Arm Repeat Research Articles

Evaluation of microplate handling accuracy for applying robotic arms in laboratory automation

An inexpensive single-arm robot is widely utilized for recent laboratory automation solutions. The integration of a single-arm robot as a transfer system into a semi-automatic liquid dispenser without a transfer system can be realized as an inexpensive alternative to a fully automated liquid handling system. However, there has been no quantitative investigation of the positional accuracy of robot arms required to transfer microplates. In this study, we constructed a platform comprising aluminum frames and digital gauges to facilitate such measurements. We measured the position repeatability of a robot arm equipped with a custom-made finger by repeatedly transferring microplates. Further, the acceptable misalignment of plate transfer was evaluated by adding an artificial offset to the microplate position using this platform. The results of these experiments are expected to serve as benchmarks for the selection of robot arms for laboratory automation in biology. Furthermore, all information for replicating this device will be made publicly available, thereby allowing many researchers to collaborate and accumulate knowledge, hopefully contributing to advances in this field.

SPL50 Regulates Cell Death and Resistance to Magnaporthe Oryzae in Rice

BackgroundThe identification of spotted leaf 50 (spl50), a novel lesion mimic mutant (LMM) in rice, provides critical insights into the mechanisms underlying programmed cell death (PCD) and innate immunity in plants.ResultsBased on ethyl methane sulfonate (EMS)-induced mutagenesis, the spl50 mutant mimics hypersensitive responses in the absence of pathogen by displaying spontaneous necrotic lesions after the tillering phase. SPL50, an ARM repeat protein essential for controlling reactive oxygen species (ROS) metabolism and boosting resistance to blast disease, was identified by map-based cloning techniques. This work also demonstrates the detrimental effects of spl50 on photosynthetic efficiency and chloroplast development. The crucial significance of SPL50 in cellular signaling and stress response is shown by its localization to the cytoplasm and constitutive expression in various plant tissues. In light of growing concerns regarding global food security, this study highlights the pivotal role of SPL50 in regulating programmed cell death (PCD) and enhancing the immune response in plants, contributing to strategies for improving crop disease resistance.ConclusionsThe novel identification of the SPL50 gene in rice, encoding an ARM repeat protein, reveals its pivotal role in regulating PCD and innate immune responses independently of pathogen attack.

Genetic Components of Self-Incompatibility in Brassica Vegetables

Brassica vegetables are very important to human beings. Self-incompatibility (SI) is a common phenomenon in Brassica. Breeding by SI lines is an important way to utilize heterosis of Brassica vegetables. It is believed that the SI inheritance in Brassica species is controlled by three linkage genes on the S-locus, including SRK (S-locus receptor kinase), SCR (S-locus cystine-rich protein)/SP11 (S-locus protein 11), and SLG (S-locus glycoprotein). SRK is the female determinant and SCR/SP11 is the pollen S gene. The expression of SLG is necessary for SRK, and it enhances the SRK-mediated SI reaction. In addition to these three S-locus genes, some other functional molecules also have significant regulatory effects on SI, such as ARC1 (arm repeat containing 1), MLPK (M-locus protein kinase), Exo70A1 (exocyst compounds), THLl/THL2 (thioredoxin H-like), MOD (aquaporin), SLR (S-locus-related glycoprotein), BPCI (pollen calcium-binding protein I), etc. SI is also associated with the dominant/recessive relationship between S alleles. Here, the genetic elements and molecular mechanisms of SI, mainly in Brassica vegetables, are reviewed.

Identification of genes for seed isoflavones based on bulk segregant analysis sequencing in soybean natural population.

