Knowledge based error recovery in industrial robots

M. H. Lee, D. P. Barnes, and N. W. Hardy. Knowledge based error recovery in industrial robots. In Proc. 8th. Int. Joint Conf. Artificial Intelligence, pages 824-826, Karlsruhe, FDR., 1983.

Investigation of the cold crucible melting process: experimental and numerical study

The dynamic process of melting different materials in a cold crucible is being studied experimentally with parallel numerical modelling work. The numerical simulation uses a variety of complementing models: finite volume, integral equation and pseudo-spectral methods combined to achieve the accurate description of the dynamic melting process. Results show the temperature history of the melting process with a comparison of the experimental and computed heat losses in the various parts of the equipment. The free surface visual observations are compared to the numerically predicted surface shapes.

Droplet size control with methanol-repellent surface in a sampling device for continuous annular electrochromatography

The eluent droplet size defines the number of sampling compartments in a continuously operated annular electrochromatograph and therefore influences separation efficiency. In this work, an assembly of two capillaries, a feeding capillary on the top and a receiving capillary placed under it, has been investigated to control droplet size. The receiving capillary prevents the liquid droplet formation beyond a critical size, which reduces the volume of sampling compartment as compared with the case of the electrolyte flow driven solely by gravity. With a receiving capillary, the electrolyte droplet size was reduced from 1.5 to 0.46 mm. Further decrease of droplet size was not possible due to a so-called droplet jump upwards effect which has been observed on a hydrophilic glass surface with water. A typical electrolyte used in CAEC has high methanol content. In an attempt to improve the methanol-repellent properties of the glass surface, two approaches have been implemented: (i) self-assembled chemisorbed monolayers of an alkylsiloxane and (ii) fabrication of a nano-pin film. The methanol-repellent surface of the feeding capillary suppressed the droplet jump upwards effect. The surface remained methanol repellent in different solutions with lower polarity than that of water.

Métodos robustos em geoestatística

O objectivo principal da presente tese consiste no desenvolvimento de estimadores robustos do variograma com boas propriedades de eficiência. O variograma é um instrumento fundamental em Geoestatística, pois modela a estrutura de dependência do processo em estudo e influencia decisivamente a predição de novas observações. Os métodos tradicionais de estimação do variograma não são robustos, ou seja, são sensíveis a pequenos desvios das hipóteses do modelo. Essa questão é importante, pois as propriedades que motivam a aplicação de tais métodos, podem não ser válidas nas vizinhanças do modelo assumido. O presente trabalho começa por conter uma revisão dos principais conceitos em Geoestatística e da estimação tradicional do variograma. De seguida, resumem-se algumas noções fundamentais sobre robustez estatística. No seguimento, apresenta-se um novo método de estimação do variograma que se designou por estimador de múltiplos variogramas. O método consiste em quatro etapas, nas quais prevalecem, alternadamente, os critérios de robustez ou de eficiência. A partir da amostra inicial, são calculadas, de forma robusta, algumas estimativas pontuais do variograma; com base nessas estimativas pontuais, são estimados os parâmetros do modelo pelo método dos mínimos quadrados; as duas fases anteriores são repetidas, criando um conjunto de múltiplas estimativas da função variograma; por fim, a estimativa final do variograma é definida pela mediana das estimativas obtidas anteriormente. Assim, é possível obter um estimador que tem boas propriedades de robustez e boa eficiência em processos Gaussianos. A investigação desenvolvida revelou que, quando se usam estimativas discretas na primeira fase da estimação do variograma, existem situações onde a identificabilidade dos parâmetros não está assegurada. Para os modelos de variograma mais comuns, foi possível estabelecer condições, pouco restritivas, que garantem a unicidade de solução na estimação do variograma. A estimação do variograma supõe sempre a estacionaridade da média do processo. Como é importante que existam procedimentos objectivos para avaliar tal condição, neste trabalho sugere-se um teste para validar essa hipótese. A estatística do teste é um estimador-MM, cuja distribuição é desconhecida nas condições de dependência assumidas. Tendo em vista a sua aproximação, apresenta-se uma versão do método bootstrap adequada ao estudo de observações dependentes de processos espaciais. Finalmente, o estimador de múltiplos variogramas é avaliado em termos da sua aplicação prática. O trabalho contém um estudo de simulação que confirma as propriedades estabelecidas. Em todos os casos analisados, o estimador de múltiplos variogramas produziu melhores resultados do que as alternativas usuais, tanto para a distribuição assumida, como para distribuições contaminadas.

