Tracking and anti-sway control for boom cranes

This paper presents an anti-sway and tracking control for harbor mobile cranes. The control objective is the sway-free transportation of the crane's load taking the commands of the crane operator into account. Based on the mathematical model linearizing and stabilizing control laws for the slewing and luffing motion are derived using the input/output linearization approach. The operator's commands are smoothened online by a trajectory generator accounting for input and state constraints. The resulting optimal control problem is solved using the model predictive control approach. The efficiency of the control concept is illustrated with experiments on an industrial harbor mobile crane.     

Sorting of D-lactate dehydrogenase to the inner membrane of mitochondria. Analysis of topogenic signal and energetic requirements

D-Lactate dehydrogenase (D-LD) is located in the inner membrane of mitochondria. It spans the membrane once in an Nin-Cout orientation with the bulk of the protein residing as a folded domain in the intermembrane space. D-LD is synthesized as a precursor with an N-terminal cleavable presequence and is imported into the mitochondria in a Deltapsi-dependent, but mt-Hsp70-independent manner. Upon import in vitro D-LD folds in the intermembrane space to attain a conformation indistinguishable from endogenous D-LD. Sorting of D-LD to the inner membrane is directed by a composite topogenic signal consisting of the hydrophobic transmembrane segment and a cluster of charged amino acids C-terminal to it. We propose a model for the mode of operation of the sorting signal of D-LD. This model also accounts for the driving force of translocation across the outer membrane, in the apparent absence of mt-Hsp70-dependent assisted import and involves the folding of the D-LD in the intermembrane space.     

N-terminal hydrophobic sorting signals of preproteins confer mitochondrial hsp70 independence for import into mitochondria

The requirement of mitochondrial hsp70 (mt-hsp70) for the import of a series of preproteins containing hydrophobic sorting signals into isolated yeast mitochondria was investigated. Here we demonstrate that the presence of such a sorting signal in proximity to the N-terminal matrix-targeting sequence of a preprotein can secure a translocating polypeptide chain in the import channel in a manner that does not require mt-hsp70 activity. Trapping the translocating chain in this fashion leads to efficient processing by the mitochondrial processing peptidase and to complete translocation across the outer mitochondrial membrane into the intermembrane space. These mt-hsp70-independent effects appear to be exerted at the level of the inner membrane through an interaction of the hydrophobic core of the sorting signal with component(s) of the translocase of the inner membrane. Hydrophobic sorting signals of inner membrane proteins inserted into the membrane from the matrix, as well as those of intermembrane space proteins, are capable of causing this mt-hsp70-independent stabilization, demonstrating that this phenomenon is not unique to those preproteins normally sorted to the intermembrane space.     

Carrier protein import into mitochondria mediated by the intermembrane proteins Tim10/Mrs11 and Tim12/Mrs5

Import of nuclear-encoded precursor proteins into mitochondria and their subsequent sorting into mitochondrial subcompartments is mediated by translocase enzymes in the mitochondrial outer and inner membranes. Precursor proteins carrying amino-terminal targeting signals are translocated into the matrix by the integral inner membrane proteins Tim23 and Tim17 in cooperation with Tim44 and mitochondrial Hsp70. We describe here the discovery of a new pathway for the transport of members of the mitochondrial carrier family and other inner membrane proteins that contain internal targeting signals. Two related proteins in the intermembrane space, Tim10/Mrs11 and Tim12/Mrs5, interact sequentially with these precursors and facilitate their translocation across the outer membrane, irrespective of the membrane potential. Tim10 and Tim12 are found in a complex with Tim22, which takes over the precursor and mediates its membrane-potential-dependent insertion into the inner membrane. This interaction of Tim10 and Tim12 with the precursors depends on the presence of divalent metal ions. Both proteins contain a zinc-finger-like motif with four cysteines and bind equimolar amounts of zinc ions.     

Integration von Systemen für Monitoring, Diagnose und zustandsorientierte Instandhaltung in thermischen Kraftwerken

Increasing competition in the power market is causing power plant managers to cut their operation and maintenance cost. The integration of currently available monitoring and diagnosis systems with innovative technologies, like, e.g., in ABB Power Plant Control’s OPTIMAX® line of products, permit to achieve and maintain the low-est operating cost possible.     

Perceptions of childhood relationships with mother and father: Daily emotional and stressor experiences in adulthood.