We identified four hub genes for isoflavone biosynthesis based on BSA-seq and WGCNA methods and validated that GmIE3-1 positively contribute to isoflavone accumulation in soybean. Soybean isoflavones are secondary metabolites of great interest owing to their beneficial impact on human health. Herein, we profiled the seed isoflavone content by HPLC in 1551 soybean accessions grown in two locations for two years and constructed two extreme pools with high (4065.1µgg-1) and low (1427.23µgg-1) isoflavone contents to identify candidate genes involved in isoflavone biosynthesis pathways using bulk segregant analysis sequencing (BSA-seq) approach. The results showed that the average sequencing depths were 50.3× and 65.7× in high and low pools, respectively. A total of 23,626 polymorphic SNPs and 5299 InDels were detected between both pools and 1492 genes with different variations were identified. Based on differential genes in BSA-seq and weighted gene co-expression network analysis (WGCNA), four hub genes, Glyma.06G290400 (designated as GmIE3-1), Glyma.01G239200, Glyma.01G241500, Glyma.13G256100 were identified, encoding E3 ubiquitin-protein ligase, arm repeat protein interacting with ABF2, zinc metallopeptidase EGY3, and dynamin-related protein 3A, respectively. The allelic variation in GmIE3-1 showed a significant influence on isoflavone accumulation. The virus-induced gene silencing (VIGS) and RNAi hairy root transformation of GmIE3-1 revealed partial suppression of this gene could cause a significant decrease (P < 0.0001) of total isoflavone content, suggesting GmIE3-1 is a positive regulator for isoflavones. The present study demonstrated that the BSA-seq approach combined with WGCNA, VIGS and hairy root transformation can efficiently identify isoflavone candidate genes in soybean natural population.

Star-Shaped ROMP Polymers Coated with Oligothiophenes That Exhibit Unique Emission.

A series of oligo(thiophene)-modified “soluble” star-shaped ring-opening metathesis polymerization (ROMP) polymers were prepared by sequential living ROMP of norbornene and a cross-linking agent using a molybdenum-alkylidene catalyst, followed by Wittig-type coupling for termination with oligo(thiophene) carboxaldehydes. The resultant star-shaped ROMP polymers displayed unique emission properties affected by the core size and arm repeat units as well as the kind of oligothiophene coated. The effects of the thiophene groups on photophysical properties of star-shaped/linear polymers were studied via time-resolved fluorescence spectroscopy. Fluorescence lifetimes were determined in THF as 400, 640, 730, and 820 ps for Star 3TPh, Linear 3TPh, Star 4T, and Linear 4T, respectively. A significant enhancement of the nonradiative rate constants knr in the star-shaped polymers results in relatively lower fluorescence quantum yields and shorter fluorescence lifetimes compared to the corresponding linear polymers.

Molecular cloning and expression analysis of &amp;lt;italic&amp;gt;BoPUB9&amp;lt;/italic&amp;gt; in self-incompatibility &amp;lt;italic&amp;gt;Brassica oleracea&amp;lt;/italic&amp;gt;

<p id="C3">Self-incompatibility (SI) refers to the characteristic that the pistil of a plant can recognize its own pollen and allogeneic pollen so as to inhibit the germination of its own pollen. PUB (Plant U-Box) proteins play an important role in plant stress resistance and signal transduction. In this study, through the analysis of stigma transcriptome data of <italic>Brassica oleracea</italic> self-pollination at 0-60 minute(s), a PUB protein coding gene <italic>BoPUB9</italic> was screened and up-regulated by self-pollination. The <italic>BoPUB9</italic> cDNA sequence was 1368 bp, gDNA of 1720 bp in length, containing one arm repeat domain and one U-box domain. The relative expression levels showed that <italic>BoPUB9</italic> gene was expressed in different tissues of <italic>Brassica oleracea</italic>, and the relative expression level was the highest in sepals, followed by petals, stamens and stigmas, and relatively lower in pollen buds, which was consistent with the results of GUS staining. The relative expression level of <italic>BoPUB9</italic> gene was up-regulated rapidly in self-pollination 0-30 minute(s), the expression level after 15 min was more than 20 times that after cross-pollination, and the difference was the biggest after 30 min, the expression level after self-pollination was more than 40 times that after cross-pollination. Subcellular localization revealed that BoPUB9 protein was expressed in both nucleus and cytoplasm, and BoPUB9 protein was successfully induced in <italic>E. coli</italic>, and the relative molecular weight of 51 kD was consistent with the predicted results. The results of yeast two-hybrid and poll-down indicated that the intracellular domain of SRK interacted with PUB9 protein. It was speculated that <italic>BoPUB9</italic> might be a novel gene involved in the process of self-incompatibility in <italic>Brassica oleracea</italic>, which providing a new content for further research and utilization of self-incompatibility in <italic>Brassica oleracea</italic>.

