The intelligent design of evolution

Research on humanoid robots for use in servicing tasks, e.g. fetching and delivery, attracts steadily more interest. With Rollin’ Justin a mobile robotic system and research platform is presented that allows the implementation and demonstration of sophisticated control algorithms and dexterous manipulation. Important problems of service robotics such as mobile manipulation and strategies for using the increased workspace and redundancy in manipulation task can be studied in detail. This paper gives an overview of the design considerations for a mobile platform and their realizations to transform the formerly table-mounted humanoid upper body system Justin into Rollin’ Justin, a fully self-sustaining mobile research platform

Geodesic voronoi diagrams on parametric surfaces

Abstract In this paper we will extend the concept of Voronoi diagrams to parameterized surfuces where distance between two points is defined as infimum over the lengths of surface paths connecting these points. We will present a method to compute Voronoi diagrams on these surfuces

Real-time determination of intracellular oxygen in bacteria using a genetically encoded FRET-based biosensor

<p>Abstract</p> <p>Background</p> <p>Molecular oxygen (O₂) is one of the key metabolites of all obligate and facultative aerobic pro- and eukaryotes. It plays a fundamental role in energy homeostasis whereas oxygen deprivation, in turn, broadly affects various physiological and pathophysiological processes. Therefore, real-time monitoring of cellular oxygen levels is basically a prerequisite for the analysis of hypoxia-induced processes in living cells and tissues.</p> <p>Results</p> <p>We developed a genetically encoded Förster resonance energy transfer (FRET)-based biosensor allowing the observation of changing molecular oxygen concentrations inside living cells. This biosensor named FluBO (fluorescent protein-based biosensor for oxygen) consists of the yellow fluorescent protein (YFP) that is sensitive towards oxygen depletion and the hypoxia-tolerant flavin-binding fluorescent protein (FbFP). Since O₂is essential for the formation of the YFP chromophore, efficient FRET from the FbFP donor domain to the YFP acceptor domain only occurs in the presence but not in the absence of oxygen. The oxygen biosensor was used for continuous real-time monitoring of temporal changes of O₂levels in the cytoplasm of <it>Escherichia coli </it>cells during batch cultivation.</p> <p>Conclusions</p> <p>FluBO represents a unique FRET-based oxygen biosensor which allows the non-invasive ratiometric readout of cellular oxygen. Thus, FluBO can serve as a novel and powerful probe for investigating the occurrence of hypoxia and its effects on a variety of (patho)physiological processes in living cells.</p