Model-less visual servoing using modified simplex optimization

This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated, and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in real time in order to minimize the objective function. The objective function includes the quadratic error between the current and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also used near convergence. We successfully validated this method with simulations under the graphic library OpenGL. This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005     

New scheme for calculation of annular dark-field STEM image including both elastically diffracted and TDS waves

A new scheme of calculation of high-angle annular dark-field STEM image, capable of including both elastically diffracted and thermal diffuse scattering waves, has been presented by a combination of Pennycook's and Nakamura's methods. The new scheme has been demonstrated for image simulations of Si(011) as functions of thickness, defocus values and detector angles. In the present method, the TDS electron intensities are treated in the same way as in Pennycook's method, having a clear physical picture of its origin and reflecting the atom configuration in the systems. For the case of Si(011), it has been confirmed that at the detector angle of 60 to 160 mrad, which is usually applied, the image becomes highly incoherent, and even the image formed only from SOLZ beams becomes incoherent at the detector angle. At a low detector angle, however, the image has coherent features indicating the necessity of a simulation for individual systems.     

Albumin stabilizes (–)‐epigallocatechin gallate in human serum: Binding capacity and antioxidant property

(–)‐Epigallocatechin gallate (EGCg) is the major component of green tea and is known to show strong biological activity, although it can be easily oxidized under physiological conditions. In this study, we indicate that EGCg is stable in human serum and that human serum albumin (HSA) stabilizes EGCg under aerobic condition. Although EGCg is usually decomposed within 1 h in aqueous solution at neutral pH, EGCg in serum and phosphate buffer (pH 7.4) containing HSA was stable over 1 h, even at neutral and slightly alkaline pH. Under these conditions, EGCg binds to HSA non‐covalently. The sulfhydryl group acts as an antioxidant for EGCg oxidation. Incubation of EGCg with HSA is accompanied by the oxidation of a free sulfhydryl group in HSA. These results suggest that the antioxidant property and the binding capacity of HSA contribute to the stabilization of EGCg in human serum.     

Differential Effects of Fkbp4 and Fkbp5 on Regulation of the Proopiomelanocortin Gene in Murine AtT-20 Corticotroph Cells

The hypothalamic-pituitary-adrenal axis is stimulated in response to stress. When activated, it is suppressed by the negative feedback effect of glucocorticoids. Glucocorticoids directly inhibit proopiomelanocortin (Pomc) gene expression in the pituitary. Glucocorticoid signaling is mediated via glucocorticoid receptors, 11β-hydroxysteroid dehydrogenases, and the FK506-binding immunophilins, Fkbp4 and Fkbp5. Fkbp4 and Fkbp5 differentially regulate dynein interaction and nuclear translocation of the glucocorticoid receptor, resulting in modulation of the glucocorticoid action. Here, we explored the regulation of Fkbp4 and Fkbp5 genes and their proteins with dexamethasone, a major synthetic glucocorticoid drug, in murine AtT-20 corticotroph cells. To elucidate further roles of Fkbp4 and Fkbp5, we examined their effects on Pomc mRNA levels in corticotroph cells. Dexamethasone decreased Pomc mRNA levels as well as Fkpb4 mRNA levels in mouse corticotroph cells. Dexamethasone tended to decrease Fkbp4 protein levels, while it increased Fkpb5 mRNA and its protein levels. The dexamethasone-induced decreases in Pomc mRNA levels were partially canceled by Fkbp4 knockdown. Alternatively, Pomc mRNA levels were further decreased by Fkbp5 knockdown. Thus, Fkbp4 contributes to the negative feedback of glucocorticoids, and Fkbp5 reduces the efficiency of the glucocorticoid effect on Pomc gene expression in pituitary corticotroph cells.     

Adsorption of bovine serum albumin to a polymer brush prepared by atom-transfer radical polymerization in a porous inorganic membrane

Protein adsorption was performed by a polymer brush prepared by atom-transfer radical polymerization (ATRP) to a porous inorganic membrane. The porous inorganic membrane, Shirasu Porous Glass made from silica, was modified with a halogen-containing compound to bind the active species for the polymerization. Glycidyl methacrylate was polymerized from the halogen compound by ATRP for a prescribed time, and subsequently chemically modified. The progression of the chemical modification allowed the membrane to lower the phosphate-buffer flux of the porous membrane due to the attachment of the polymer brush. Bovine serum albumin (BSA), as a model protein, was adsorbed at 12 mg per gram of the membrane in permeating BSA solution through the polymer-brush-attached porous membrane.     

Transmission electron microscopy study on the superstructure and the precipitation of γ′-Fe4N in initially homogeneous ɛ-iron nitride powders

Annealed and quenched ɛ-Fe_2-3N powders with an initially homogeneous composition of Fe₃N_1.0 were studied by transmission electron microscopy (TEM). TEM specimens were successfully prepared from the powder using a sandwiching technique. The superstructure in ɛ-powders was identified as ɛ′-Fe₃N type (space group P6₃22), and no other type of superstructure was observed. γ′-Fe₄N nitride precipitated from ɛ powders as individual grains during the annealing process, which is different from the typical fine lamellar structure observed in bulk iron-nitride samples. The observed orientation relationships between γ′ and ɛ grains are also different from that reported in the lamellar structure of bulk iron-nitride samples. This suggests that in the powder investigated by us there is no one specific orientation of the precipitated γ′ grains with respect to the parent ɛ grains.     

Xyloglucan endotransglycosylation in suspension-cultured poplar cells

Xyloglucan endotransglycosylase activity was identified and defined by transfer of a part of xyloglucan to reduced xyloglucan heptasaccharide ([3H]XXXGol) in an enzyme preparations from suspension-cultured poplar cells. Although the activity was distributed in buffer-soluble and buffer-insoluble fractions associated with cells and in the extracellular fraction, it was mostly recovered in the buffer-insoluble fraction, suggesting that the enzyme was bound to the cell wall. The affinity for acceptor XXXGol was increased at a higher concentration of donor xyloglucan with a constant Vmax. The Vmax for donor xyloglucan was increased at a higher concentration of the oligosaccharide without any change in affinity. These kinetic data suggest that the acceptor acts by combining with the enzyme independently of the donor. The velocity of the reaction decreased gradually as the heptasaccharide units was increased from two to four, suggesting that the xyloglucan endotransglycosylase reaction caused donor xyloglucan substantially to decrease in molecular size. The activity in buffer-soluble fraction was increased by ABA in auxin-starved cells, when cultured in MS medium containing various plant hormones. Nevertheless, the activity increased markedly at the exponential growth and decreased immediately at the stationary phase of cells in the presence of 2,4-D. The activity of xyloglucan endotransglycosylase is developmentally regulated during the growth but is not directly induced by plant hormones.