On the positioning error of a 2-DOF spherical parallel wrist with flexible links and joints – an FEM approach

Abstract. This paper deals with an elasto-static analysis of a 2-DOF (degrees of freedom) spherical parallel wrist where the links and the joints are considered flexible. Theoretically, the mobile platform of the wrist rotates around a fixed point which is the intersection of all the joint axes. However, if the flexibility of the limbs is taken into account, while the base platform (BP) and the mobile platform (MP) are assumed rigid, two centers can be identified: one for the BP and the other for the MP. In general such points are not coincident; as a result, the positioning of the MP is affected by inaccuracies, which can be evaluated in terms of displacement and orientation errors. A finite-element method (FEM) approach is used to analyze the problem in a series of configurations of the wrist; the results are elaborated in order to obtain continuous maps of the errors over the workspace of the machine

Mitochondrial transport and metabolism of the vitamin B-derived cofactors thiamine pyrophosphate, coenzyme A, FAD and NAD+, and related diseases: A review

Multiple mitochondrial matrix enzymes playing key roles in metabolism require cofactors for their action. Due to the high impermeability of the mitochondrial inner membrane, these cofactors need to be synthesized within the mitochondria or be imported, themselves or one of their precursors, into the organelles. Transporters belonging to the protein family of mitochondrial carriers have been identified to transport the coenzymes: thiamine pyrophosphate, coenzyme A, FAD and NAD+, which are all structurally similar to nucleotides and derived from different B-vitamins. These mitochondrial cofactors bind more or less tightly to their enzymes and, after having been involved in a specific reaction step, are regenerated, spontaneously or by other enzymes, to return to their active form, ready for the next catalysis round. Disease-causing mutations in the mitochondrial cofactor carrier genes compromise not only the transport reaction but also the activity of all mitochondrial enzymes using that particular cofactor and the metabolic pathways in which the cofactor-dependent enzymes are involved. The mitochondrial transport, metabolism and diseases of the cofactors thiamine pyrophosphate, coenzyme A, FAD and NAD+ are the focus of this review

A new subfamily of fungal subtilases: structural and functional analysis of a Pleurotus ostreatus member

Pleurotus ostreatus produces several extracellular proteases which are believed to be involved in the regulation of the ligninolytic activities of this fungus. Recently, purification and characterization of the most abundant P. ostreatus extracellular protease (PoSl) have been reported. The sequence of the posl gene and of the corresponding cDNA has been determined, allowing the identification of its pre- and pro-sequences. A mature protein sequence has been verified by mass spectrometry mapping, the N-glycosylation sites have been identified and the glycosidic moieties characterized. Mature PoSl shows a cleaved peptide bond in the C-terminal region, which remains associated with the catalytic domain in a non-covalent complex. Reported results indicate that this enzyme is involved in the activation of other P. ostreatus secreted proteases, thus suggesting its leading role in cascade activation mechanisms. Analyses of the PoSl sequence by homology search resulted in the identification of a DNA sequence encoding a new protease, homologous to PoSl, in the Phanerochaete chrysosporium genome. A new subgroup of subtilisin-like proteases, belonging to the pyrolysin family, has been defined, which includes proteases from ascomycete and basidiomycete fungi

The relationship between charge distribution, charge packet formation and electroluminescence in XLPE under DC

Different reports describing the internal distribution of space charge in cross-linked polyethylene (XLPE) under DC field have been published recently. The most striking fact observed is the organization of the space charge into charge packets that cross the insulation. All models for charge packet formation imply that carrier recombination will occur. As the recombination region is potentially a luminescence one it is of interest to record the electroluminescence in this regime. This topic is addressed in this paper

Manipulability Optimization of a Rehabilitative Collaborative Robotic System

The use of collaborative robots (or cobots) in rehabilitation therapies is aimed at assisting and shortening the patient's recovery after neurological injuries. Cobots are inherently safe when interacting with humans and can be programmed in different working modalities based on the patient's needs and the level of the injury. This study presents a design optimization of a robotic system for upper limb rehabilitation based on the manipulability ellipsoid method. The human-robot system is modeled as a closed kinematic chain in which the human hand grasps a handle attached to the robot's end effector. The manipulability ellipsoids are determined for both the human and the robotic arm and compared by calculating an index that quantifies the alignment of the principal axes. The optimal position of the robot base with respect to the patient is identified by a first global optimization and by a further local refinement, seeking the best alignment of the manipulability ellipsoids in a series of points uniformly distributed within the shared workspace