A grammatical approach to self-organizing robotic systems

In this paper, we define a class of graph grammars that can be used to model and direct concurrent robotic self-assembly and similar self-organizing processes. We give several detailed examples of the formalism and then focus on the problem of synthesizing a grammar so that it generates a given, prespecified assembly. In particular, to generate an acyclic graph we synthesize a binary grammar (rules involve at most two parts), and for a general graph we synthesize a ternary grammar (rules involve at most three parts). In both cases, we characterize the number of concurrent steps required to achieve the assembly. We also show a general result that implies that no binary grammar can generate a unique stable assembly. We conclude the paper with a discussion of how graph grammars can be used to direct the self-assembly of robotic parts.     

Design of peptides using alpha,beta-dehydro-residues: synthesis, crystal structure and molecular conformation of Boc-L-Val-delta Phe-delta Phe-L-Val-OCH3

The peptide Boc-L-Val-delta Phe-delta Phe-L-Val-OCH3 was synthesized by the azlactone method in solution phase, and its crystal and molecular structures were determined by x-ray diffraction method. Single crystals were grown by slow evaporation from a methanol/water solution at 6 degrees C. The crystals belong to an orthorhombic space group P212121 with a = 10.478 (6) A, b = 13.953 (I), c = 24.347 (2) and Z = 4. The structure was determined by direct methods and refined by least squares procedure to an R value of 0.052. The structure consists of a peptide and a water molecule. The peptide adopts two overlapping beta-turn conformations of Types II and I' with torsion angles: phi 1 = -54.8 (6) psi 1 = 130.5 (4), phi 2 = 65.8 (5), psi 2 = 12.8 (6), phi 3 = 79.4 (5), psi 3 = 3.9 (7) degrees. The conformation is stabilized by intramolecular hydrogen bonds involving Boc CO and NH of delta Phe3 and CO of Val1 and NH of Val4. The molecules are tightly packed in the unit cell. The crystal structure is stabilized by hydrogen bonds involving NH of delta Phe2 and CO of a symmetry related (x-1/2, 1/2-y, -z) delta Phe2. The solvent-water molecule forms two hydrogen bonds with peptide molecule involving NH of Val1 as an acceptor and another with CO of a symmetry related (1-x, y-1/2, 1/2 -z) delta Phe3 as a donor. These studies indicate that a tetrapeptide with two consecutive delta Phe residues sequenced with valines on both ends adopts two overlapping beta-turns of Types II and I'.     

Human memory T cell differentiation into Th2-like effector cells is dependent on IL-4 and CD28 stimulation and inhibited by TCR ligation

Freshly isolated memory T cells primarily produced IL-2 and small amounts of IL-4 and IFN-gamma after stimulation in vitro. Priming for 5 days in vitro with anti-CD28 monoclonal antibodies (mAb) alone markedly increased production of IL-4. In comparison to fresh cells, the increase in the amount of IL-4 secreted reflected a marked increase in the number of IL-4-producing cells. Stimulation with immobilized anti-CD3 mAb during priming limited subsequent IL-4 production. By contrast, IFN-gamma production from in vitro primed memory T cells was directly correlated to the concentration of priming anti-CD3 mAb. IL-2 production by all restimulated cells was decreased. The differentiation of IL-4-producing cells could be blocked by antibody to IL-4 and enhanced by the addition of recombinant IL-4 as well as antibody to IFN-gamma. Of note, the IL-4-producing effector cells induced from in vitro priming derived from the early CD27pos memory T cell subset, whereas the small CD27neg differentiated memory subset produced IL-4 without in vitro priming. The results indicate that memory T cells can be directed to differentiate into IL-4-producing effector cells by stimulation via CD28 and IL-4, whereas increasing engagement of the TCR limits Th2 memory cell differentiation.