Nature grasping by a cable-driven under-actuated anthropomorphic robotic hand

Human hand is the best sample for humanoid robotic hand and a nature grasping is the final target that most robotic hands are pursuing. Many prior researches had been done in virtual and real for simulation the human grasping. Unfortunately, there is no perfect solution to duplicate the nature grasping of human. The main difficulty comes from three points. 1. How to 3D modelling and fabricate the real hand. 2. How actuated the robotic hand as real hand. 3. How to grasp objects in different shapes like human hand. To deal with these three problems and further to provide a partial solution for duplicate human grasping, this paper introduces our method to solve these problems from robotic hand design, fabrication, actuation and grasping plan. Our modelling progress takes only around 12 minutes that include 10 minutes of 3D scanning of a real human hand and two minutes for changing the scanned model to an articulated model by running our algorithm. Our grasping plan is based on the sampled trajectory and easy to implement for grasping different objects. Followed these steps, a seven DOF robotic hand is created and tested in the experiments

Tandem Catalysis by Palladium Nanoclusters Encapsulated in Metal–Organic Frameworks

A bifunctional Zr-MOF catalyst containing palladium nanoclusters (NCs) has been developed. The formation of Pd NCs was confirmed by transmission electron microscopy (TEM) and extended X-ray absorption fine structure (EXAFS). Combining the oxidation activity of Pd NCs and the acetalization activity of the Lewis acid sites in UiO-66-NH2, this catalyst (Pd@UiO-66-NH2) exhibits excellent catalytic activity and selectivity in a one-pot tandem oxidation-acetalization reaction. This catalyst shows 99.9% selectivity to benzaldehyde ethylene acetal in the tandem reaction of benzyl alcohol and ethylene glycol at 99.9% conversion of benzyl alcohol. We also examined various substituted benzyl alcohols and found that alcohols with electron-donating groups showed better conversion and selectivity compared to those with electron-withdrawing groups. We further proved that there was no leaching of active catalytic species during the reaction and the catalyst can be recycled at least five times without significant deactivation

Rapidly Evolving R Genes in Diverse Grass Species Confer Resistance to Rice Blast Disease

We show that the genomes of maize, sorghum, and brachypodium contain genes that, when transformed into rice, confer resistance to rice blast disease. The genes are resistance genes (R genes) that encode proteins with nucleotide-binding site (NBS) and leucine-rich repeat (LRR) domains (NBS–LRR proteins). By using criteria associated with rapid molecular evolution, we identified three rapidly evolving R-gene families in these species as well as in rice, and transformed a randomly chosen subset of these genes into rice strains known to be sensitive to rice blast disease caused by the fungus Magnaporthe oryzae. The transformed strains were then tested for sensitivity or resistance to 12 diverse strains of M. oryzae. A total of 15 functional blast R genes were identified among 60 NBS–LRR genes cloned from maize, sorghum, and brachypodium; and 13 blast R genes were obtained from 20 NBS–LRR paralogs in rice. These results show that abundant blast R genes occur not only within species but also among species, and that the R genes in the same rapidly evolving gene family can exhibit an effector response that confers resistance to rapidly evolving fungal pathogens. Neither conventional evolutionary conservation nor conventional evolutionary convergence supplies a satisfactory explanation of our findings. We suggest a unique mechanism termed “constrained divergence,” in which R genes and pathogen effectors can follow only limited evolutionary pathways to increase fitness. Our results open avenues for R-gene identification that will help to elucidate R-gene vs. effector mechanisms and may yield new sources of durable pathogen resistance.Organismic and Evolutionary Biolog

Influence of Crohn’s disease related polymorphisms in innate immune function on ileal microbiome

We have previously identified NOD2 genotype and inflammatory bowel diseases (IBD) phenotype, as associated with shifts in the ileal microbiome (“dysbiosis”) in a patient cohort. Here we report an integrative analysis of an expanded number of Crohn's disease (CD) related genetic defects in innate immune function (NOD2, ATG16L1, IRGM, CARD9, XBP1, ORMDL3) and composition of the ileal microbiome by combining the initial patient cohort (Batch 1, 2005–2010, n = 165) with a second consecutive patient cohort (Batch 2, 2010–2012, n = 118). These combined patient cohorts were composed of three non-overlapping phenotypes: 1.) 106 ileal CD subjects undergoing initial ileocolic resection for diseased ileum, 2.) 88 IBD colitis subjects without ileal disease (predominantly ulcerative colitis but also Crohn’s colitis and indeterminate colitis, and 3.) 89 non-IBD subjects. Significant differences (FDR C. difficile infection, and NOD2 genotype on ileal dysbiosis in the expanded analysis. The relative abundance of the Proteobacteria phylum was positively associated with ileal CD and colitis phenotypes, but negatively associated with NOD2R genotype. Additional associations with ORMDL3 and XBP1 were detected at the phylum/subphylum level. IBD medications, such as immunomodulators and anti-TNFα agents, may have a beneficial effect on reversing dysbiosis associated with the IBD phenotype. Exploratory analysis comparing microbial composition of the disease unaffected region of the resected ileum between 27 ileal CD patients who subsequently developed endoscopic recurrence within 6–12 months versus 34 patients who did not, suggested that microbial biomarkers in the resected specimen helped stratify patients with respect to risk of post-surgical recurrence.</div

