Limpet II: A Modular, Untethered Soft Robot

The ability to navigate complex unstructured environments and carry out inspection tasks requires robots to be capable of climbing inclined surfaces and to be equipped with a sensor payload. These features are desirable for robots that are used to inspect and monitor offshore energy platforms. Existing climbing robots mostly use rigid actuators, and robots that use soft actuators are not fully untethered yet. Another major problem with current climbing robots is that they are not built in a modular fashion, which makes it harder to adapt the system to new tasks, to repair the system, and to replace and reconfigure modules. This work presents a 450 g and a 250 × 250 × 140 mm modular, untethered hybrid hard/soft robot—Limpet II. The Limpet II uses a hybrid electromagnetic module as its core module to allow adhesion and locomotion capabilities. The adhesion capability is based on negative pressure adhesion utilizing suction cups. The locomotion capability is based on slip-stick locomotion. The Limpet II also has a sensor payload with nine different sensing modalities, which can be used to inspect and monitor offshore structures and the conditions surrounding them. Since the Limpet II is designed as a modular system, the modules can be reconfigured to achieve multiple tasks. To demonstrate its potential for inspection of offshore platforms, we show that the Limpet II is capable of responding to different sensory inputs, repositioning itself within its environment, adhering to structures made of different materials, and climbing inclined surfaces

Capability by Stacking: The Current Design Heuristic for Soft Robots

Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in these systems is a one-to-one mapping of controller outputs to actuators. In this work, we define functional blocks as the physical implementation of some discrete behaviors, which are presented as a decomposition of the behavior of the soft robot. We also use the term ‘stacking’ as the ability to combine functional blocks to create a system that is more complex and has greater capability than the sum of its parts. By stacking functional blocks a system designer can increase the range of behaviors and the overall capability of the system. As the community continues to increase the capabilities of soft systems—by stacking more and more functional blocks—we will encounter a practical limit with the number of parallelized control lines. In this paper, we review 20 soft systems reported in the literature and we observe this trend of one-to-one mapping of control outputs to functional blocks. We also observe that stacking functional blocks results in systems that are increasingly capable of a diverse range of complex motions and behaviors, leading ultimately to systems that are capable of performing useful tasks. The design heuristic that we observe is one of increased capability by stacking simple units—a classic engineering approach. As we move towards more capability in soft robotic systems, and begin to reach practical limits in control, we predict that we will require increased amounts of autonomy in the system. The field of soft robotics is in its infancy, and as we move towards realizing the potential of this technology, we will need to develop design tools and control paradigms that allow us to handle the complexity in these stacked, non-linear systems

Antiplasmodial and trypanocidal activity of violacein and deoxyviolacein produced from synthetic operons.

BACKGROUND: Violacein is a deep violet compound that is produced by a number of bacterial species. It is synthesized from tryptophan by a pathway that involves the sequential action of 5 different enzymes (encoded by genes vioA to vioE). Violacein has antibacterial, antiparasitic, and antiviral activities, and also has the potential of inducing apoptosis in certain cancer cells. RESULTS: Here, we describe the construction of a series of plasmids harboring the complete or partial violacein biosynthesis operon and their use to enable production of violacein and deoxyviolacein in E.coli. We performed in vitro assays to determine the biological activity of these compounds against Plasmodium, Trypanosoma, and mammalian cells. We found that, while deoxyviolacein has a lower activity against parasites than violacein, its toxicity to mammalian cells is insignificant compared to that of violacein. CONCLUSIONS: We constructed E. coli strains capable of producing biologically active violacein and related compounds, and propose that deoxyviolacein might be a useful starting compound for the development of antiparasite drugs

Allosteric modulation of AURKA kinase activity by a small-molecule inhibitor of its protein-protein interaction with TPX2.

