation of force-dependence of the interaction of proteins binding the actin cytoskeleton, at the single molecule level. Our system displays a delay of only ~10 μs between formation of the molecular bond and application of the force and is capable of detecting interactions as short as 100 μs. Our assay allows direct measurements of load-dependence of lifetimes of single molecular bonds and conformational changes of single proteins and molecular motors. We demonstrate our technique on molecular motors, using myosin II from fast skeletal muscle and on protein-DNA interaction, specifically on Lactose repressor (LacI). The apparatus is stabilized to less than 1 nm with both passive and active stabilization, allowing resolving specific binding regions along the actin filament and DNA molecule. Our technique extends single-molecule force-clamp spectroscopy to molecular complexes that have been inaccessible up to now, opening new perspectives for the investigation of the effects of forces on biological processes.

Plasma Catecholamines (CA) and Gene Expression of CA Biosynthetic Enzymes in Adrenal Medulla and Sympathetic Ganglia of Rats Exposed to Single or Repeated Hypergravity

Science.gov (United States)

Petrak, J.; Jurani, M.; Baranovska, M.; Hapala, I.; Frollo, I.; Kvetnansky, R.

2008-06-01

The aim of this study was to evaluate plasma epinephrine (EPI) and norepinephrine (NE) levels in blood collected directly during a single or 8-times repeated centrifugation at hypergravity 4G, using remote controlled equipment. Plasma EPI levels showed a huge hypergravity-induced increase. After the last blood collection during hypergravity, the centrifuge was turned off and another blood sampling was performed immediately after the centrifuge decelerated and stopped (10 min). In these samples plasma EPI showed significantly lower levels compared to centrifugation intervals. Plasma NE levels showed none or small changes. Repeated exposure to hypergravity 4G (8 days for 60 min) eliminated the increase in plasma EPI levels at the 15 min interval but did not markedly affect plasma NE levels. To explain these findings we measured mRNA levels of CA biosynthetic enzymes tyrosine hydroxylase (TH), dopamine-β-hydroxylase (DBH) and phenylethanolamine N-methyltransferase (PNMT) in the adrenal medulla (AM) and stellate ganglia (SG) of rats exposed to continuous hypergravity (2G) up to 6 days. In AM, TH, DBH and PNMT mRNA levels were significantly increased in intervals up to 3 days, however, after 6 day hypergravity exposure, no significant elevation was found. In SG, no significant changes in gene expression of CA enzymes were seen both after a single or repeated hypergravity. Thus, our data show that hypergravity highly activates the adrenomedullary system, whereas the sympathoneural system is not significantly changed. In conclusion, our results demonstrate that during repeated or continuous exposure of the organism to hypergravity the adrenomedullary system is adapted, whereas sympathoneural system is not affected.

Autonomous Industrial Mobile Manipulation (AIMM)

DEFF Research Database (Denmark)

Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov

2012-01-01

Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry......) with a quick and gentle overview of AIMM. Furthermore, the paper identifies key open issues and promising research directions to realize real-world integration and maturation of the AIMM technology. Originality/value - This paper reviews the interdisciplinary research field Autonomous Industrial Mobile...

ADVERTISING AS MEAN OF MANIPULATION OF PEOPLE

Directory of Open Access Journals (Sweden)

Camelia PAVEL

2014-04-01

Full Text Available The article provides a number of issues involved in defining manipulation, because both in the current language as in the specialty literature, the manipulation notion is used with multiple significations, often contradictory ones, and that it’s not firmly delimited by other notions from the same sphere, like persuasion or propaganda. The aim of the article will be, in the end, removing ambiguity that surrounds this concept and offering a better understanding of its very real effects on human lives. We advance and sustain the hypothesis that manipulation is an illegitimate process, justified by the structure of the human conscience and by the mechanisms of the social life. In addition, the paper provides a concrete example of manipulation of public through advertising contracts offered by Roşia Montană Gold Corporation. Finally conclusions were outlined.

Human triose-phosphate isomerase deficiency: a single amino acid substitution results in a thermolabile enzyme.

Science.gov (United States)

Daar, I O; Artymiuk, P J; Phillips, D C; Maquat, L E

1986-10-01

Triose-phosphate isomerase (TPI; D-glyceraldehyde-3-phosphate ketol-isomerase, EC 5.3.1.1) deficiency is a recessive disorder that results in hemolytic anemia and neuromuscular dysfunction. To determine the molecular basis of this disorder, a TPI allele from two unrelated patients homozygous for TPI deficiency was compared with an allele from a normal individual. Each disease-associated sequence harbors a G X C----C X G transversion in the codon for amino acid-104 and specifies a structurally altered protein in which a glutamate residue is replaced by an aspartate residue. The importance of glutamate-104 to enzyme structure and function is implicated by its conservation in the TPI protein of all species that have been characterized to date. The glutamate-to-aspartate substitution results in a thermolabile enzyme as demonstrated by assays of TPI activity in cultured fibroblasts of each patient and cultured Chinese hamster ovary (CHO) cells that were stably transformed with the mutant alleles. Although this substitution conserves the overall charge of amino acid-104, the x-ray crystal structure of chicken TPI indicates that the loss of a side-chain methylene group (-CH2CH2COO- ---- -CH2COO-) is sufficient to disrupt the counterbalancing of charges that normally exists within a hydrophobic pocket of the native enzyme.

Stimulation of Escherichia coli DNA photoreactivating enzyme activity by adenosine 5'-triphosphate

International Nuclear Information System (INIS)

Koka, P.

