Synaptophysin, a major synaptic vesicle protein, is not essential for neurotransmitter release.

Synaptophysin (syp I) is a synaptic vesicle membrane protein that constitutes approximately 7% of the total vesicle protein. Multiple lines of evidence implicate syp I in a number of nerve terminal functions. To test these, we have disrupted the murine Syp I gene. Mutant mice lacking syp I were viable and fertile. No changes in the structure and protein composition of the mutant brains were observed except for a decrease in synaptobrevin/VAMP II. Synaptic transmission was normal with no detectable changes in synaptic plasticity or the probability of release. Our data demonstrate that one of the major synaptic vesicle membrane proteins is not essential for synaptic transmission, suggesting that its function is either redundant or that it has a more subtle function not apparent in the assays used.

Human immunodeficiency virus (HIV) type 2-mediated inhibition of HIV type 1: a new approach to gene therapy of HIV-infection.

Human immunodeficiency virus (HIV) type 2, the second AIDS-associated human retrovirus, differs from HIV-1 in its natural history, infectivity, and pathogenicity, as well as in details of its genomic structure and molecular behavior. We report here that HIV-2 inhibits the replication of HIV-1 at the molecular level. This inhibition was selective, dose-dependent, and nonreciprocal. The closely related simian immunodeficiency provirus also inhibited HIV-1. The selectivity of inhibition was shown by the observation that HIV-2 did not significantly downmodulate the expression of the unrelated murine leukemia virus; neither did the murine leukemia virus markedly affect HIV-1 or HIV-2 expression. Moreover, while HIV-2 potently inhibited HIV-1, the reverse did not happen, thus identifying yet another and remarkable difference between HIV-1 and HIV-2. Mutational analysis of the HIV-2 genome suggested that the inhibition follows a complex pathway, possibly involving multiple genes and redundant mechanisms. Introduction of inactivating mutations into the structural and regulatory/accessory genes did not render the HIV-2 provirus ineffective. Some of the HIV-2 gene defects, such as that of tat and rev genes, were phenotypically transcomplemented by HIV-1. The HIV-2 proviruses with deletions in the putative packaging signal and defective for virus replication were effective in inducing the suppressive phenotype. Though the exact mechanism remains to be defined, the inhibition appeared to be mainly due to an intracellular molecular event because it could not be explained solely on the basis of cell surface receptor mediated interference. The results support the notion that the inhibition likely occurred at the level of viral RNA, possibly involving competition between viral RNAs for some transcriptional factor essential for virus replication. Induction of a cytokine is another possibility. These findings might be relevant to the clinical-epidemiological data suggesting that infection with HIV-2 may offer some protection against HIV-1 infection.

Ovulation efficiency is reduced in mice that lack plasminogen activator gene function: functional redundancy among physiological plasminogen activators.

Several lines of indirect evidence suggest that plasminogen activation plays a crucial role in degradation of the follicular wall during ovulation. However, single-deficient mice lacking tissue-type plasminogen activator (tPA), urokinase-type plasminogen activator (uPA), or PA inhibitor type 1(PAI-1) gene function were recently found to have normal reproduction, although mice with a combined deficiency of tPA and uPA were significantly less fertile. To investigate whether the reduced fertility of mice lacking PA gene function is due to a reduced ovulation mechanism, we have determined the ovulation efficiency in 25-day-old mice during gonadotropin-induced ovulation. Our results reveal that ovulation efficiency is normal in mice with a single deficiency of tPA or uPA but reduced by 26% in mice lacking both physiological PAs. This result suggests that plasminogen activation plays a role in ovulatory response, although neither tPA nor uPA individually or in combination is obligatory for ovulation. The loss of an individual PA seems to be functionally complemented by the remaining PA but this compensation does not appear to involve any compensatory up-regulation. Our data imply that a functionally redundant mechanism for plasmin formation operates during gonadotropin-induced ovulation and that PAs together with other proteases generate the proteolytic activity required for follicular wall degradation.

Characterization and localization of the cytoplasmic dynein heavy chain in Aspergillus nidulans.