Simulação de processos de adsorção recorrendo ao Aspen Chromatography

As operações de separação por adsorção têm vindo a ganhar importância nos últimos anos, especialmente com o desenvolvimento de técnicas de simulação de leitos móveis em colunas, tal como a cromatografia de Leito Móvel Simulado (Simulated Moving Bed, SMB). Esta tecnologia foi desenvolvida no início dos anos 60 como método alternativo ao processo de Leito Móvel Verdadeiro (True Moving Bed, TMB), de modo a resolver vários dos problemas associados ao movimento da fase sólida, usuais nestes métodos de separação cromatográficos de contracorrente. A tecnologia de SMB tem sido amplamente utilizada em escala industrial principalmente nas indústrias petroquímica e de transformação de açúcares e, mais recentemente, na indústria farmacêutica e de química fina. Nas últimas décadas, o crescente interesse na tecnologia de SMB, fruto do alto rendimento e eficiente consumo de solvente, levou à formulação de diferentes modos de operação, ditos não convencionais, que conseguem unidades mais flexíveis, capazes de aumentar o desempenho de separação e alargar ainda mais a gama de aplicação da tecnologia. Um dos exemplos mais estudados e implementados é o caso do processo Varicol, no qual se procede a um movimento assíncrono de portas. Neste âmbito, o presente trabalho foca-se na simulação, análise e avaliação da tecnologia de SMB para dois casos de separação distintos: a separação de uma mistura de frutose-glucose e a separação de uma mistura racémica de pindolol. Para ambos os casos foram considerados e comparados dois modos de operação da unidade de SMB: o modo convencional e o modo Varicol. Desta forma, foi realizada a implementação e simulação de ambos os casos de separação no simulador de processos Aspen Chromatography, mediante a utilização de duas unidades de SMB distintas (SMB convencional e SMB Varicol). Para a separação da mistura frutose-glucose, no quediz respeito à modelização da unidade de SMB convencional, foram utilizadas duas abordagens: a de um leito móvel verdadeiro (modelo TMB) e a de um leito móvel simulado real (modelo SMB). Para a separação da mistura racémica de pindolol foi considerada apenas a modelização pelo modelo SMB. No caso da separação da mistura frutose-glucose, procedeu-se ainda à otimização de ambas as unidades de SMB convencional e Varicol, com o intuito do aumento das suas produtividades. A otimização foi realizada mediante a aplicação de um procedimento de planeamento experimental, onde as experiências foram planeadas, conduzidas e posteriormente analisadas através da análise de variância (ANOVA). A análise estatística permitiu selecionar os níveis dos fatores de controlo de modo a obter melhores resultados para ambas as unidades de SMB.

Lecture et réparation psychique : le potentiel thérapeutique du dispositif littéraire.