1984-01-01

A purification procedure consisting of Biorex-70, single-stranded DNA-agarose, and ultraviolet (UV) light irradiated DNA-cellulose chromatography has been adopted for the Escherichia coli photoreactivating enzyme, to obtain enzyme preparations that are free of extraneous nucleic acid or nucleotides. The purification yields high specific activities (75 000 pmol h -1 mg -1 ) with a 50% recovery. Enzyme preparations have also been obtained from UV-irradiated DNA-cellulose by exposure to visible light. These enzyme preparations contain oligoribonucleotides, up to 26 nucleotides in length in relation to DNA size markers, but these are not essential for enzymatic activity. When the enzyme is preincubated with exogenous ATP a 10-fold stimulation in the enzyme activity has been observed. It has been determined by polyacrylamide gel electrophoresis and high-voltage diethylaminoethyl paper electrophoresis that the light-released enzyme samples from a preincubated and washed mixture of the enzyme, [γ- 32 P]ATP, and UV-irradiated DNA-cellulose contained exogenous [γ- 32 P], which eluted with the enzyme-containing fractions when subjected to Bio-Gel P-30 chromatography. GTP caused a slight enhancement of the enzyme activity while ADP strongly inhibited photoreactivation, at the same concentration and conditions. Higher (X5) concentrations of ADP and adenosine 5'-(β, γ-methylenetriphosphate) totally inhibited the enzyme activity. Dialysis of a photoreactivating enzyme preparation against a buffer solution containing 1 mM ATP caused a 9-fold stimulation of the enzyme activity. In addition, there is an apparent hydrolysis of ATP during photoreactivation as measured by the release of 32 P from [γ- 32 P]ATP

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

Full Text Available This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS and constant-pressure (CP systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

MA-23-6000: underwater bilateral servo master slave manipulator

International Nuclear Information System (INIS)

Vertut, Jean

The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

Advanced Bimanual Manipulation Results from the DEXMART Project

CERN Document Server

2012-01-01

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

An adjustable multi-scale single beam acoustic tweezers based on ultrahigh frequency ultrasonic transducer.

Science.gov (United States)

Chen, Xiaoyang; Lam, Kwok Ho; Chen, Ruimin; Chen, Zeyu; Yu, Ping; Chen, Zhongping; Shung, K Kirk; Zhou, Qifa

2017-11-01

This paper reports the fabrication, characterization, and microparticle manipulation capability of an adjustable multi-scale single beam acoustic tweezers (SBAT) that is capable of flexibly changing the size of "tweezers" like ordinary metal tweezers with a single-element ultrahigh frequency (UHF) ultrasonic transducer. The measured resonant frequency of the developed transducer at 526 MHz is the highest frequency of piezoelectric single crystal based ultrasonic transducers ever reported. This focused UHF ultrasonic transducer exhibits a wide bandwidth (95.5% at -10 dB) due to high attenuation of high-frequency ultrasound wave, which allows the SBAT effectively excite with a wide range of excitation frequency from 150 to 400 MHz by using the "piezoelectric actuator" model. Through controlling the excitation frequency, the wavelength of ultrasound emitted from the SBAT can be changed to selectively manipulate a single microparticle of different sizes (3-100 μm) by using only one transducer. This concept of flexibly changing "tweezers" size is firstly introduced into the study of SBAT. At the same time, it was found that this incident ultrasound wavelength play an important role in lateral trapping and manipulation for microparticle of different sizes. Biotechnol. Bioeng. 2017;114: 2637-2647. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

Effect of ambient humidity on the strength of the adhesion force of single yeast cell inside environmental-SEM

International Nuclear Information System (INIS)

Shen, Yajing; Nakajima, Masahiro; Ridzuan Ahmad, Mohd; Kojima, Seiji; Homma, Michio; Fukuda, Toshio

2011-01-01

A novel method for measuring an adhesion force of single yeast cell is proposed based on a nanorobotic manipulation system inside an environmental scanning electron microscope (ESEM). The effect of ambient humidity on a single yeast cell adhesion force was studied. Ambient humidity was controlled by adjusting the chamber pressure and temperature inside the ESEM. It has been demonstrated that a thicker water film was formed at a higher humidity condition. The adhesion force between an atomic force microscopy (AFM) cantilever and a tungsten probe which later on known as a substrate was evaluated at various humidity conditions. A micro-puller was fabricated from an AFM cantilever by use of focused ion beam (FIB) etching. The adhesion force of a single yeast cell (W303) to the substrate was measured using the micro-puller at the three humidity conditions: 100%, 70%, and 40%. The results showed that the adhesion force between the single yeast cell and the substrate is much smaller at higher humidity condition. The yeast cells were still alive after being observed and manipulated inside ESEM based on the result obtained from the re-culturing of the single yeast cell. The results from this work would help us to understand the ESEM system better and its potential benefit to the single cell analysis research. -- Research highlights: → A nanorobotic manipulation system was developed inside an ESEM. → A micro-puller was designed for single yeast cell adhesion force measurement. → Yeast cells were still alive after being observed and manipulated inside ESEM. → Yeast cell adhesion force to substrate is smaller at high humidity condition than at low humidity condition.