Hydroclimatic extremes contribute to asymmetric trends in ecosystem productivity loss

Gross primary production is the basis of global carbon uptake. Gross primary production losses are often related to hydroclimatic extremes such as droughts and heatwaves, but the trend of such losses driven by hydroclimatic extremes remains unclear. Using observationally-constrained and process-based model data from 1982-2016, we show that drought-heat events, drought-cold events, droughts and heatwaves are the dominant drivers of gross primary production loss. Losses associated with these drivers increase in northern midlatitude ecosystem but decrease in pantropical ecosystems, thereby contributing to around 70% of the variability in total gross primary production losses. These asymmetric trends are caused by an increase in the magnitude of gross primary production losses in northern midlatitudes and by a decrease in the frequency of gross primary production loss events in pantropical ecosystems. Our results suggest that the pantropics may have become less vulnerable to hydroclimatic variability over recent decades whereas gross primary production losses and hydroclimatic extremes in northern midlatitudes have become more closely entangled

Pt Nanoclusters Confined within Metal–Organic Framework Cavities for Chemoselective Cinnamaldehyde Hydrogenation

A highly selective and robust catalyst based on Pt nanoclusters (NCs) confined inside the cavities of an amino-functionalized Zr-terephthalate metal–organic framework (MOF), UiO-66-NH2 was developed. The Pt NCs are monodisperse and confined in the cavities of UiO-66-NH2 even at 10.7 wt % Pt loading. This confinement was further confirmed by comparing the catalytic performance of Pt NCs confined inside and supported on the external surface of the MOF in the hydrogenation of ethylene, 1-hexene, and 1,3-cyclooctadiene. The benefit of confining Pt NCs inside UiO-66-NH2 was also demonstrated by evaluating their performance in the chemoselective hydrogenation of cinnamaldehyde. We found that both high selectivity to cinnamyl alcohol and high conversion of cinnamaldehyde can be achieved using the MOF-confined Pt nanocluster catalyst, while we could not achieve high cinnamyl alcohol selectivity on Pt NCs supported on the external surface of the MOF. The catalyst can be recycled ten times without any loss in its activity and selectivity. To confirm the stability of the recycled catalysts, we conducted kinetic studies for the first 20 h of reaction during four recycle runs on the catalyst. Both the conversion and selectivity are almost overlapping for the four runs, which indicates the catalyst is very stable under the employed reaction conditions

Reconfiguration of the proteasome during chaperone-mediated assembly

The proteasomal ATPase ring, comprising Rpt1-Rpt6, associates with the heptameric α ring of the proteasome core particle (CP) in the mature proteasome, with the Rpt C-terminal tails inserting into pockets of the α ring1–4. Rpt ring assembly is mediated by four chaperones, each binding a distinct Rpt subunit5–10. We report that the base subassembly of the proteasome, which includes the Rpt ring, forms a high affinity complex with the CP. This complex is subject to active dissociation by the chaperones Hsm3, Nas6, and Rpn14. Chaperone-mediated dissociation was abrogated by a nonhydrolyzable ATP analog, indicating that chaperone action is coupled to nucleotide hydrolysis by the Rpt ring. Unexpectedly, synthetic Rpt tail peptides bound α pockets with poor specificity, except for Rpt6, which uniquely bound the α2/α3 pocket. Although the Rpt6 tail is not visualized within an α pocket in mature proteasomes2–4, it inserts into the α2/α3 pocket in the base-CP complex and is important for complex formation. Thus, the Rpt-CP interface is reconfigured when the lid complex joins the nascent proteasome to form the mature holoenzyme

Spontaneously formed porous and composite materials

In recent years, a number of routes to porous materials have been developed which do not involve the use of pre-formed templates or structure-directing agents. These routes are usually spontaneous, meaning they are thermodynamically downhill. Kinetic control, deriving from slow diffusion of certain species in the solid state, allows metastable porous morphologies rather than dense materials to be obtained. While the porous structures so formed are random, the average architectural features can be well-defined, and the porosity is usually highly interconnected. The routes are applicable to a broad range of functional inorganic materials. Consequently, the porous architectures have uses in energy transduction and storage, chemical sensing, catalysis, and photoelectrochemistry. This is in addition to more straightforward uses deriving from the pore structure, such as in filtration, as a structural material, or as a cell-growth scaffold. In this feature article, some of the methods for the creation of porous materials are described, including shape-conserving routes that lead to hierarchical macro/mesoporous architectures. In some of the preparations, the resulting mesopores are aligned locally with certain crystallographic directions. The coupling between morphology and crystallography provides a macroscopic handle on nanoscale structure. Extension of these routes to create biphasic composite materials are also described