Manipulation der Aktin-Hülle später Endosomen durch ektopisches Protein-Targeting und Etablierung einer in vivo-Hierarchie cytoplasmatischer Targeting-Signalstärken

Der Endocytoseweg in Dictyostelium verläuft über definierte endosomale Reifestadien. Dabei werden die reifenden Endosomen im letzten Stadium durch eine Schicht aus filamentösem Aktin umhüllt. Über die biologische Funktion dieser Aktin-Hülle ist derzeit wenig bekannt. Zum weiteren Erkenntnisgewinn sollten daher unterschiedliche Aktin-interagierende Proteine an die endosomale Aktin-Hülle dirigiert und die sich daraus ergebenden Folgen untersucht werden. Dabei wurde der in Drengk et al., 2003 beschriebene Ansatz aufgegriffen, in dem Proteine durch die Fusion an Vacuolin an die späte endosomale Membran transportiert wurden. Die endosomale Lokalisation von DAip1 bewirkte den vollständigen Verlust der endosomalen Aktin-Hülle, ohne dabei das restliche zelluläre Cytoskelett zu beeinträchtigen. Dabei wird die Depolymerisation vermutlich über die nachgewiesene Interaktion von DAip1 mit dem Aktin-depolymerisierenden Protein Cofilin bewirkt. Einhergehend damit trat eine Aggregation der betroffenen Kompartimente, eine Verzögerung des endocytotischen Transits, sowie eine verstärkte Retention lysosomaler Enzyme auf. Diese Ergebnisse ließen auf eine Funktion der endosomalen Aktin-Hülle als Fusionsinhibitor oder in der Regulation von Recycling-Prozessen an späten Endosomen schließen. Die Verlängerung der endosomalen Verweilzeit des den Arp2/3-Komplex negativ regulierenden Proteins Coronin bewirkte dagegen keine offensichtlichen Veränderungen in den betroffenen Zellen. Diese Beoachtung könnte ein Indiz dafür sein, dass nach der Ausbildung der Aktin-Hülle keine weiteren essentiellen Arp2/3-abhängigen mehr an der endosomalen Membran auftreten. Die endosomale Lokalisation des Aktin-Crosslinkers ABP34 induzierte ebenfalls keine Abweichungen vom Wildtyp-Verhalten. Hierbei besteht allerdings die Möglichkeit, dass die Aktivität des Proteins durch die bereits zuvor beschriebene Calcium-Sensitivität beeintächtigt vorliegt. Eine Verstärkung der endosomalen Hülle konnte trotz der Verwendung unterschiedlicher Ansätze nicht hervorgerufen werden. Offensichtlich wirkt die zusätzliche Expression zentraler Regulatoren der Aktin-Polymerisation in der Zelle cytotoxisch. Die Bindung von VASP an die endosomale Membran bewirkte in den Zellen die Ausbildung voluminöser, cytoplasmatischer „Aktin-Bälle“. Diese riefen in den betroffenen Zellen Defekte in unterschiedlichen Aktin-abhängigen Prozessen, wie der Phago- und Pinocytose, sowie der Cytokinese hervor. Dabei gehen die beobachteten Veränderungen vermutlich auf die nachgewiesene Störung im Gleichgewicht zwischen G- und F-Aktin zurück. Obwohl die Aktin-Bälle an der endosomalen Membran entstehen, weisen sie nach vollendeter Entstehung keine inneren oder äußeren Membranen mehr auf und nehmen nicht mehr aktiv am endocytotischen Geschehen teil. Die nähere Charakterisierung offenbarte große Ähnlichkeit zu den mit unterschiedlichen neurodegenerativen Erkrankungen assoziierten Hirano-Bodies. Über das beobachtbare Lokalisationsverhalten der unterschiedlichen im ersten Teil der Arbeit eingesetzten Vacuolin-Hybridproteine ließ sich die Stärke der Lokalisationsinformationen der fusionierten Aktin-interagierenden Proteine miteinander vergleichen. Dies wurde verwendet, um die einzelnen Proteine gemäß ihres Targeting-Potenzials hierarchisch anzuordnen. Im zweiten Teil der Arbeit wurden dieser Hierarchie die beiden cytoplasmatischen Targeting-Signale für Peroxisomen (PTS1) und den Zellkern (SV40-NLS) hinzugefügt. Der vorgenommene Vergleich dieser in vivo gewonnen Daten aus Dictyostelium mit unterschiedlichen in vitro-Bindungsstudien mit homologen Proteinen anderer Organismen zeigte eine erstaunlich gute Übereinstimmung. Diese Beobachtung lässt auf vergleichbare Targeting-Affinitäten innerhalb der Eukaryoten schließen und belegt, dass die zelluläre Lokalisation eines Proteins relativ sicher anhand der in ihm vorhandenen Bindungs-Affinitäten vorhergesagt werden kann. Durch die Kombination der in vivo- und in vitro-Daten war es auch ohne Kenntnis des Oligomerisierungsgrades und des Interaktionspartners erstmals möglich, die Bindungsstärke von Vacuolin an der endosomalen Membran auf einen definierten Bereich einzugrenzen.