Effect of ambient humidity on the strength of the adhesion force of single yeast cell inside environmental-SEM

Energy Technology Data Exchange (ETDEWEB)

Shen, Yajing, E-mail: shen@robo.mein.nagoya-u.ac.jp [Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603 (Japan); Nakajima, Masahiro [Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603 (Japan); Ridzuan Ahmad, Mohd [Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai 81310 (Malaysia); Kojima, Seiji; Homma, Michio [Department of Biological Science, Graduate School of Science, Nagoya University, Nagoya 464-8602 (Japan); Fukuda, Toshio [Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603 (Japan)

2011-07-15

A novel method for measuring an adhesion force of single yeast cell is proposed based on a nanorobotic manipulation system inside an environmental scanning electron microscope (ESEM). The effect of ambient humidity on a single yeast cell adhesion force was studied. Ambient humidity was controlled by adjusting the chamber pressure and temperature inside the ESEM. It has been demonstrated that a thicker water film was formed at a higher humidity condition. The adhesion force between an atomic force microscopy (AFM) cantilever and a tungsten probe which later on known as a substrate was evaluated at various humidity conditions. A micro-puller was fabricated from an AFM cantilever by use of focused ion beam (FIB) etching. The adhesion force of a single yeast cell (W303) to the substrate was measured using the micro-puller at the three humidity conditions: 100%, 70%, and 40%. The results showed that the adhesion force between the single yeast cell and the substrate is much smaller at higher humidity condition. The yeast cells were still alive after being observed and manipulated inside ESEM based on the result obtained from the re-culturing of the single yeast cell. The results from this work would help us to understand the ESEM system better and its potential benefit to the single cell analysis research. -- Research highlights: {yields} A nanorobotic manipulation system was developed inside an ESEM. {yields} A micro-puller was designed for single yeast cell adhesion force measurement. {yields} Yeast cells were still alive after being observed and manipulated inside ESEM. {yields} Yeast cell adhesion force to substrate is smaller at high humidity condition than at low humidity condition.

Analysis of singularity in redundant manipulators

International Nuclear Information System (INIS)

Watanabe, Koichi

2000-03-01

In the analysis of arm positions and configurations of redundant manipulators, the singularity avoidance problems are important themes. This report presents singularity avoidance computations of a 7 DOF manipulator by using a computer code based on human-arm models. The behavior of the arm escaping from the singular point can be identified satisfactorily through the use of 3-D plotting tools. (author)

Vortex manipulation in a superconducting matrix with view on applications

Science.gov (United States)

Milošević, M. V.; Peeters, F. M.

2010-05-01

We show how a single flux quantum can be effectively manipulated in a superconducting film with a matrix of blind holes. Such a sample can serve as a basic memory element, where the position of the vortex in a k ×l matrix of pinning sites defines the desired combination of n bits of information (2n=k×l). Vortex placement is achieved by strategically applied current and the resulting position is read out via generated voltage between metallic contacts on the sample. Such a device can also act as a controllable source of a nanoengineered local magnetic field for, e.g., spintronics applications.

Transgenic manipulation of a single polyamine in poplar cells affects the accumulation of all amino acids

Science.gov (United States)

Sridev Mohapatra; Rakesh Minocha; Stephanie Long; Subhash C. Minocha

2010-01-01

The polyamine metabolic pathway is intricately connected to metabolism of several amino acids. While ornithine and arginine are direct precursors of putrescine, they themselves are synthesized from glutamate in multiple steps involving several enzymes. Additionally, glutamate is an amino group donor for several other amino acids and acts as a substrate for biosynthesis...

Kinematics at the Main Mechanism of a Railbound Forging Manipulator

Directory of Open Access Journals (Sweden)

Florian Ion Tiberiu Petrescu

2015-09-01

Full Text Available Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4 Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationship between outputs and inputs will greatly influence the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we analyze the general kinematics of the main mechanism from a such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed. These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators.

Optical Manipulation System Using a Plurality of Optical Traps

DEFF Research Database (Denmark)

2006-01-01

The present invention relates to an optical manipulation system (10) for generation of a plurality of optical traps for manipulation of micro-objects including nano-objects using electromagnetic radiation forces in a micro-object manipulation volume (14), the system comprising a spatially modulat...

WORKSPACE DRAWING FROM A MANIPULATOR ARM WITH 6 DOF

Directory of Open Access Journals (Sweden)

NAIDIN Gigi

2011-06-01

Full Text Available Modelling and simulation is an important aspect in robotic field. Knowing of the workspace is very important to the operation of manipulators arm. This paper investigates operational performance of space manipulator arm destined for industrial manufacturing, by defining and analyzing their workspace and manipulability measure. The authors show that manipulator arm developing requires the consideration of more efficient dynamic models and use of dedicated processing techniques such as Autodesk-Inventor 9, MATLAB, WorkSpace software.

Vehicle-manipulator systems modeling for simulation, analysis, and control

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

Nanomaterials with enzyme-like characteristics (nanozymes): next-generation artificial enzymes.

Science.gov (United States)

Wei, Hui; Wang, Erkang

2013-07-21

Over the past few decades, researchers have established artificial enzymes as highly stable and low-cost alternatives to natural enzymes in a wide range of applications. A variety of materials including cyclodextrins, metal complexes, porphyrins, polymers, dendrimers and biomolecules have been extensively explored to mimic the structures and functions of naturally occurring enzymes. Recently, some nanomaterials have been found to exhibit unexpected enzyme-like activities, and great advances have been made in this area due to the tremendous progress in nano-research and the unique characteristics of nanomaterials. To highlight the progress in the field of nanomaterial-based artificial enzymes (nanozymes), this review discusses various nanomaterials that have been explored to mimic different kinds of enzymes. We cover their kinetics, mechanisms and applications in numerous fields, from biosensing and immunoassays, to stem cell growth and pollutant removal. We also summarize several approaches to tune the activities of nanozymes. Finally, we make comparisons between nanozymes and other catalytic materials (other artificial enzymes, natural enzymes, organic catalysts and nanomaterial-based catalysts) and address the current challenges and future directions (302 references).