The essential mitotic kinase Aurora A (AURKA) is controlled during cell cycle progression via two distinct mechanisms. Following activation loop autophosphorylation early in mitosis when it localizes to centrosomes, AURKA is allosterically activated on the mitotic spindle via binding to the microtubule-associated protein, TPX2. Here, we report the discovery of AurkinA, a novel chemical inhibitor of the AURKA-TPX2 interaction, which acts via an unexpected structural mechanism to inhibit AURKA activity and mitotic localization. In crystal structures, AurkinA binds to a hydrophobic pocket (the 'Y pocket') that normally accommodates a conserved Tyr-Ser-Tyr motif from TPX2, blocking the AURKA-TPX2 interaction. AurkinA binding to the Y- pocket induces structural changes in AURKA that inhibit catalytic activity in vitro and in cells, without affecting ATP binding to the active site, defining a novel mechanism of allosteric inhibition. Consistent with this mechanism, cells exposed to AurkinA mislocalise AURKA from mitotic spindle microtubules. Thus, our findings provide fresh insight into the catalytic mechanism of AURKA, and identify a key structural feature as the target for a new class of dual-mode AURKA inhibitors, with implications for the chemical biology and selective therapeutic targeting of structurally related kinases.We are grateful for the access and support at beamlines i02, i03 and i04-1 at Diamond Light Source at Harwell, UK (proposal MX9007 and MX9537) and at beamline Proxima1 at the SOLEIL Synchrotron, Gif-sur-Yvette, France. We are grateful for access and support from the X-ray and biophysics facilities (Dept. of Biochemistry) and the screening/imaging facility (MRC Cancer Unit). M.J. was supported by a Cancer Research UK studentship held in the labs of DS and ARV, PS and MR by a Wellcome Trust Strategic Award to ARV and MH, and DJH, BH, AJN and GM by grants from the UK Medical Research Council to ARV.This is the final version of the article. It first appeared from Nature Publishing Group via http://dx.doi.org/10.1038/srep2852

Discovery of a small-molecule binder of the oncoprotein gankyrin that modulates gankyrin activity in the cell.

Gankyrin is an ankyrin-repeat oncoprotein whose overexpression has been implicated in the development of many cancer types. Elevated gankyrin levels are linked to aberrant cellular events including enhanced degradation of tumour suppressor protein p53, and inhibition of gankyrin activity has therefore been identified as an attractive anticancer strategy. Gankyrin interacts with several partner proteins, and a number of these protein-protein interactions (PPIs) are of relevance to cancer. Thus, molecules that bind the PPI interface of gankyrin and interrupt these interactions are of considerable interest. Herein, we report the discovery of a small molecule termed cjoc42 that is capable of binding to gankyrin. Cell-based experiments demonstrate that cjoc42 can inhibit gankyrin activity in a dose-dependent manner: cjoc42 prevents the decrease in p53 protein levels normally associated with high amounts of gankyrin, and it restores p53-dependent transcription and sensitivity to DNA damage. The results represent the first evidence that gankyrin is a "druggable" target with small molecules.The work was supported by a grant from the Development Gap Fund (MRC Technology), a research grant from the Isaac Newton Trust, Cambridge and from the CORE charity. LSI acknowledges the support of a Senior Fellowship from the Medical Research Foundation. TR holds a Royal Society University Research Fellowship. The research leading to these results has received funding from the European Research Council under the European Union’s Seventh Framework Programme (FP7/2007-2013)/ ERC grant agreement n° [279337/DOS]

Computationally-guided optimization of small-molecule inhibitors of the Aurora A kinase-TPX2 protein-protein interaction.

Free energy perturbation theory, in combination with enhanced sampling of protein-ligand binding modes, is evaluated in the context of fragment-based drug design, and used to design two new small-molecule inhibitors of the Aurora A kinase-TPX2 protein-protein interaction

Virtual worlds in Australian and New Zealand higher education: remembering the past, understanding the present and imagining the future

3D virtual reality, including the current generation of multi-user virtual worlds, has had a long history of use in education and training, and it experienced a surge of renewed interest with the advent of Second Life in 2003. What followed shortly after were several years marked by considerable hype around the use of virtual worlds for teaching, learning and research in higher education. For the moment, uptake of the technology seems to have plateaued, with academics either maintaining the status quo and continuing to use virtual worlds as they have previously done or choosing to opt out altogether. This paper presents a brief review of the use of virtual worlds in the Australian and New Zealand higher education sector in the past and reports on its use in the sector at the present time, based on input from members of the Australian and New Zealand Virtual Worlds Working Group. It then adopts a forward-looking perspective amid the current climate of uncertainty, musing on future directions and offering suggestions for potential new applications in light of recent technological developments and innovations in the area

Determining molecular orientation via single molecule SERS in a plasmonic nano-gap

In this work, plasmonic nano-gaps consisting of a silver nanoparticle coupled to an extended silver film have been fully optimized for single molecule Surface-Enhanced Raman Scattering (SERS) spectroscopy. The SERS signal was found to be strongly dependent on the particle size and the molecule orientation with respect to the field inside the nano-gap. Using Finite Difference Time Domain (FDTD) simulations to complement the experimental measurements, the complex interplay between the excitation enhancement and the emission enhancement of the system as a function of particle size were highlighted. Additionally, in conjunction with Density Functional Theory (DFT), the well-defined field direction in the nano-gap enables to recover the orientation of individual molecules