Theory for Optical Absorption in Small Clusters: Dependence on Atomic Structure and Cluster Size

We present a theory which permits for the first time a detailed analysis of the dependence of the absorption spectrum on atomic structure and cluster size. Thus, we determine the development of the collective excitations in small clusters and show that their broadening depends sensitively on the tomic structure, in particular at the surface. Results for Hg_n^+ clusters show that the plasmon energy is close to its jellium value in the case of spherical-like structures, but is in general between w_p/ \wurzel{3} and w_p/ \wurzel{2} for compact clusters. A particular success of our theory is the identification of the excitations contributing to the absorption peaks.

Slave-boson approach to the size-dependent transition from van der Waals to covalent bonding in Hg_n clusters

We use a microscopic theory to describe the dynamics of the valence electrons in divalent-metal clusters. The theory is based on a many-body model Harniltonian H which takes into account, on the same electronic level, the van der Waals and the covalent bonding. In order to study the ground-state properties of H we have developed an extended slave-boson method. We have studied the bonding character and the degree of electronic delocalization in Hg_n clusters as a function of cluster size. Results show that, for increasing cluster size, an abrupt change occurs in the bond character from van der Waals to covalent bonding at a critical cluster size n_c ~ 10-20. This change also involves a transition from localized to delocalized valence electrons, as a consequence of the competition between both bonding mechanisms.

On CD-systems of stateless deterministic R-automata with window size one

We study cooperating distributed systems (CD-systems) of restarting automata that are very restricted: they are deterministic, they cannot rewrite, but only delete symbols, they restart immediately after performing a delete operation, they are stateless, and they have a read/write window of size 1 only, that is, these are stateless deterministic R(1)-automata. We study the expressive power of these systems by relating the class of languages that they accept by mode =1 computations to other well-studied language classes, showing in particular that this class only contains semi-linear languages, and that it includes all rational trace languages. In addition, we investigate the closure and non-closure properties of this class of languages and some of its algorithmic properties.

On Globally Deterministic CD-Systems of Stateless R-Automata with Window Size One

It is known that cooperating distributed systems (CD-systems) of stateless deterministic restarting automata with window size 1 accept a class of semi-linear languages that properly includes all rational trace languages. Although the component automata of such a CD-system are all deterministic, in general the CD-system itself is not, as in each of its computations, the initial component and the successor components are still chosen nondeterministically. Here we study CD-systems of stateless deterministic restarting automata with window size 1 that are themselves completely deterministic. In fact, we consider two such types of CD-systems, the strictly deterministic systems and the globally deterministic systems.