Input shaping filter methods for the control of structurally flexible, long-reach manipulators

International Nuclear Information System (INIS)

Kwon, Dong-Soo; Hwang, Dong-Hwan; Babcock, S.M.; Burks, B.L.

1993-01-01

Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. Concepts that utilize long-reach manipulators are being seriously considered for this task. Due to high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operation, various types of shaping filter methods have been investigated. A robust notch filtering method and an impulse shaping method were used as simulation benchmarks. In addition to that, two very different approaches have been developed and compared. One new approach, referred to as a ''feedforward simulation filter,'' uses imbedded simulation with complete knowledge of the system dynamics. The other approach, ''fuzzy shaping method,'' employs a fuzzy logic method to modify the joint trajectory from the desired end-position trajectory without precise knowledge of the system dynamics

Protozoa manipulation by ultrasound

Directory of Open Access Journals (Sweden)

Yancy Milena Porras Rodríguez

2004-01-01

Full Text Available Microorganism manipulation, considered as controlled motion and positioning, is one of the most important activities in microbiology and medicine. To achieve this goal there are some techniques such as those which and optical forces, among others. These techniques are usually sophisticated, and some of them can induce irreversible alterations on the microorganisms which prevents their use in another tests. Thus, there is justified the study of technological alternatives to manipulate microorganisms in an easy and cost-effective way. This work shows the interaction between protozoa and air microbubbles when they are under the influence of an ultrasonic field of 5.8 mW. At the microbubbles resonant frequencies, microorganisms were attracted toward the bubbles' frontier remaining there while the ultrasonic field was applied. Once the ultrasound disappears, protozoa recover their freedom of movement. The observed effects could be used as the actuation principle of devices capable to trap, hold and release microorganisms of high mobility without any apparent damage. Microbubbles are generated by electrolysis which take place on the surface of an electrode array, while the ultrasound is originated by means of a piezoelectric transducer. As microorganisms there were employed those present in stagnated water, and were observed through an stereomicroscope. Key words: manipulator; protozoa; ultrasonic; transducer; piezoelectric.

Manipulation of Neutrophils by Porphyromonas gingivalis in the Development of Periodontitis

Directory of Open Access Journals (Sweden)

Maja Sochalska

2017-05-01

Full Text Available The pathogenesis of the chronic periodontal disease is associated with a skewed host inflammatory response to periodontal pathogens, such as Porphyromonas gingivalis, that accounts for the majority of periodontal tissue damage. Neutrophils are the most abundant leukocytes in periodontal pockets and depending on the stage of the disease, also plentiful PMNs are present in the inflamed gingival tissue and the gingival crevice. They are the most efficient phagocytes and eliminate pathogens by a variety of means, which are either oxygen-dependent or -independent. However, these secretory lethal weapons do not strictly discriminate between pathogens and host tissue. Current studies describe conflicting findings about neutrophil involvement in periodontal disease. On one hand literature indicate that hyper-reactive neutrophils are the main immune cell type responsible for this observed tissue damage and disease progression. Deregulation of neutrophil survival and functions, such as chemotaxis, migration, secretion of antimicrobial peptides or enzymes, and production of reactive oxygen species, contribute to observed tissue injury and the clinical signs of periodontal disease. On the other hand neutrophils deficiencies in patients and mice also result in periodontal phenotype. Therefore, P. gingivalis represents a periodontal pathogen that manipulates the immune responses of PMNs, employing several virulence factors, such as gingipains, serine proteases, lipid phosphatases, or fimbriae. This review will sum up studies devoted to understanding different strategies utilized by P. gingivalis to manipulate PMNs survival and functions in order to inhibit killing by a granular content, prolong inflammation, and gain access to nutrient resources.

Determination of glutamine and glutamic acid in mammalian cell cultures using tetrathiafulvalene modified enzyme electrodes.

Science.gov (United States)

Mulchandani, A; Bassi, A S

1996-01-01

Tetrathiafulvalene (TTF) mediated amperometric enzyme electrodes have been developed for the monitoring of L-glutamine and L-glutamic acid in growing mammalian cell cultures. The detection of glutamine was accomplished by a coupled enzyme system comprised of glutaminase plus glutamate oxidase, while the detection of glutamic acid was carried out by a single enzyme, glutamate oxidase. The appropriate enzyme(s) were immoblized on the Triton-X treated surface of tetrathiafulvalene modified carbon paste electrodes by adsorption, in conjunction with entrapment by an electrochemically deposited copolymer film of 1,3-phenylenediamine and resorcinol. Operating conditions for the glutamine enzyme electrode were optimized with respect to the amount of enzymes immoblized, pH, temperature and mobile phase flow rate for operation in a flow injection (FIA) system. When applied to glutamine and glutamic acid measurements in mammalian cell culture in FIA, the results obtained with enzyme electrodes were in excellent agreement with those determined by enzymatic analysis.

Getting Manipulative about Math.

Science.gov (United States)

Scheer, Janet K.; And Others

1984-01-01

Math manipulatives that are made from inexpensive, common items help students understand basic mathematics concepts. Learning activities using Cheerios, jellybeans, and clay as teaching materials are suggested. (DF)

Coherent manipulation of a ⁴⁰Ca⁺ spin qubit in a micro ion trap

DEFF Research Database (Denmark)

Poschinger, U.G.; Huber, G.; Ziesel, F.