Réalisé en cotutelle internationale avec l'Université de Toulouse II-Le Mirail

Design and study of self-assembled functional organic and hybrid systems for biological applications

The focus of self-assembly as a strategy for the synthesis has been confined largely to molecules, because of the importance of manipulating the structure of matter at the molecular scale. We have investigated the influence of temperature and pH, in addition to the concentration of the capping agent used for the formation of the nano-bio conjugates. For example, the formation of the narrower size distribution of the nanoparticles was observed with the increase in the concentration of the protein, which supports the fact that γ-globulin acts both as a controller of nucleation as well as stabiliser. As analyzed through various photophysical, biophysical and microscopic techniques such as TEM, AFM, C-AFM, SEM, DLS, OPM, CD and FTIR, we observed that the initial photoactivation of γ-globulin at pH 12 for 3 h resulted in small protein fibres of ca. Further irradiation for 24 h, led to the formation of selfassembled long fibres of the protein of ca. 5-6 nm and observation of surface plasmon resonance band at around 520 nm with the concomitant quenching of luminescence intensity at 680 nm. The observation of light triggered self-assembly of the protein and its effect on controlling the fate of the anchored nanoparticles can be compared with the naturally occurring process such as photomorphogenesis.Furthermore,our approach offers a way to understand the role played by the self-assembly of the protein in ordering and knock out of the metal nanoparticles and also in the design of nano-biohybrid materials for medicinal and optoelectronic applications. Investigation of the potential applications of NIR absorbing and water soluble squaraine dyes 1-3 for protein labeling and anti-amyloid agents forms the subject matter of the third chapter of the thesis. The study of their interactions with various proteins revealed that 1-3 showed unique interactions towards serum albumins as well as lysozyme. 69%, 71% and 49% in the absorption spectra as well as significant quenching in the fluorescence intensity of the dyes 1-3, respectively. Half-reciprocal analysis of the absorption data and isothermal titration calorimetric (ITC) analysis of the titration experiments gave a 1:1 stoichiometry for the complexes formed between the lysozyme and squaraine dyes with association constants (Kass) in the range 104-105 M-1. We have determined the changes in the free energy (ΔG) for the complex formation and the values are found to be -30.78, -32.31 and -28.58 kJmol-1, respectively for the dyes 1, 2 and 3. Furthermore, we have observed a strong induced CD (ICD) signal corresponding to the squaraine chromophore in the case of the halogenated squaraine dyes 2 and 3 at 636 and 637 nm confirming the complex formation in these cases. To understand the nature of interaction of the squaraine dyes 1-3 with lysozyme, we have investigated the interaction of dyes 1-3 with different amino acids. These results indicated that the dyes 1-3 showed significant interactions with cysteine and glutamic acid which are present in the side chains of lysozyme. In addition the temperature dependent studies have revealed that the interaction of the dye and the lysozyme are irreversible. Furthermore, we have investigated the interactions of these NIR dyes 1-3 with β- amyloid fibres derived from lysozyme to evaluate their potential as inhibitors of this biologically important protein aggregation. These β-amyloid fibrils were insoluble protein aggregates that have been associated with a range of neurodegenerative diseases, including Huntington, Alzheimer’s, Parkinson’s, and Creutzfeldt-Jakob diseases. We have synthesized amyloid fibres from lysozyme through its incubation in acidic solution below pH 4 and by allowing to form amyloid fibres at elevated temperature. To quantify the binding affinities of the squaraine dyes 1-3 with β-amyloids, we have carried out the isothermal titration calorimetric (ITC) measurements. The association constants were determined and are found to be 1.2 × 105, 3.6× 105 and 3.2 × 105 M-1 for the dyes, 1-3, respectively. To gain more insights into the amyloid inhibiting nature of the squaraine dyes under investigations, we have carried out thioflavin assay, CD, isothermal titration calorimetry and microscopic analysis. The addition of the dyes 1-3 (5μM) led to the complete quenching in the apparent thioflavin fluorescence, thereby indicating the destabilization of β-amyloid fibres in the presence of the squaraine dyes. Further, the inhibition of the amyloid fibres by the squaraine dyes 1-3, has been evidenced though the DLS, TEM AFM and SAED, wherein we observed the complete destabilization of the amyloid fibre and transformation of the fibre into spherical particles of ca. These results demonstrate the fact that the squaraine dyes 1-3 can act as protein labeling agents as well as the inhibitors of the protein amyloidogenesis. The last chapter of the thesis describes the synthesis and investigation of selfassembly as well as bio-imaging aspects of a few novel tetraphenylethene conjugates 4-6.Expectedly, these conjugates showed significant solvatochromism and exhibited a hypsochromic shift (negative solvatochromism) as the solvent polarity increased, and these observations were justified though theoretical studies employing the B3LYP/6-31g method. We have investigated the self-assembly properties of these D-A conjugates though variation in the percentage of water in acetonitrile solution due to the formation of nanoaggregates. Further the contour map of the observed fluorescence intensity as a function of the fluorescence excitation and emission wavelength confirmed the formation of J-type aggregates in these cases. To have a better understanding of the type of self-assemblies formed from the TPE conjugates 4-6, we have carried out the morphological analysis through various microscopic techniques such as DLS, SEM and TEM. 70%, we observed rod shape architectures having ~ 780 nm in diameter and ~ 12 μM in length as evidenced through TEM and SEM analysis. We have made similar observations with the dodecyl conjugate 5 at ca. 70% and 50% water/acetonitrile mixtures, the aggregates formed from 4 and 5 were found to be highly crystalline and such structures were transformed to amorphous nature as the water fraction was increased to 99%. To evaluate the potential of the conjugate as bio-imaging agents, we have carried out their in vitro cytotoxicity and cellular uptake studies though MTT assay, flow cytometric and confocal laser scanning microscopic techniques. Thus nanoparticle of these conjugates which exhibited efficient emission, large stoke shift, good stability, biocompatibility and excellent cellular imaging properties can have potential applications for tracking cells as well as in cell-based therapies. In summary we have synthesized novel functional organic chromophores and have studied systematic investigation of self-assembly of these synthetic and biological building blocks under a variety of conditions. The investigation of interaction of water soluble NIR squaraine dyes with lysozyme indicates that these dyes can act as the protein labeling agents and the efficiency of inhibition of β-amyloid indicate, thereby their potential as anti-amyloid agents.

