Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb

This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed

The Putative “Switch 2” Domain of the Ras-related GTPase, Rab1B, Plays an Essential Role in the Interaction with Rab Escort Protein

Posttranslational modification of Rab proteins by geranylgeranyltransferase type II requires that they first bind to Rab escort protein (REP). Following prenylation, REP is postulated to accompany the modified GTPase to its specific target membrane. REP binds preferentially to Rab proteins that are in the GDP state, but the specific structural domains involved in this interaction have not been defined. In p21 Ras, the α2 helix of the Switch 2 domain undergoes a major conformational change upon GTP hydrolysis. Therefore, we hypothesized that the corresponding region in Rab1B might play a key role in the interaction with REP. Introduction of amino acid substitutions (I73N, Y78D, and A81D) into the putative α2 helix of Myc-tagged Rab1B prevented prenylation of the recombinant protein in cell-free assays, whereas mutations in the α3 and α4 helices did not. Additionally, upon transient expression in transfected HEK-293 cells, the Myc-Rab1B α2 helix mutants were not efficiently prenylated as determined by incorporation of [3H]mevalonate. Metabolic labeling studies using [32P]orthophosphate indicated that the poor prenylation of the Rab1B α2 helix mutants was not directly correlated with major disruptions in guanine nucleotide binding or intrinsic GTPase activity. Finally, gel filtration analysis of cytosolic fractions from 293 cells that were coexpressing T7 epitope-tagged REP with various Myc-Rab1B constructs revealed that mutations in the α2 helix of Rab1B prevented the association of nascent (i.e., nonprenylated) Rab1B with REP. These data indicate that the Switch 2 domain of Rab1B is a key structural determinant for REP interaction and that nucleotide-dependent conformational changes in this region are largely responsible for the selective interaction of REP with the GDP-bound form of the Rab substrate.

Letter from David Phips to Colonel Jonathan Snelling regarding escort of Governor Hutchinson to Harvard Commencement, 1773 July 12

David Phips wrote this letter to Colonel Jonathan Snelling from Cambridge on July 12, 1773, to inform him that Massachusetts Governor Thomas Hutchinson had requested the accompaniment of guards during his travels from Milton to Cambridge on July 21, 1773, to attend the Harvard College Commencement exercises. In the letter, Phips informs Snelling that he has issued warrants to the guards, instructing them to congregate at the Sign of the Grey Hound in Roxbury, Massachusetts at eight o'clock on the morning of the 21st. He explains that twelve other men will march, under the command of Sub-Brigadier Sumner, to the Governor's home in Milton to escort him to Roxbury, where the larger party will assemble. These heightened security measures were certainly prompted by political unrest, although this is not stated explicitly in the letter. Phips concludes by saying: "I shall order a dinner for us at Bradish's, where I hope to have the pleasure to dine with you."

Ford Escort GL baseline weight data. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

A 1987 Ford Escort into a 50% left offset barrier in support of CRASH3 damage algorithm reformulation. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Dynamic testing for side crush MRB-to-car side impact test of a 90 degree moving rigid barrier to a 1983 Ford Escort: test #1 - 16.1 mph, test #2 - 32.2 mph. Test report.

Mode of access: Internet.

Vehicle barrier impact testing with Hybrid III dummies in a 1987 Ford Escort 5-door hatchback. Test report.

Mode of access: Internet.

Final report of frontal barrier impacts of a 1985 Ford Escort 3-door hatchback in support of CRASH III damage algorithm reformation.

Mode of access: Internet.

The Illinois Spent Nuclear Fuel and High-Level Waste Inspection and Escort Program /

"5/99"--Colophon.

Technical escort information on chemical agents and decontaminating procedures.

"January 1971."

Human Mitochondrial Hsp70 (mortalin): Shedding Light On Atpase Activity, Interaction With Adenosine Nucleotides, Solution Structure And Domain Organization.

The human mitochondrial Hsp70, also called mortalin, is of considerable importance for mitochondria biogenesis and the correct functioning of the cell machinery. In the mitochondrial matrix, mortalin acts in the importing and folding process of nucleus-encoded proteins. The in vivo deregulation of mortalin expression and/or function has been correlated with age-related diseases and certain cancers due to its interaction with the p53 protein. In spite of its critical biological roles, structural and functional studies on mortalin are limited by its insoluble recombinant production. This study provides the first report of the production of folded and soluble recombinant mortalin when co-expressed with the human Hsp70-escort protein 1, but it is still likely prone to self-association. The monomeric fraction of mortalin presented a slightly elongated shape and basal ATPase activity that is higher than that of its cytoplasmic counterpart Hsp70-1A, suggesting that it was obtained in the functional state. Through small angle X-ray scattering, we assessed the low-resolution structural model of monomeric mortalin that is characterized by an elongated shape. This model adequately accommodated high resolution structures of Hsp70 domains indicating its quality. We also observed that mortalin interacts with adenosine nucleotides with high affinity. Thermally induced unfolding experiments indicated that mortalin is formed by at least two domains and that the transition is sensitive to the presence of adenosine nucleotides and that this process is dependent on the presence of Mg2+ ions. Interestingly, the thermal-induced unfolding assays of mortalin suggested the presence of an aggregation/association event, which was not observed for human Hsp70-1A, and this finding may explain its natural tendency for in vivo aggregation. Our study may contribute to the structural understanding of mortalin as well as to contribute for its recombinant production for antitumor compound screenings.

Desenvolvimento de um plano de manutenção preventiva na rede de distribuição de água de Lisboa

O presente relatório de estágio enquadra-se no âmbito do trabalho final de Mestrado do curso de Engenharia Civil, área de especialização em Hidráulica, do Instituto Superior de Engenharia de Lisboa, e incide na temática dos sistemas de distribuição de água. O estágio decorreu na empresa EPAL – Empresa Portuguesa das Águas Livres, S.A., e teve como objecto o desenvolvimento de um plano de manutenção preventiva para a rede de distribuição de água de Lisboa. Devido à crescente complexidade dos sistemas de abastecimento de água e à grande dispersão territorial dos diversos órgãos integrados na rede, surge a necessidade de desenvolver um sistema que permita simplificar o planeamento e a gestão das intervenções de inspecção e manutenção preventiva dos órgãos. Para esse efeito, recorreu-se a um software SIG (Sistema de Informação Geográfica) para proceder à sectorização da rede de distribuição de água em pequenos grupos (Polígonos), constituídos por um número determinado de órgãos de manobra e segurança. Esta metodologia permite organizar as intervenções em pequenos grupos e optimizar as rotinas de Inspecção diárias. No decorrer do estágio efectuou-se ainda um levantamento dos procedimentos de inspecção e manutenção dos diversos órgãos integrados na rede de distribuição de água de Lisboa, quer por acompanhamento de actividades com as equipas de inspecção, quer por recolha de recomendações junto dos fabricantes dos órgãos. Este levantamento permitiu elaborar fichas de procedimento para as actividades de inspecção e manutenção preventiva dos diversos órgãos, afim de serem usadas como referência pelos trabalhadores.