Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses.To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.     

Cell-free expression and in meso crystallisation of an integral membrane kinase for structure determination

Membrane proteins are key elements in cell physiology and drug targeting, but getting a high-resolution structure by crystallographic means is still enormously challenging. Novel strategies are in big demand to facilitate the structure determination process that will ultimately hasten the day when sequence information alone can provide a three-dimensional model. Cell-free or in vitro expression enables rapid access to large quantities of high-quality membrane proteins suitable for an array of applications. Despite its impressive efficiency, to date only two membrane proteins produced by the in vitro approach have yielded crystal structures. Here, we have analysed synergies of cell-free expression and crystallisation in lipid mesophases for generating an X-ray structure of the integral membrane enzyme diacylglycerol kinase to 2.28-Å resolution. The quality of cellular and cell-free-expressed kinase samples has been evaluated systematically by comparing (1) spectroscopic properties, (2) purity and oligomer formation, (3) lipid content and (4) functionality. DgkA is the first membrane enzyme crystallised based on cell-free expression. The study provides a basic standard for the crystallisation of cell-free-expressed membrane proteins and the methods detailed here should prove generally useful and contribute to accelerating the pace at which membrane protein structures are solved.     

The genome of the extremophile crucifer Thellungiella parvula

Thellungiella parvula is related to Arabidopsis thaliana and is endemic to saline, resource-poor habitats, making it a model for the evolution of plant adaptation to extreme environments. Here we present the draft genome for this extremophile species. Exclusively by next generation sequencing, we obtained the de novo assembled genome in 1,496 gap-free contigs, closely approximating the estimated genome size of 140 Mb. We anchored these contigs to seven pseudo chromosomes without the use of maps. We show that short reads can be assembled to a near-complete chromosome level for a eukaryotic species lacking prior genetic information. The sequence identifies a number of tandem duplications that, by the nature of the duplicated genes, suggest a possible basis for T. parvula's extremophile lifestyle. Our results provide essential background for developing genomically influenced testable hypotheses for the evolution of environmental stress tolerance.     

Mutations in lectin complement pathway genes COLEC11 and MASP1 cause 3MC syndrome

3MC syndrome has been proposed as a unifying term encompassing the overlapping Carnevale, Mingarelli, Malpuech and Michels syndromes. These rare autosomal recessive disorders exhibit a spectrum of developmental features, including characteristic facial dysmorphism, cleft lip and/or palate, craniosynostosis, learning disability and genital, limb and vesicorenal anomalies. Here we studied 11 families with 3MC syndrome and identified two mutated genes, COLEC11 and MASP1, both of which encode proteins in the lectin complement pathway (collectin kidney 1 (CL-K1) and MASP-1 and MASP-3, respectively). CL-K1 is highly expressed in embryonic murine craniofacial cartilage, heart, bronchi, kidney and vertebral bodies. Zebrafish morphants for either gene develop pigmentary defects and severe craniofacial abnormalities. Finally, we show that CL-K1 serves as a guidance cue for neural crest cell migration. Together, these findings demonstrate a role for complement pathway factors in fundamental developmental processes and in the etiology of 3MC syndrome.     

Surfactant-decorated graphite nanoplatelets(GNPs) reinforced aluminum nanocomposites: sintering effects on hardness and wear

The exceptional properties of graphene make it ideal as a reinforcement to enhance the properties of aluminum matrices and this critically depends on uniform dispersion. In this study, the dispersion issue was addressed by sonication and non-covalent surface functionalization of graphite nanoplatelets(GNPs) using two types of surfactant: anionic(sodium dodecyl benzene sulfate(SDBS)) and non-ionic polymeric(ethyl cellulose(EC)). After colloidal mixing with Al powder, consolidation was performed at two sintering temperatures(550 and 620°C). The structure, density, mechanical and wear properties of the nanocomposite samples were investigated and compared with a pure Al and a pure GNPs/Al nanocomposite sample. Noticeably, EC-based 0.5 wt% GNPs/Al samples showed the highest increment of 31% increase in hardness with reduced wear rate of 98.25% at 620°C, while a 22% increase in hardness with reduced wear rate of 96.98% at 550°C was observed, as compared to pure Al. Microstructural analysis and the overall results validate the use of EC-based GNPs/Al nanocomposites as they performed better than pure Al and pure GNPs/Al nanocomposite at both sintering temperatures.     

Detailed analysis of the plasma extracellular vesicle proteome after separation from lipoproteins

The isolation of extracellular vesicles (EVs) from blood is of great importance to understand the biological role of circulating EVs and to develop EVs as biomarkers of disease. Due to the concurrent presence of lipoprotein particles, however, blood is one of the most difficult body fluids to isolate EVs from. The aim of this study was to develop a robust method to isolate and characterise EVs from blood with minimal contamination by plasma proteins and lipoprotein particles. Plasma and serum were collected from healthy subjects, and EVs were isolated by size-exclusion chromatography (SEC), with most particles being present in fractions 8–12, while the bulk of the plasma proteins was present in fractions 11–28. Vesicle markers peaked in fractions 7–11; however, the same fractions also contained lipoprotein particles. The purity of EVs was improved by combining a density cushion with SEC to further separate lipoprotein particles from the vesicles, which reduced the contamination of lipoprotein particles by 100-fold. Using this novel isolation procedure, a total of 1187 proteins were identified in plasma EVs by mass spectrometry, of which several proteins are known as EV-associated proteins but have hitherto not been identified in the previous proteomic studies of plasma EVs. This study shows that SEC alone is unable to completely separate plasma EVs from lipoprotein particles. However, combining SEC with a density cushion significantly improved the separation of EVs from lipoproteins and allowed for a detailed analysis of the proteome of plasma EVs, thus making blood a viable source for EV biomarker discovery.     

Effect of consumption of green and black tea on the level of various enzymes in rats

Drinking of both green and black tea as the only liquid ingested resulted in significant decreases in the activity of transketolase in whole blood of rats both before and after the in vitro addition of thiamin diphosphate. Liver transketolase activity was decreased only by green tea. Mucosal transketolase activity was not affected by either type of tea. The activity of lactate dehydrogenase (LDH) was not affected by either type of tea, while whole blood LDH was decreased by both green and black tea. Neither tea had any affect on mucosal alkaline phosphatase, but thiamin diphosphatase activity was decreased by both teas. An increase in liver total thiamin resulted from the drinking of both types of tea.     

Structural, electrical, dielectric and magnetic properties of Mn-Nd substituted CoFeO3 nano sized multiferroics

A series of Mn x Co_(1-x) Fe_(1-y) Nd_yO_3(where x=0.0–1.0 y=0.0–0.1) multiferroic nanocrystals was synthesized via sol-gel auto-combustion technique. The structure was confirmed by X-ray diffraction(XRD)while morphology was investigated by scanning electron microscopy(SEM). The electrical resistivity was observed to increase from 2.14 * 10~7 to 8.77 * 10~9 Ω-cm and activation energy was found to increase from 0.64 to 0.75 e V, while the drift mobility decreased from 4.75 * 10~(-13) to 1.27 * 10~(-15)cm~2V~(-1)S~(-1) by the substitution of Mn and Nd contents. The dielectric constant, dielectric loss and dielectric loss factor decrease with frequency and Mn-Nd contents. The saturation magnetization was increased from 34 to 70 emu g~(-1) while the coercivity decreased from 705 to 262 Oe with the increase of substituents.The increase in electrical resistivity and saturation magnetization while decrease in dielectric parameters and coercivity make these nanomaterials suitable for applications in microwave devices and longitudinal magnetic recording media.