A CAD-based computer vision system

A vision system for recognizing rigid and articulated three-dimensional objects in two-dimensional images is described. Geometrical models are extracted from a commercial computer aided design package. The models are then augmented with appearance and functional information which improves the system's hypothesis generation, hypothesis verification, and pose refinement. Significant advantages over existing CAD-based vision systems, which utilize only information available in the CAD system, are realized. Examples show the system recognizing, locating, and tracking a variety of objects in a robot work-cell and in natural scenes.

Controle da injeção de potências ativa e reativa em inversor de Geração Distribuída conectado à rede de distribuição em corrente alternada em baixa tensão, empregando LMIs com realimentação de estados e critérios de D-estabilidade

Pós-graduação em Engenharia Elétrica - FEIS

Efeitos do óleo da semente de neem (Azadirachta indica A. Juss) nos ovócitos e glândulas salivares de carrapatos Rhipicephalus sanguineus (Latreille, 1806) (Acari: Ixodidae)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Two extensions for the ALWABP: Parallel stations and collaborative approach

In this article, we introduce two new variants of the Assembly Line Worker Assignment and Balancing Problem (ALWABP) that allow parallelization of and collaboration between heterogeneous workers. These new approaches suppose an additional level of complexity in the Line Design and Assignment process, but also higher flexibility; which may be particularly useful in practical situations where the aim is to progressively integrate slow or limited workers in conventional assembly lines. We present linear models and heuristic procedures for these two new problems. Computational results show the efficiency of the proposed approaches and the efficacy of the studied layouts in different situations. (C) 2012 Elsevier B.V. All rights reserved.