Adults who report having had high-quality relationships with their parents during childhood have better overall mental health and are at decreased risk for mental disorders compared with those who report low parental relationship quality. Researchers have predominantly focused on the relationship with the mother, oftentimes excluding the unique role that fathers may play in the long-term development of their offspring. The current study examined the unique associations of recalled childhood experiences of mother–child and father–child relationship quality with daily emotional experiences and stress processes in adulthood. Men and women (N = 912, ages 25–74) retrospectively reported the quality of their childhood relationships with their mother and father. Later, they reported their daily psychological distress and stressor exposure every night over 8 consecutive evenings. Results indicate that mother–child relationship quality was related to lower levels of daily psychological distress. The quality of both mother–child and father–child relationships was related to stressor exposure, but only father–son relationship quality was related to lower levels of emotional reactivity to stressors during adulthood. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Vereinfachte Auslegung der simulierten Gegenstromchromatographie mittels des Hodographenraums

A simplified and explicit shortcut method for the design of simulated moving bed processes is derived on the basis of equilibrium theory. The applicability of this approach is discussed using the hodograph plane for competitive adsorption equilibria with nonconstant selectivity, namely modified Langmuir‐, Bi‐Langmuir, and Jovanovic isotherms. The approach shows excellent accuracy when validated against literature data. Furthermore, it is demonstrated that systems described by modified or Bi‐Langmuir isotherms may comprise complex nonlinear phenomena.     

Yeast mitochondrial F1F0-ATP synthase exists as a dimer: identification of three dimer-specific subunits

Using the technique of blue native gel electrophoresis, the oligomeric state of the yeast mitochondrial F1F0-ATP synthase was analysed. Solubilization of mitochondrial membranes with low detergent to protein ratios led to the identification of the dimeric state of the ATP synthase. Analysis of the subunit composition of the dimer, in comparison with the monomer, revealed the presence of three additional small proteins. These dimer-specific subunits of the ATP synthase were identified as the recently described subunit e/Tim11 (Su e/Tim11), the putative subunit g homolog (Su g) and a new component termed subunit k (Su k). Although, as shown here, these three proteins are not required for the formation of enzymatically active ATP synthase, Su e/Tim11 and Su g are essential for the formation of the dimeric state. Su e/Tim11 appears to play a central role in this dimerization process. The dimer-specific subunits are associated with the membrane bound F0-sector. The F0-sector may thereby be involved in the dimerization of two monomeric F1F0-ATP synthase complexes. We speculate that the F1F0-ATP synthase of yeast, like the other complexes of oxidative phosphorylation, form supracomplexes to optimize transduction of energy and to enhance the stability of the complex in the membrane.     

The isolated complex of the translocase of the outer membrane of mitochondria. Characterization of the cation-selective and voltage-gated preprotein-conducting pore

The complex of the translocase mitochondrial outer membrane (TOM), mediates recognition, unfolding, and translocation of preproteins. We have used a combination of biochemical and electrophysiological methods to study the properties of the preprotein-conducting pore of the purified TOM complex. The pore is cation-selective and voltage-gated. It shows three main conductance levels with characteristic slow and fast kinetics transitions to states of lower conductance following application of transmembrane voltages. These electrical properties distinguish it from the mitochondrial voltage-dependent anion channel (porin) and are identical to those of the previously described peptide-sensitive channel. Binding of antibodies to the C terminus of Tom40 on the intermembrane space side of the outer membrane modifies the channel properties and allows determination of the orientation of the channel within the lipid bilayer. Mitochondrial presequence peptides specifically interact with the pore and decrease the ion flow through the channel in a voltage-dependent manner. We propose that the presequence-induced closures of the pore are related to structural alterations of the TOM complex observed during the various stages of preprotein movement across the mitochondrial outer membrane.     

Functional thrombin receptor PAR1 in primary cultures of human glioblastoma cells

In this study we investigated primary cultures obtained from two glioblastomas surgically removed from a 64-year-old man and a 50-year-old woman, respectively. The presence of the tethered ligand thrombin receptor PAR1 (protease-activated receptor 1) in these cells was demonstrated at the level of receptor binding by using immunofluorescence studies with the monoclonal anti-PAR1 antibody Mab 31-2. Stimulation of human glioblastoma cells both with alpha-thrombin and the thrombin receptor activating peptide TRAP-6 resulted in a series of [Ca+]i spikes as shown by confocal laser fluorescence microscopy with fluo-3 as calcium sensitive fluorescence indicator. This effect was completely blocked with the thrombin receptor antagonist peptide T1. Our results demonstrate functional thrombin receptors (PAR1) in primary cultures of human glioblastomas for the first time.