2009-01-01

the initialization and readout of the qubit levels with 99.5% efficiency. We employ a Raman transition close to the S1/2-P1/2 resonance for coherent manipulation of the qubit. We observe single qubit rotations with 96% fidelity and gate times below 5 µs. Rabi oscillations on the blue motional sideband are used...

[Advances on enzymes and enzyme inhibitors research based on microfluidic devices].

Science.gov (United States)

Hou, Feng-Hua; Ye, Jian-Qing; Chen, Zuan-Guang; Cheng, Zhi-Yi

2010-06-01

With the continuous development in microfluidic fabrication technology, microfluidic analysis has evolved from a concept to one of research frontiers in last twenty years. The research of enzymes and enzyme inhibitors based on microfluidic devices has also made great progress. Microfluidic technology improved greatly the analytical performance of the research of enzymes and enzyme inhibitors by reducing the consumption of reagents, decreasing the analysis time, and developing automation. This review focuses on the development and classification of enzymes and enzyme inhibitors research based on microfluidic devices.

A novel six-degrees-of-freedom series-parallel manipulator

Energy Technology Data Exchange (ETDEWEB)

Gallardo-Alvarado, J.; Rodriguez-Castro, R.; Aguilar-Najera, C. R.; Perez-Gonzalez, L. [Instituto Tecnologico de Celaya, Celaya (Mexico)

2012-06-15

This paper addresses the description and kinematic analyses of a new non-redundant series-parallel manipulator. The primary feature of the robot is to have a decoupled topology consisting of a lower parallel manipulator, for controlling the orientation of the coupler platform, assembled in series connection with a upper parallel manipulator, for controlling the position of the output platform, capable to provide arbitrary poses to the output platform with respect to the fixed platform. The forward displacement analysis is carried-out in semi-closed form solutions by resorting to simple closure equations. On the other hand; the velocity, acceleration and singularity analyses of the manipulator are approached by means of the theory of screws. Simple and compact expressions are derived here for solving the infinitesimal kinematics by taking advantage of the concept of reciprocal screws. Furthermore, the analysis of the Jacobians of the robot shows that the lower parallel manipulator is practically free of singularities. In order to illustrate the performance of the manipulator, a numerical example which consists of solving the inverse/forward kinematics of the series-parallel manipulator as well as its singular configurations is provided.

Manipulation of the Commodity Futures Market Delivery Process.

OpenAIRE

Pirrong, Stephen Craig

1993-01-01

An analysis of the futures market delivery 'end game' specifies necessary and sufficient conditions for long and short traders to manipulate futures prices at contract expiration. The empirical and welfare implications of manipulation are derived as well. Manipulation is most likely to occur in markets where economic frictions (such as transportation and transactions costs) make it inefficient to return excessive deliveries to their original owners. These consumption distortions induce price ...

Probing Enzyme-Surface Interactions via Protein Engineering and Single-Molecule Techniques

Science.gov (United States)

2017-06-26

SECURITY CLASSIFICATION OF: The overall objective of this research was to exploit protein engineering and fluorescence single-molecule methods to...enhance our understanding of the interaction of proteins and surfaces. Given this objective, the specific aims of this research were to: 1) exploit the...incorporation of unnatural amino acids in proteins to introduce single-molecule probes (i.e., fluorophores for fluorescence resonance energy transfer

Direct comparison of enzyme histochemical and immunohistochemical methods to localize an enzyme

NARCIS (Netherlands)

van Noorden, Cornelis J. F.

2002-01-01

Immunohistochemical localization of enzymes is compared directly with localization of enzyme activity with (catalytic) enzyme histochemical methods. The two approaches demonstrate principally different aspects of an enzyme. The immunohistochemical method localizes the enzyme protein whether it is

Synergism between ultrasonic pretreatment and white rot fungal enzymes on biodegradation of wheat chaff.

Science.gov (United States)

Sabarez, Henry; Oliver, Christine Maree; Mawson, Raymond; Dumsday, Geoff; Singh, Tanoj; Bitto, Natalie; McSweeney, Chris; Augustin, Mary Ann

2014-11-01

Lignocellulosic biomass samples (wheat chaff) were pretreated by ultrasound (US) (40kHz/0.5Wcm(-2)/10min and 400kHz/0.5Wcm(-2)/10min applied sequentially) prior to digestion by enzyme extracts obtained from fermentation of the biomass with white rot fungi (Phanerochaete chrysosporium or Trametes sp.). The accessibility of the cellulosic components in wheat chaff was increased, as demonstrated by the increased concentration of sugars produced by exposure to the ultrasound treatment prior to enzyme addition. Pretreatment with ultrasound increased the concentration of lignin degradation products (guaiacol and syringol) obtained from wheat chaff after enzyme addition. In vitro digestibility of wheat chaff was also enhanced by the ultrasonics pretreatment in combination with treatment with enzyme extracts. Degradation was enhanced with the use of a mixture of the enzyme extracts compared to that for a single enzyme extract. Copyright © 2014. Published by Elsevier B.V.

Even Middle Graders Can Learn with Manipulatives.

Science.gov (United States)

Holden, Linda

1987-01-01

Math manipulatives let students see the components of an abstract problem, help build a concrete language for talking about math concepts, and encourage students to gain confidence in their ability to figure things out. Many suggestions for using manipulatives in math instruction are offered. (MT)

Tools for Manipulation and Characterisation of Nanostructures

DEFF Research Database (Denmark)

Mølhave, Kristian; Bøggild, Peter

grippers, which were then successfully used for pick-and-place manipulation of silicon nanowires. For increased gripping force and control over the manipulation process, microfabricated grippers with integrated force-feedback were also demonstrated. Environmental electron beam deposition (EEBD...... components that are some 10000 times smaller....