Large-Size AlGaN/GaN HEMT Large-Signal Electrothermal Characterization and Modeling for Wireless Digital Communications

The rapid growth in high data rate communication systems has introduced new high spectral efficient modulation techniques and standards such as LTE-A (long term evolution-advanced) for 4G (4th generation) systems. These techniques have provided a broader bandwidth but introduced high peak-to-average power ratio (PAR) problem at the high power amplifier (HPA) level of the communication system base transceiver station (BTS). To avoid spectral spreading due to high PAR, stringent requirement on linearity is needed which brings the HPA to operate at large back-off power at the expense of power efficiency. Consequently, high power devices are fundamental in HPAs for high linearity and efficiency. Recent development in wide bandgap power devices, in particular AlGaN/GaN HEMT, has offered higher power level with superior linearity-efficiency trade-off in microwaves communication. For cost-effective HPA design to production cycle, rigorous computer aided design (CAD) AlGaN/GaN HEMT models are essential to reflect real response with increasing power level and channel temperature. Therefore, large-size AlGaN/GaN HEMT large-signal electrothermal modeling procedure is proposed. The HEMT structure analysis, characterization, data processing, model extraction and model implementation phases have been covered in this thesis including trapping and self-heating dispersion accounting for nonlinear drain current collapse. The small-signal model is extracted using the 22-element modeling procedure developed in our department. The intrinsic large-signal model is deeply investigated in conjunction with linearity prediction. The accuracy of the nonlinear drain current has been enhanced through several issues such as trapping and self-heating characterization. Also, the HEMT structure thermal profile has been investigated and corresponding thermal resistance has been extracted through thermal simulation and chuck-controlled temperature pulsed I(V) and static DC measurements. Higher-order equivalent thermal model is extracted and implemented in the HEMT large-signal model to accurately estimate instantaneous channel temperature. Moreover, trapping and self-heating transients has been characterized through transient measurements. The obtained time constants are represented by equivalent sub-circuits and integrated in the nonlinear drain current implementation to account for complex communication signals dynamic prediction. The obtained verification of this table-based large-size large-signal electrothermal model implementation has illustrated high accuracy in terms of output power, gain, efficiency and nonlinearity prediction with respect to standard large-signal test signals.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

Embodiment and Manipulation Learning Process for a Humanoid Hand

Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their surroundings. This thesis explores the development of such primitive learning systems using an embodied light-weight hand with three fingers and a thumb. It is self-contained having four motors and 36 exteroceptor and proprioceptor sensors controlled by an on-palm microcontroller. Primitive manipulation is learned from sensory inputs using competitive learning, back-propagation algorithm and reinforcement learning strategies. This hand will be used for a humanoid being developed at the MIT Artificial Intelligence Laboratory.

Review of bio-particle manipulation using dielectrophoresis

During the last decade, large and costly instruments are being replaced by system based on microfluidic devices. Microfluidic devices hold the promise of combining a small analytical laboratory onto a chip-sized substrate to identify, immobilize, separate, and purify cells, bio-molecules, toxins, and other chemical and biological materials. Compared to conventional instruments, microfluidic devices would perform these tasks faster with higher sensitivity and efficiency, and greater affordability. Dielectrophoresis is one of the enabling technologies for these devices. It exploits the differences in particle dielectric properties to allow manipulation and characterization of particles suspended in a fluidic medium. Particles can be trapped or moved between regions of high or low electric fields due to the polarization effects in non-uniform electric fields. By varying the applied electric field frequency, the magnitude and direction of the dielectrophoretic force on the particle can be controlled. Dielectrophoresis has been successfully demonstrated in the separation, transportation, trapping, and sorting of various biological particles.

Grain size analyses in tin-lead glazes based on 2d-sections

A problem in the archaeometric classification of Catalan Renaissance pottery is the fact, that the clay supply of the pottery workshops was centrally organized by guilds, and therefore usually all potters of a single production centre produced chemically similar ceramics. However, analysing the glazes of the ware usually a large number of inclusions in the glaze is found, which reveal technological differences between single workshops. These inclusions have been used by the potters in order to opacify the transparent glaze and to achieve a white background for further decoration. In order to distinguish different technological preparation procedures of the single workshops, at a Scanning Electron Microscope the chemical composition of those inclusions as well as their size in the two-dimensional cut is recorded. Based on the latter, a frequency distribution of the apparent diameters is estimated for each sample and type of inclusion. Following an approach by S.D. Wicksell (1925), it is principally possible to transform the distributions of the apparent 2D-diameters back to those of the true three-dimensional bodies. The applicability of this approach and its practical problems are examined using different ways of kernel density estimation and Monte-Carlo tests of the methodology. Finally, it is tested in how far the obtained frequency distributions can be used to classify the pottery

