A List of Household Objects for Robotic Retrieval Prioritized by People with ALS (Version 092008)

This technical report is designed to serve as a citable reference for the original prioritized object list that the Healthcare Robotics Lab at Georgia Tech released on its website in September of 2008. It is also expected to serve as the primary citable reference for the research associated with this list until the publication of a detailed, peer-reviewed paper. The original prioritized list of object classes resulted from a needs assessment involving 8 motor-impaired patients with amyotrophic lateral sclerosis (ALS) and targeted, in-person interviews of 15 motor-impaired ALS patients. All of these participants were drawn from the Emory ALS Center. The prioritized object list consists of 43 object classes ranked by how important the participants considered each class to be for retrieval by an assistive robot. We intend for this list to be used by researchers to inform the design and benchmarking of robotic systems, especially research related to autonomous mobile manipulation

Structural determination of archaeal UDP-N-acetylglucosamine 4-epimerase from Methanobrevibacter ruminantium M1 in complex with the bacterial cell wall intermediate UDP-N-acetylmuramic acid

The crystal structure of UDP-N-acetylglucosamine 4-epimerase (UDP-GlcNAc 4-epimerase; WbpP; EC 5.1.3.7), from the archaeal methanogen Methanobrevibacter ruminantium strain M1, was determined to a resolution of 1.65 Å. The structure, with a single monomer in the crystallographic asymmetric unit, contained a conserved N-terminal Rossmann fold for nucleotide binding and an active site positioned in the C-terminus. UDP-GlcNAc 4-epimerase is a member of the short-chain dehydrogenase/reductase superfamily, sharing sequence motifs and structural elements characteristic of this family of oxidoreductases and bacterial 4-epimerases. The protein was co-crystallized with coenzyme NADH and UDP-N-acetylmuramic acid, the latter an unintended inclusion and well known product of the bacterial enzyme MurB and a critical intermediate for bacterial cell wall synthesis. This is a non-native UDP sugar amongst archaea and was most likely incorporated from the Eschericha coli expression host during purification of the recombinant enzyme