Short-term combined effects of thoracic spine thrust manipulation and cervical spine nonthrust manipulation in individuals with mechanical neck pain: a randomized clinical trial.

Science.gov (United States)

Masaracchio, Michael; Cleland, Joshua A; Hellman, Madeleine; Hagins, Marshall

2013-03-01

Randomized clinical trial. To investigate the short-term effects of thoracic spine thrust manipulation combined with cervical spine nonthrust manipulation (experimental group) versus cervical spine nonthrust manipulation alone (comparison group) in individuals with mechanical neck pain. Research has demonstrated improved outcomes with both nonthrust manipulation directed at the cervical spine and thrust manipulation directed at the thoracic spine in patients with neck pain. Previous studies have not determined if thoracic spine thrust manipulation may increase benefits beyond those provided by cervical nonthrust manipulation alone. Sixty-four participants with mechanical neck pain were randomized into 1 of 2 groups, an experimental or comparison group. Both groups received 2 treatment sessions of cervical spine nonthrust manipulation and a home exercise program consisting of active range-of-motion exercises, and the experimental group received additional thoracic spine thrust manipulations. Outcome measures were collected at baseline and at a 1-week follow-up, and included the numeric pain rating scale, the Neck Disability Index, and the global rating of change. Participants in the experimental group demonstrated significantly greater improvements (Ppain rating scale and Neck Disability Index at the 1-week follow-up compared to those in the comparison group. In addition, 31 of 33 (94%) participants in the experimental group, compared to 11 of 31 participants (35%) in the comparison group, indicated a global rating of change score of +4 or higher at the 1-week follow-up, with an associated number needed to treat of 2. Individuals with neck pain who received a combination of thoracic spine thrust manipulation and cervical spine nonthrust manipulation plus exercise demonstrated better overall short-term outcomes on the numeric pain rating scale, the Neck Disability Index, and the global rating of change.

Partial restoration of mutant enzyme homeostasis in three distinct lysosomal storage disease cell lines by altering calcium homeostasis.

Directory of Open Access Journals (Sweden)

Ting-Wei Mu

2008-02-01

Full Text Available A lysosomal storage disease (LSD results from deficient lysosomal enzyme activity, thus the substrate of the mutant enzyme accumulates in the lysosome, leading to pathology. In many but not all LSDs, the clinically most important mutations compromise the cellular folding of the enzyme, subjecting it to endoplasmic reticulum-associated degradation instead of proper folding and lysosomal trafficking. A small molecule that restores partial mutant enzyme folding, trafficking, and activity would be highly desirable, particularly if one molecule could ameliorate multiple distinct LSDs by virtue of its mechanism of action. Inhibition of L-type Ca2+ channels, using either diltiazem or verapamil-both US Food and Drug Administration-approved hypertension drugs-partially restores N370S and L444P glucocerebrosidase homeostasis in Gaucher patient-derived fibroblasts; the latter mutation is associated with refractory neuropathic disease. Diltiazem structure-activity studies suggest that it is its Ca2+ channel blocker activity that enhances the capacity of the endoplasmic reticulum to fold misfolding-prone proteins, likely by modest up-regulation of a subset of molecular chaperones, including BiP and Hsp40. Importantly, diltiazem and verapamil also partially restore mutant enzyme homeostasis in two other distinct LSDs involving enzymes essential for glycoprotein and heparan sulfate degradation, namely alpha-mannosidosis and type IIIA mucopolysaccharidosis, respectively. Manipulation of calcium homeostasis may represent a general strategy to restore protein homeostasis in multiple LSDs. However, further efforts are required to demonstrate clinical utility and safety.

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

Herbst, C.; Paustian, P.; Kruger, W.

1993-01-01

After the severe reactor accident of Tschernobyl in 1986 MaK System started to develop a Heavy Manipulator Vehicle System under contract from German nuclear technology assistance company ''KHG'' (Kerntechnische Hilfsdienst GmbH). The system comprises a remote controlled manipulator vehicle, a mobile mission control stand as well as a transport/service unit. In order to fulfill the high demands of this complex system a couple of new developments had to be started. The paper describes some of these developments and gives an overview about the main features of the Heavy Manipulator Vehicle System (HMV). (author)

Completion of the Heysham 2 peripheral manipulator

International Nuclear Information System (INIS)

Shipp, R.; Ewen, R.O.

1996-01-01

The in-service inspection strategy for the AGR power station at Heysham 2 envisaged a suite of five manipulators to be used for inserting TRIUMPH television cameras into the reactor vessel. Prior to power raising, four of the five had been successfully commissioned and have been in regular use during the subsequent statutory outages. The final device, the Peripheral Manipulator (PM), was eventually completed prior to the 1994 outage and has been successfully deployed on reactor for both the 1994 and 1995 outages. The paper describes the design of the manipulator, its operation and scope of use in the Heysham 2 reactors. (Author)

Computational enzyme design: transitioning from catalytic proteins to enzymes.

Science.gov (United States)

Mak, Wai Shun; Siegel, Justin B

2014-08-01

The widespread interest in enzymes stem from their ability to catalyze chemical reactions under mild and ecologically friendly conditions with unparalleled catalytic proficiencies. While thousands of naturally occurring enzymes have been identified and characterized, there are still numerous important applications for which there are no biological catalysts capable of performing the desired chemical transformation. In order to engineer enzymes for which there is no natural starting point, efforts using a combination of quantum chemistry and force-field based protein molecular modeling have led to the design of novel proteins capable of catalyzing chemical reactions not catalyzed by naturally occurring enzymes. Here we discuss the current status and potential avenues to pursue as the field of computational enzyme design moves forward. Published by Elsevier Ltd.