Progetto e realizzazione del sistema di gestione autonoma del volo e controllo in remoto per un velivolo UAV ad ala rotante

This PhD thesis presents the results, achieved at the Aerospace Engineering Department Laboratories of the University of Bologna, concerning the development of a small scale Rotary wing UAVs (RUAVs). In the first part of the work, a mission simulation environment for rotary wing UAVs was developed, as main outcome of the University of Bologna partnership in the CAPECON program (an EU funded research program aimed at studying the UAVs civil applications and economic effectiveness of the potential configuration solutions). The results achieved in cooperation with DLR (German Aerospace Centre) and with an helicopter industrial partners will be described. In the second part of the work, the set-up of a real small scale rotary wing platform was performed. The work was carried out following a series of subsequent logical steps from hardware selection and set-up to final autonomous flight tests. This thesis will focus mainly on the RUAV avionics package set-up, on the onboard software development and final experimental tests. The setup of the electronic package allowed recording of helicopter responses to pilot commands and provided deep insight into the small scale rotorcraft dynamics, facilitating the development of helicopter models and control systems in a Hardware In the Loop (HIL) simulator. A neested PI velocity controller1 was implemented on the onboard computer and autonomous flight tests were performed. Comparison between HIL simulation and experimental results showed good agreement.

Generierung und Charakterisierung von in-vitro- und in- vivo-Modellsystemen zur Untersuchung des Skelettsystems