Migration of nuclei throughout the mycelium is essential for the growth and differentiation of filamentous fungi. In Aspergillus nidulans, the nudA gene, which is involved in nuclear migration, encodes a cytoplasmic dynein heavy chain. In this paper we use antibodies to characterize the Aspergillus cytoplasmic dynein heavy chain (ACDHC) and to show that the ACDHC is concentrated at the growing tip of the fungal mycelium. We demonstrate that four temperature-sensitive mutations in the nudA gene result in a striking decrease in ACDHC protein. Cytoplasmic dynein has been implicated in nuclear division in animal cells. Because the temperature-sensitive nudA mutants are able to grow slowly with occasional nuclei found in the mycelium and are able to undergo nuclear division, we have created a deletion/disruption nudA mutation and a tightly downregulated nudA mutation. These mutants exhibit a phenotype very similar to that of the temperature-sensitive nudA mutants with respect to growth, nuclear distribution, and nuclear division. This suggests that there are redundant backup motor proteins for both nuclear migration and nuclear division.

The Lutheran blood group glycoprotein, another member of the immunoglobulin superfamily, is widely expressed in human tissues and is developmentally regulated in human liver.

Glycoproteins expressing the Lutheran blood group antigens were isolated from human erythrocyte membranes and from human fetal liver. Amino acid sequence analyses allowed the design of redundant oligonucleotides that were used to generate a 459-bp, sequence-specific probe by PCR. A cDNA clone of 2400 bp was isolated from a human placental lambda gt 11 library and sequenced, and the deduced amino acid sequence was studied. The predicted mature protein is a type I membrane protein of 597 amino acids with five potential N-glycosylation sites. There are five disulfide-bonded, extracellular, immunoglobulin superfamily domains (two variable-region set and three constant-region set), a single hydrophobic, membrane-spanning domain, and a cytoplasmic domain of 59 residues. The overall structure is similar to that of the human tumor marker MUC 18 and the chicken neural adhesion molecule SC1. The extracellular domains and cytoplasmic domain contain consensus motifs for the binding of integrin and Src homology 3 domains, respectively, suggesting possible receptor and signal-transduction function. Immunostaining of human tissues demonstrated a wide distribution and provided evidence that the glycoprotein is under developmental control in liver and may also be regulated during differentiation in other tissues.

The ethylene hormone response in Arabidopsis: a eukaryotic two-component signaling system.

The simple gas ethylene affects numerous physiological processes in the growth and development of higher plants. With the use of molecular genetic approaches, we are beginning to learn how plants perceive ethylene and how this signal is transduced. Components of ethylene signal transduction are defined by ethylene response mutants in Arabidopsis thaliana. The genes corresponding to two of these mutants, etr1 and etr1, have been cloned. The ETR1 gene encodes a homolog of two-component regulators that are known almost exclusively in prokaryotes. The two-component regulators in prokaryotes are involved in the perception and transduction of a wide range of environmental signals leading to adaptive responses. The CTR1 gene encodes a homolog of the Raf family of serine/threonine protein kinases. Raf is part of a mitogen-activated protein kinase cascade known to regulate cell growth and development in mammals, worms, and flies. The ethylene response pathway may, therefore, exemplify a conserved protein kinase cascade regulated by a two-component system. The dominance of all known mutant alleles of ETR1 may be due to either constitutive activation of the ETR1 protein or dominant interference of wild-type activity. The discovery of Arabidopsis genes encoding proteins related to ETR1 suggests that the failure to recover recessive etr1 mutant alleles may be due to the presence of redundant genes.

The nucleotide sequence of chromosome I from Saccharomyces cerevisiae.

Chromosome I from the yeast Saccharomyces cerevisiae contains a DNA molecule of approximately 231 kbp and is the smallest naturally occurring functional eukaryotic nuclear chromosome so far characterized. The nucleotide sequence of this chromosome has been determined as part of an international collaboration to sequence the entire yeast genome. The chromosome contains 89 open reading frames and 4 tRNA genes. The central 165 kbp of the chromosome resembles other large sequenced regions of the yeast genome in both its high density and distribution of genes. In contrast, the remaining sequences flanking this DNA that comprise the two ends of the chromosome and make up more than 25% of the DNA molecule have a much lower gene density, are largely not transcribed, contain no genes essential for vegetative growth, and contain several apparent pseudogenes and a 15-kbp redundant sequence. These terminally repetitive regions consist of a telomeric repeat called W', flanked by DNA closely related to the yeast FLO1 gene. The low gene density, presence of pseudogenes, and lack of expression are consistent with the idea that these terminal regions represent the yeast equivalent of heterochromatin. The occurrence of such a high proportion of DNA with so little information suggests that its presence gives this chromosome the critical length required for proper function.