The Age of Enlightenment: Evolving Opportunities in Brain Research Through Optical Manipulation of Neuronal Activity

OpenAIRE

Jerome, Jason; Heck, Detlef H.

2011-01-01

Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging, and two-photon stimulation techn...

A digital joint controller for manipulators

International Nuclear Information System (INIS)

Holt, E.J.; Palmer, D.E.B.

1993-01-01

Nuclear Electric's hydraulic heavy duty manipulators are used at a number of Magnox Power Stations for a wide variety of tasks. In recent years there has been a trend towards the use of manipulators for tasks requiring increasing precision of tip positioning. In order to meet this requirement, a digital controller has been designed to replace the analogue controller board used in almost all manipulator control systems. The new controller allows the programming of a wide range of closed loop control algorithms. Position and drive signal data may be passed to and from the controller by digital means, allowing direct connection to a graphical display system and/or a computer executing a guidance algorithm. The hardware and software design are outlined and performance in the laboratory and the field is reported. (author)

Low-frequency spatial wave manipulation via phononic crystals with relaxed cell symmetry

International Nuclear Information System (INIS)

Celli, Paolo; Gonella, Stefano

2014-01-01

Phononic crystals enjoy unique wave manipulation capabilities enabled by their periodic topologies. On one hand, they feature frequency-dependent directivity, which allows directional propagation of selected modes even at low frequencies. However, the stellar nature of the propagation patterns and the inability to induce single-beam focusing represent significant limitations of this functionality. On the other hand, one can realize waveguides by defecting the periodic structure of a crystal operating in bandgap mode along some desired path. Waveguides of this type are only activated in the relatively high and narrow frequency bands corresponding to total bandgaps, which limits their potential technological applications. In this work, we introduce a class of phononic crystals with relaxed cell symmetry and we exploit symmetry relaxation of a population of auxiliary microstructural elements to achieve spatial manipulation of elastic waves at very low frequencies, in the range of existence of the acoustic modes. By this approach, we achieve focusing without modifying the default static properties of the medium and by invoking mechanisms that are well suited to envision adaptive configurations for semi-active wave control

Manipulator techniques and problems of their application in primary circuit maintenance

International Nuclear Information System (INIS)

Kertscher, F.; Popp, P.

1985-01-01

The fundamental structure and specifications of manipulators (in particular of industrial robots) are presented in order to derive the application conditions and fields for manipulators in primary circuit maintenance. The necessity of applying process-specific manipulator technique in the primary circuit maintenance is based on nuclear safety requirements and on decreasing of the radiation exposure of maintenance personnel. Synchronous manipulators and industrial robots are the types of manipulators used in materials testing, repairing and scrapping. The technical requirements of manipulators are discussed

The search engine manipulation effect (SEME) and its possible impact on the outcomes of elections.

Science.gov (United States)

Epstein, Robert; Robertson, Ronald E

2015-08-18

Internet search rankings have a significant impact on consumer choices, mainly because users trust and choose higher-ranked results more than lower-ranked results. Given the apparent power of search rankings, we asked whether they could be manipulated to alter the preferences of undecided voters in democratic elections. Here we report the results of five relevant double-blind, randomized controlled experiments, using a total of 4,556 undecided voters representing diverse demographic characteristics of the voting populations of the United States and India. The fifth experiment is especially notable in that it was conducted with eligible voters throughout India in the midst of India's 2014 Lok Sabha elections just before the final votes were cast. The results of these experiments demonstrate that (i) biased search rankings can shift the voting preferences of undecided voters by 20% or more, (ii) the shift can be much higher in some demographic groups, and (iii) search ranking bias can be masked so that people show no awareness of the manipulation. We call this type of influence, which might be applicable to a variety of attitudes and beliefs, the search engine manipulation effect. Given that many elections are won by small margins, our results suggest that a search engine company has the power to influence the results of a substantial number of elections with impunity. The impact of such manipulations would be especially large in countries dominated by a single search engine company.

A universal microscope manipulator

Directory of Open Access Journals (Sweden)

Peter S. Boyadzhiev

2012-03-01

Full Text Available A modified and improved model of a mechanical manipulator for observation of pinned and mounted insects is described. This device allows movement of the observed object around three perpendicular axes in the field of vision at all magnifications of stereomicroscopes. The main improvement of this new model is positioning of the guiding knobs for rotating around two of the axes next to each other, allowing faster and easier manipulation of the studied object. Thus, one of the main advantages of this device is the possibility to rotate the specimen without the need to refocus. The device enables easily reaching a precession deviation in the intersection point of axes up to 0.5 mm in the process of assembling.

The Effects on Students' Conceptual Understanding of Electric Circuits of Introducing Virtual Manipulatives within a Physical Manipulatives-Oriented Curriculum

Science.gov (United States)

Zacharia, Zacharias C.; de Jong, Ton

2014-01-01

This study investigates whether Virtual Manipulatives (VM) within a Physical Manipulatives (PM)-oriented curriculum affect conceptual understanding of electric circuits and related experimentation processes. A pre-post comparison study randomly assigned 194 undergraduates in an introductory physics course to one of five conditions: three…

Manipulating Combinatorial Structures.

Science.gov (United States)

Labelle, Gilbert

This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…

A randomized clinical trial to compare the immediate effects of seated thoracic manipulation and targeted supine thoracic manipulation on cervical spine flexion range of motion and pain.