Die Entstehung und Aufrechterhaltung von Knorpel- und Knochengewebe wird durch eine Vielzahl von hemmenden oder fördernden Faktoren hoch komplex reguliert, wobei die dabei involvierten physiologischen Prozesse bisher nur teilweise verstanden werden. Auch die Ursachen sowohl degenerativer Erkrankungen, aber auch durch Mutationen im FGFR3-Gen verursachter Chondrodysplasien sind in ihrer Ätiopathogenese noch nicht vollständig erforscht. In dieser Arbeit wurden verschiedene experimentelle Ansätze verfolgt, die zur weiteren Aufklärung der Pathophysiologie zweier unterschiedlicher Skeletterkrankungen beitragen sollten.rnEin relevantes Charakteristikum der degenerativen Gelenkserkrankung Osteoarthrose ist der Verlust an Aggrekan, hauptverantwortlich verursacht durch die Aggrekanase ADAMTS5. Es wurde ein Tiermodell generiert, bei dem gezielt mittels des Tet-ON-Systems die Aggrekanase mAdamts-5 überexprimiert werden kann. Nach Konstruktherstellung und Generierung als auch Charakterisierung des in vitro-Modells wurde das Tiermodell hergestellt, um die Folgen der Überexpression im Hinblick auf einen verstärkten Aggrekanabbau im Knorpel der Mäuse zu analysieren. Nach initialer Charakterisierung auf Induzierbarkeit zeigte eine Gründerlinie eine induzierbare transgene mAdamts5-Expression. Die Überprüfung auf Knorpelspezifität zeigte, sowohl embryonal als auch im adulten Tier, dass sich der verwendete, zusammengesetzte Kollagen-Typ II Promotor wie der endogene verhielt und somit funktional war. Nach Doxyzyklininduktion wurde bei der optimalen Dosis von 1 mg/ml im Vergleich zum induzierten Wildtyp-Tier eine 15%ige Abnahme des Gesamt-Glykosamino-glykan(GAG)-Gehaltes und eine um 120% erhöhte GAG-Abgabe ins Medium detektiert, was eine verstärkte Spaltung von Aggrekan bedeutete. Die transgene Aggrekanase wurde überexprimiert und spaltete verstärkt Aggrekan. Da aufgrund der histologischen Untersuchungen jedoch keine Knorpelerosionen feststellbar waren, konnte im Umkehrschluss gefolgert werden, dass der Knorpel einen Verlust an Glykosaminoglykanen bis zu einer gewissen Grenze tolerieren kann. Mit dem generierten und charakterisierten Tiermodell konnte mit dem Verlust an GAG eine Osteoarthrose-ähnliche Situation simuliert werden, insbesondere im Hinblick auf frühe Stadien der Erkrankung, bei denen noch keine makroskopisch eindeutig sichtbare Knorpelerosionen vorliegen. rnIm zweiten Teil der Arbeit wurden Zellkulturexperimente zur weiteren Aufklärung FGFR3-regulierter Prozesse durchgeführt. Nach Generierung und Verifizierung der stabilen Zelllinien, die mittels des Tet-ON-Systems das FGFR3-Gen mit jeweils einer Chondrodysplasie-assoziierten Mutation (Achondroplasie-Mutation G380R, Thanatophore Dysplasie Typ II-Mutation K650E) induzierbar überexprimieren, wurden die Auswirkungen der zwei verschiedenen Mutationen anhand bereits beschriebener Signalwege untersucht. Über die Rekrutierung des ERK-Signalweges konnte bei beiden Zelllinien die Funktionalität nachgewiesen werden, wobei die Zelllinie mit der einen schwereren Phänotyp beim Menschen verursachenden TDII-Mutation eine stärkere Aktivierung zeigte. Bei der Aktivierung von STAT1 wies nur die TDII-Zelllinie eine Phosphorylierung auf, nicht jedoch die ACH-Zelllinie; dies deckte sich mit bereits publizierten Untersuchungen. Beide Kaskaden zeigten eine unterschiedliche Signalantwort aufgrund der verschiedenen Mutationen. Des Weiteren konnte eine unterschiedliche MMP13-Zielgenexpression nachgewiesen werden, wobei lediglich die ACH-Zelllinie eine erhöhte MMP13-Expression (6-fach) zeigte. Zur Identifizierung neuer involvierter FGFR3-Zielgene wurde die differentielle Genexpression der TDII-Zelllinie im Vergleich induziert/nicht induziert mittels Microarray-Hybridisierung untersucht. Als interessantes Zielgen fiel STC1 auf, welches ebenfalls eine Rolle in der Chondrogenese spielt und bislang nicht mit FGFR3 in Verbindung gebracht wurde. Es konnte jedoch nur auf RNA-Ebene eine Regulation nachgewiesen werden. Nachfolgend durchgeführte transiente Experimente zeigten, dass die Wildtyp-Variante von FGFR3 möglicherweise eine Funktion in der Sekretion des Proteins STC1 hat und dass durch die beiden eingefügten Mutationen (ACH, TDII) diese aufgehoben ist. Der Einfluss von FGFR3 auf die Sekretion von STC1 stellt ein neues Ergebnis dar, insbesondere auch die Auswirkungen der beiden für die unterschiedlichen Krankheitsbilder stehenden Mutationen. Welche Relevanz allerdings die STC1-Sekretion im Rahmen FGFR3-assoziierter Erkrankungen hat, kann nicht eindeutig beurteilt werden. Weitere Faktoren aus dem hoch komplexen Zusammenspiel während der Knorpel/Knochenentwicklung müssen untersucht werden, um eine definitive Einordnung zu ermöglichen.