Spatial organization of retinal information about the direction of image motion.

The visual stimuli that elicit neural activity differ for different retinal ganglion cells and these cells have been categorized by the visual information that they transmit. If specific visual information is conveyed exclusively or primarily by a particular set of ganglion cells, one might expect the cells to be organized spatially so that their sampling of information from the visual field is complete but not redundant. In other words, the laterally spreading dendrites of the ganglion cells should completely cover the retinal plane without gaps or significant overlap. The first evidence for this sort of arrangement, which has been called a tiling or tessellation, was for the two types of "alpha" ganglion cells in cat retina. Other reports of tiling by ganglion cells have been made subsequently. We have found evidence of a particularly rigorous tiling for the four types of ganglion cells in rabbit retina that convey information about the direction of retinal image motion (the ON-OFF direction-selective cells). Although individual cells in the four groups are morphologically indistinguishable, they are organized as four overlaid tilings, each tiling consisting of like-type cells that respond preferentially to a particular direction of retinal image motion. These observations lend support to the hypothesis that tiling is a general feature of the organization of information outflow from the retina and clearly implicate mechanisms for recognition of like-type cells and establishment of mutually acceptable territories during retinal development.

Controle subótimo de manipuladores subatuados via redundância de atuação

Este trabalho apresenta uma metodologia de controle de posição das juntas passivas de um manipulador subatuado de uma maneira subótima. O termo subatuado se refere ao fato de que nem todas as juntas ou graus de liberdade do sistema serem equipados com atuadores, o que ocorre na prática devido a falhas ou como resultado de projeto. As juntas passivas de manipuladores desse tipo são indiretamente controladas pelo movimento das juntas ativas usando as características de acoplamento da dinâmica de manipuladores. A utilização de redundância de atuação das juntas ativas permite a minimização de alguns critérios, como consumo de energia, por exemplo. Apesar da estrutura cinemática de manipuladores subatuados ser idêntica a do totalmente atuado, em geral suas características dinâmicas diferem devido a presença de juntas passivas. Assim, apresentamos a modelagem dinâmica de um manipulador subatuado e o conceito de índice de acoplamento. Este índice é utilizado na seqüência de controle ótimo do manipulador. A hipótese de que o número de juntas ativas seja maior que o número de passivas permite o controle ótimo das juntas passivas, uma vez que na etapa de controle destas há mais entradas (torques nos atuadores das juntas ativas), que elementos a controlar (posição das juntas passivas). Neste ponto reside a contribuição desta tese ao estado da arte, uma vez que não há até o momento publicação que proponha o controle ótimo das juntas passivas neste caso.

Ergonomia e abastecimento planejado em uma linha de montagem automotiva.

Os objetivos desta pesquisa foram levantar os benefícios auferidos pela aplicação de melhorias na ergonomia dos postos de trabalho e no abastecimento planejado de peças em uma linha de montagem automotiva, bem como identificar e verificar até que ponto pode-se gerar vantagens competitivas na redução do tempo de montagem do veículo, com a aplicação de investimentos tecnológicos em ergonomia na área de manufatura. A metodologia Methods Time Measurement (MTM), foi escolhida para mensurar as diferenças de tempos de processo, e para coleta e identificação de dados. Foram observadas duas linhas de montagem: a primeira denominada de inovadora, construída há três anos com investimentos em soluções ergonômicas, tanto no abastecimento quanto no processo, e outra, tradicional, construída há 20 anos, com poucos investimentos na área. De posse dos dados necessários dos sistemas estudados e com o uso da tecnologia MTM, a pesquisa avalia e propõe meios de mensurar os ganhos com a redução de atividades que não agregam valor ao produto, com o intuito de viabilizar investimentos em ergonomia em postos de trabalho padronizados, manipuladores, instalações mais modernas e até possuir um time de planejamento de processos de produção mais robusto. Neste trabalho, analisa-se também a influência da ergonomia no custo do produto final, qualidade, retrabalhos, afastamentos médicos e absenteísmo entre outros.

A contribution on modeling methodologies for multibody systems.

