Design and Analysis of Remote Center of Compliance Structures

Remote center‐of‐compliance devices were developed to facilitate insertion for assembly operations. An analysis using screw theory yields a more accurate model to better characterize the interesting properties of remote compliance. For design purposes, the remote center location and stiffnesses are presented as nondimensional ratios that are only functions of geometrical properties and Poisson's ratio. Important design results are (i) the high sensitivity of the center location and (ii) the inverse relationship between linear and angular lateral stiffnesses. © 2003 Wiley Periodicals, Inc.     

A Drosophila homolog of bovine smg p25a GDP dissociation inhibitor undergoes a shift in isoelectric point in the developmental mutant quartet

The Drosophila developmental mutation quartet causes late larval lethality and small imaginal discs and, when expressed in the adult female, has a lethal effect on early embryogenesis. These developmental defects are associated with mitotic defects, which include a low mitotic index in larval brains and incomplete separation of chromosomes in mitosis in the early embryo. quartet mutations also have a biochemical effect, i.e., a basic shift in isoelectric point in three proteins. We have purified one of these proteins, raised an antibody to it, and isolated and sequenced its cDNA. At the amino acid level, the sequence shows 68% identity and 81% similarity to bovine smg p25a GDP dissociation inhibitor (GDI), a regulator of ras-like small GTPases of the rab/SEC4/YPT1 subfamily. The correlation between a basic shift in isoelectric point in Drosophila GDI in quartet mutant tissue and the quartet developmental phenotype raises the possibility that a posttranslational modification of GDI is necessary for its function and that GDI function is essential for development.     

A comparison of the dissolution of model compounds and the kerogen of Green River oil shale by oxidation with perchloric acid — A model for the kerogen of Green River oil shale

A stepwise degradation of a kerogen concentrate of Green River oil shale was effected by oxidation with perchloric acid of varying boiling point and concentration. Dissolution of the kerogen concentrate occurred between 160 and 170°C. Several model compounds were also oxidized with perchloric acid. The model compounds were polyethylene, graphite, nylon, and polyethylene oxide. The results indicated that the kerogen was similar to polyethylene oxide. The results of this study and previous work were used to present a model for the structure of the kerogen of Green River oil shale.