Interactions between grain size and composition of sediments: two examples

Two contrasting case studies of sediment and detrital mineral composition are investigated in order to outline interactions between chemical composition and grain size. Modern glacial sediments exhibit a strong dependence of the two parameters due to the preferential enrichment of mafic minerals, especially biotite, in the fine-grained fractions. On the other hand, the composition of detrital heavy minerals (here: rutile) appears to be not systematically related to grain-size, but is strongly controlled by location, i.e. the petrology of the source rocks of detrital grains. This supports the use of rutile as a well-suited tracer mineral for provenance studies. The results further suggest that (i) interpretations derived from whole-rock sediment geochemistry should be flanked by grain-size observations, and (ii) a more sound statistical evaluation of these interactions require the development of new tailor-made statistical tools to deal with such so-called two-way compositions

A Log-linear model of grain size influence on the geochemistry of sediments

Sediment composition is mainly controlled by the nature of the source rock(s), and chemical (weathering) and physical processes (mechanical crushing, abrasion, hydrodynamic sorting) during alteration and transport. Although the factors controlling these processes are conceptually well understood, detailed quantification of compositional changes induced by a single process are rare, as are examples where the effects of several processes can be distinguished. The present study was designed to characterize the role of mechanical crushing and sorting in the absence of chemical weathering. Twenty sediment samples were taken from Alpine glaciers that erode almost pure granitoid lithologies. For each sample, 11 grain-size fractions from granules to clay (ø grades <-1 to >9) were separated, and each fraction was analysed for its chemical composition. The presence of clear steps in the box-plots of all parts (in adequate ilr and clr scales) against ø is assumed to be explained by typical crystal size ranges for the relevant mineral phases. These scatter plots and the biplot suggest a splitting of the full grain size range into three groups: coarser than ø=4 (comparatively rich in SiO2, Na2O, K2O, Al2O3, and dominated by “felsic” minerals like quartz and feldspar), finer than ø=8 (comparatively rich in TiO2, MnO, MgO, Fe2O3, mostly related to “mafic” sheet silicates like biotite and chlorite), and intermediate grains sizes (4≤ø <8; comparatively rich in P2O5 and CaO, related to apatite, some feldspar). To further test the absence of chemical weathering, the observed compositions were regressed against three explanatory variables: a trend on grain size in ø scale, a step function for ø≥4, and another for ø≥8. The original hypothesis was that the trend could be identified with weathering effects, whereas each step function would highlight those minerals with biggest characteristic size at its lower end. Results suggest that this assumption is reasonable for the step function, but that besides weathering some other factors (different mechanical behavior of minerals) have also an important contribution to the trend. Key words: sediment, geochemistry, grain size, regression, step function

Statistical treatment of grain-size curves and empirical distributions: densities as compositions?

The preceding two editions of CoDaWork included talks on the possible consideration of densities as infinite compositions: Egozcue and D´ıaz-Barrero (2003) extended the Euclidean structure of the simplex to a Hilbert space structure of the set of densities within a bounded interval, and van den Boogaart (2005) generalized this to the set of densities bounded by an arbitrary reference density. From the many variations of the Hilbert structures available, we work with three cases. For bounded variables, a basis derived from Legendre polynomials is used. For variables with a lower bound, we standardize them with respect to an exponential distribution and express their densities as coordinates in a basis derived from Laguerre polynomials. Finally, for unbounded variables, a normal distribution is used as reference, and coordinates are obtained with respect to a Hermite-polynomials-based basis. To get the coordinates, several approaches can be considered. A numerical accuracy problem occurs if one estimates the coordinates directly by using discretized scalar products. Thus we propose to use a weighted linear regression approach, where all k- order polynomials are used as predictand variables and weights are proportional to the reference density. Finally, for the case of 2-order Hermite polinomials (normal reference) and 1-order Laguerre polinomials (exponential), one can also derive the coordinates from their relationships to the classical mean and variance. Apart of these theoretical issues, this contribution focuses on the application of this theory to two main problems in sedimentary geology: the comparison of several grain size distributions, and the comparison among different rocks of the empirical distribution of a property measured on a batch of individual grains from the same rock or sediment, like their composition