Science.gov (United States)

Karas, Steve; Olson Hunt, Megan J

2014-05-01

Randomized clinical trial. To determine the effectiveness of seated thoracic manipulation versus targeted supine thoracic manipulation on cervical spine pain and flexion range of motion (ROM). There is evidence that thoracic spine manipulation is an effective treatment for patients with cervical spine pain. This evidence includes a variety of techniques to manipulate the thoracic spine. Although each of them is effective, no research has compared techniques to determine which produces the best outcomes. A total of 39 patients with cervical spine pain were randomly assigned to either a seated thoracic manipulation or targeted supine thoracic manipulation group. Pain and flexion ROM measures were taken before and after the intervention. Pain reduction (post-treatment-pre-treatment) was significantly greater in those patients receiving the targeted supine thoracic manipulation compared to the seated thoracic manipulation (Pmanipulation group. The results of this study indicate that a targeted supine thoracic manipulation may be more effective in reducing cervical spine pain and improving cervical flexion ROM than a seated thoracic manipulation. Future studies should include a variety of patients and physical therapists (PTs) to validate our findings.

Increased multiaxial lumbar motion responses during multiple-impulse mechanical force manually assisted spinal manipulation

Directory of Open Access Journals (Sweden)

Gunzburg Robert

2006-04-01

Full Text Available Abstract Background Spinal manipulation has been found to create demonstrable segmental and intersegmental spinal motions thought to be biomechanically related to its mechanisms. In the case of impulsive-type instrument device comparisons, significant differences in the force-time characteristics and concomitant motion responses of spinal manipulative instruments have been reported, but studies investigating the response to multiple thrusts (multiple impulse trains have not been conducted. The purpose of this study was to determine multi-axial segmental and intersegmental motion responses of ovine lumbar vertebrae to single impulse and multiple impulse spinal manipulative thrusts (SMTs. Methods Fifteen adolescent Merino sheep were examined. Tri-axial accelerometers were attached to intraosseous pins rigidly fixed to the L1 and L2 lumbar spinous processes under fluoroscopic guidance while the animals were anesthetized. A hand-held electromechanical chiropractic adjusting instrument (Impulse was used to apply single and repeated force impulses (13 total over a 2.5 second time interval at three different force settings (low, medium, and high along the posteroanterior axis of the T12 spinous process. Axial (AX, posteroanterior (PA, and medial-lateral (ML acceleration responses in adjacent segments (L1, L2 were recorded at a rate of 5000 samples per second. Peak-peak segmental accelerations (L1, L2 and intersegmental acceleration transfer (L1–L2 for each axis and each force setting were computed from the acceleration-time recordings. The initial acceleration response for a single thrust and the maximum acceleration response observed during the 12 multiple impulse trains were compared using a paired observations t-test (POTT, alpha = .05. Results Segmental and intersegmental acceleration responses mirrored the peak force magnitude produced by the Impulse Adjusting Instrument. Accelerations were greatest for AX and PA measurement axes. Compared to

High-throughput screening for industrial enzyme production hosts by droplet microfluidics

DEFF Research Database (Denmark)

Sjostrom, Staffan L.; Bai, Yunpeng; Huang, Mingtao

2014-01-01

A high-throughput method for single cell screening by microfluidic droplet sorting is applied to a whole-genome mutated yeast cell library yielding improved production hosts of secreted industrial enzymes. The sorting method is validated by enriching a yeast strain 14 times based on its α......-amylase production, close to the theoretical maximum enrichment. Furthermore, a 105 member yeast cell library is screened yielding a clone with a more than 2-fold increase in α-amylase production. The increase in enzyme production results from an improvement of the cellular functions of the production host...

The dynamic basis of energy transduction in enzymes.

Science.gov (United States)

Somogyi, B; Welch, G R; Damjanovich, S

1984-09-06

Section III we attempted to show that all of the various enzyme models contribute pieces to a single, all-embracing jig-saw puzzle. Some models focus on the dynamical properties of the protein per se, whereas others deal with the stochastic aspects of protein-solvent interaction. The two approaches are complementary, as are mutually interlocking pieces of a puzzle. The ultimate picture depicted by this 'jig-saw puzzle' is still somewhat vague--owing to the present paucity of empirical information on protein motions.(ABSTRACT TRUNCATED AT 400 WORDS)

Manipulation of Biofilm Microbial Ecology

Energy Technology Data Exchange (ETDEWEB)

White, D.C.; Palmer, R.J., Jr.; Zinn, M.; Smith, C.A.; Burkhalter, R.; Macnaughton, S.J.; Whitaker, K.W.; Kirkegaard, R.D.

1998-08-15

The biofilm mode of growth provides such significant advantages to the members of the consortium that most organisms in important habitats are found in biofilms. The study of factors that allow manipulation of biofilm microbes in the biofilm growth state requires that reproducible biofilms be generated. The most effective monitoring of biofilm formation, succession and desaturation is with on-line monitoring of microbial biofilms with flowcell for direct observation. The biofilm growth state incorporates a second important factor, the heterogeneity in distribution in time and space of the component members of the biofilm consortium. This heterogeneity is reflected not only in the cellular distribution but in the metabolic activity within a population of cells. Activity and cellular distribution can be mapped in four dimensions with confocal microscopy, and function can be ascertained by genetically manipulated reporter functions for specific genes or by vital stains. The methodology for understanding the microbial ecology of biofilms is now much more readily available and the capacity to manipulate biofilms is becoming an important feature of biotechnology.