Multibody System Dynamics has been responsible for revolutionizing Mechanical Engineering Design by using mathematical models to simulate and optimize the dynamic behavior of a wide range of mechanical systems. These mathematical models not only can provide valuable informations about a system that could otherwise be obtained only by experiments with prototypes, but also have been responsible for the development of many model-based control systems. This work represents a contribution for dynamic modeling of multibody mechanical systems by developing a novel recursive modular methodology that unifies the main contributions of several Classical Mechanics formalisms. The reason for proposing such a methodology is to motivate the implementation of computational routines for modeling complex multibody mechanical systems without being dependent on closed source software and, consequently, to contribute for the teaching of Multibody System Dynamics in undergraduate and graduate levels. All the theoretical developments are based on and motivated by a critical literature review, leading to a general matrix form of the dynamic equations of motion of a multibody mechanical system (that can be expressed in terms of any set of variables adopted for the description of motions performed by the system, even if such a set includes redundant variables) and to a general recursive methodology for obtaining mathematical models of complex systems given a set of equations describing the dynamics of each of its uncoupled subsystems and another set describing the constraints among these subsystems in the assembled system. This work also includes some discussions on the description of motion (using any possible set of motion variables and admitting any kind of constraint that can be expressed by an invariant), and on the conditions for solving forward and inverse dynamics problems given a mathematical model of a multibody system. Finally, some examples of computational packages based on the novel methodology, along with some case studies, are presented, highlighting the contributions that can be achieved by using the proposed methodology.

Avaliação do erro estático da ferramenta de uma máquina fresadora com arquitetura paralela.

Os mecanismos amplamente utilizados em aplicações industriais são de tipo serial, porém há algum tempo vem sendo desenvolvidos estudos sobre as vantagens que os mecanismos de arquitetura paralela oferecem em contraposição com os seriais. Rigidez, precisão, altas frequências naturais e velocidade são algumas características que os mecanismos paralelos atribuem a máquinas já consolidadas na indústria, destinadas principalmente nas operações de manipulação (pick and place). Nesse sentido, é relevante o estudo sobre a funcionalidade em outros tipos de operação como a usinagem e, particularmente o fresamento. Para isto, devem-se ainda explorar e desenvolver as capacidades dos mecanismos paralelos em relação à rigidez e à precisão nas operações mencionadas. Foi desenvolvido previamente o projeto e montagem do protótipo de uma máquina fresadora de arquitetura paralela. Também aracterizado pela redundância na atuação para o posicionamento da ferramenta. Com este intuito, pretende-se no trabalho atual, avaliar o erro estático de posicionamento da ferramenta por métodos experimentais, quantificar os deslocamentos, realizar um mapeamento experimental em diversas configurações dos membros. Por outro lado, pretende-se adaptar um modelo numérico simplificado que possa prever as deformações elásticas em diversas configurações, que contemple o efeito de juntas lineares flexíveis e que de alguma forma ajude a identificar as principais fontes de erro. Para tal, foram elaboradas rotinas de programação que através da cinemática inversa e o uso do método dos elementos finitos tentem prever o que de fato acontece nos experimentos. Foi proposta também uma implementação alternativa para o controle do mecanismo através de um software CNC e a conversão de coordenadas cartesianas em coordenadas dos atuadores, isto ajudaria na geração do código G. Finalmente, foram elaboradas algumas trajetórias que tentam avaliar a exatidão e repetitividade do mecanismo além de descrever outras trajetórias livres.

Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Java software platform for the development of advanced robotic virtual laboratories

This article presents an interactive Java software platform which enables any user to easily create advanced virtual laboratories (VLs) for Robotics. This novel tool provides both support for developing applications with full 3D interactive graphical interface and a complete functional framework for modelling and simulation of arbitrary serial-link manipulators. In addition, its software architecture contains a high number of functionalities included as high-level tools, with the advantage of allowing any user to easily develop complex interactive robotic simulations with a minimum of programming. In order to show the features of the platform, the article describes, step-by-step, the implementation methodology of a complete VL for Robotics education using the presented approach. Finally, some educational results about the experience of implementing this approach are reported.

Tackling redundancy in text summarization through different levels of language analysis

One of the main challenges to be addressed in text summarization concerns the detection of redundant information. This paper presents a detailed analysis of three methods for achieving such goal. The proposed methods rely on different levels of language analysis: lexical, syntactic and semantic. Moreover, they are also analyzed for detecting relevance in texts. The results show that semantic-based methods are able to detect up to 90% of redundancy, compared to only the 19% of lexical-based ones. This is also reflected in the quality of the generated summaries, obtaining better summaries when employing syntactic- or semantic-based approaches to remove redundancy.