Role of transducer proteins in photoaxis signaling of Halobacterium salinarum

In Halobacterium salinarum phototaxis is mediated by the visual pigment-like photoreceptors sensory rhodopsin I (SRI) and II (SRII). SRI is a receptor for attractant orange and repellent UV-blue light, and SRII is a receptor for repellent blue-green light, and transmit signals through the membrane-bound transducer proteins HtrI and HtrII, respectively. ^ The primary sequences of HtrI and HtrII predict 2 transmembrane helices (TM1 and TM2) followed by a hydrophilic cytoplasmic domain. HtrII shows an additional large periplasmic domain for chemotactic ligand binding. The cytoplasmic regions are homologous to the adaptation and signaling domains of eubacterial chemotaxis receptors and, like their eubacterial homologs, modulate the transfer of phosphate groups from the histidine protein kinase CheA to the response regulator CheY that in turn controls flagellar motor rotation and the cell's swimming behavior. HtrII and Htrl are dimeric proteins which were predicted to contain carboxylmethylation sites in a 4-helix bundle in their cytoplasmic regions, like eubacterial chemotaxis receptors. ^ The phototaxis transducers of H. salinarum have provided a model for studying receptor/tranducer interaction, adaptation in sensory systems, and the role of membrane molecular complexes in signal transduction. ^ Interaction between the transducer HtrI and the photoreceptor SRI was explored by creating six deletion constructs of HtrI, with progressively shorter cytoplasmic domains. This study confirmed a putative chaperone-like function of HtrI, facilitating membrane insertion or stability of the SRI protein, a phenomenon previously observed in the laboratory, and identified the smallest HtrI fragment containing interaction sites for both the chaperone-like function and SRI photocycle control. The active fragment consisted of the N-terminal 147 residues of the 536-residue HtrI protein, a portion of the molecule predicted to contain the two transmembrane helices and the first ∼20% of the cytoplasmic portion of the protein. ^ Phototaxis and chemotaxis sensory systems adapt to stimuli, thereby signaling only in response to changes in environmental conditions. Observations made in our and in other laboratories and homologies between the halobacterial transducers with the chemoreceptors of enteric bacteria anticipated a role for methylation in adaptation to chemo- and photostimuli. By site directed mutagenesis we identified the methylation sites to be the glutamate pairs E265–E266 in HtrI and E513–E514 in HtrII. Cells containing the unmethylatable transducers are still able to perform phototaxis and adapt to light stimuli. By pulse-chase analysis we found that methanol production from carboxylmethyl group hydrolysis occurs upon specific photo stimulation of unmethylatable HtrI and HtrII and is due to turnover of methyl groups on other transducers. We demonstrated that the turnover in wild-type H. salinarum cells that follows a positive stimulus is CheY-dependent. The CheY-feedback pathway does not require the stimulated transducer to be methylatable and operates globally on other transducers present in the cell. ^ Assembly of signaling molecules into architecturally defined complexes is considered essential in transmission of the signals. The spectroscopic characteristics of SRI were exploited to study the stoichiometric composition in the phototaxis complex SRI-HtrI. A molar ratio of 2.1 HtrI: 1 SRI was obtained, suggesting that only 1 SRI binding site is occupied on the HtrI homodimer. We used gold-immunoelectron microscopy and light fluorescence microscopy to investigate the structural organization and the distribution of other halobacterial transducers. We detected clusters of transducers, usually near the cell's poles, providing a ultrastructural basis for the global effects and intertransducer communication we observe. ^

Nck recruitment to Eph receptor, EphB1/ELK, couples ligand activation to c-Jun kinase.

Eph family receptor tyrosine kinases signal axonal guidance, neuronal bundling, and angiogenesis; yet the signaling systems that couple these receptors to targeting and cell-cell assembly responses are incompletely defined. Functional links to regulators of cytoskeletal structure are anticipated based on receptor mediated cell-cell aggregation and migratory responses. We used two-hybrid interaction cloning to identify EphB1-interactive proteins. Six independent cDNAs encoding the SH2 domain of the adapter protein, Nck, were recovered in a screen of a murine embryonic library. We mapped the EphB1 subdomain that binds Nck and its Drosophila homologue, DOCK, to the juxtamembrane region. Within this subdomain, Tyr594 was required for Nck binding. In P19 embryonal carcinoma cells, activation of EphB1 (ELK) by its ligand, ephrin-B1/Fc, recruited Nck to native receptor complexes and activated c-Jun kinase (JNK/SAPK). Transient overexpression of mutant EphB1 receptors (Y594F) blocked Nck recruitment to EphB1, attenuated downstream JNK activation, and blocked cell attachment responses. These findings identify Nck as an important intermediary linking EphB1 signaling to JNK.