Vitis vinifera VvPUB17 functions as a E3 ubiquitin ligase and enhances powdery mildew resistance via the salicylic acid signaling pathway

BACKGROUND: Powdery mildew affects grapevine growth and development and reduces grapevine fruit yield and quality. Plant U-box (PUB) E3 ubiquitin ligases play important roles in ubiquitin/proteasome-mediated protein degradation during plant development and in the plant defense response. OBJECTIVE: We cloned the VvPUB17 gene from Vitis vinifera and analyzed that VvPUB17 enhanced the resistance of grapevine to powdery mildew through the SA signal pathway. METHODS: Pathogen inoculation of Arabidopsis thaliana and grapevine plants was carried out by the tableting method. Gene expression was analyzed by quantitative real-time PCR. Sequence analysis and in vitro ubiquitination experiments show the structure and characteristics of VvPUB17. Exogenous salicylic acid, methyl jasmonate, ethylene and powdery mildew induced the expression of VvPUB17 in Arabidopsis leaves to verify the resistance of VvPUB17 to powdery mildew. RESULTS: Sequence analysis and in vitro ubiquitination experiments show that VvPUB17 contains U-box and Armadillo repeats (ARM repeat) and has E3 ubiquitin ligase activity dependent on the conserved U-box motif. Transgenic plants showed elevated levels of key genes related to the SA defense response pathway and high concentrations of salicylic acid. CONCLUSIONS: VvPUB17 functions as an E3 ubiquitin ligase that enhances the resistance of grapes to powdery mildew through the SA signal pathway.

A novel machine tool concept: Robotic electrochemical machining

Robots are used in industry as a machine tool for many years and are integrated into many areas. Materials can be machined without any contact in electrochemical machining (ECM). This paper presents, a new hybrid concept that combines ECM with a robotic arm which is called robotic electrochemical machining (RECM) and its components. RECM can be used for machining complex geometries with higher flexibilities and efficiency. Some of RECM properties are output of direct current (DC) power supply is 20 V-228A, workpiece coordinate detection accuracy is ±10 µm via image processing, position repeatability of the robotic arm is ±10 µm.

Role of Armadillo repeat 2 and kinesin-II motor subunit Klp64D for wingless signaling in Drosophila

Armadillo (Arm) is crucial for transducing Wingless (Wg) signaling. Previously, we have shown that Klp64D, a motor subunit of Drosophila kinesin-II, interacts with Arm for Wg signaling. Molecular basis for this interaction has remained unknown. Here we identify a critical Arm repeat (AR) required for binding Klp64D and Wg signaling. Arm/{varvec{beta}}-catenin family proteins contain a conserved domain of 12 Arm repeats (ARs). Five of these ARs can interact with Klp64D, but only the second AR (AR2) binds to the cargo/tail domain of Klp64D. Overexpression of AR2 in wing imaginal disc is sufficient to cause notched wing margin. This phenotype by AR2 is enhanced or suppressed by reducing or increasing Klp64D expression, respectively. AR2 overexpression inhibits Wg signaling activity in TopFlash assay, consistent with its dominant-negative effects on Klp64D-dependent Wg signaling. Overexpression of the Klp64D cargo domain also results in dominant-negative wing notching. Genetic rescue data indicate that both AR2 and Klp64D cargo regions are required for the function of Arm and Klp64D, respectively. AR2 overexpression leads to an accumulation of Arm with GM130 Golgi marker in Klp64D knockdown. This study suggests that Wg signaling for wing development is regulated by specific interaction between AR2 and the cargo domain of Klp64D.

Binding to medium and long chain fatty acyls is a common property of HEAT and ARM repeat modules

Covalent post-translational modification (PTM) of proteins with acyl groups of various carbon chain-lengths regulates diverse biological processes ranging from chromatin dynamics to subcellular localization. While the YEATS domain has been found to be a prominent reader of acetylation and other short acyl modifications, whether additional acyl-lysine reader domains exist, particularly for longer carbon chains, is unclear. Here, we employed a quantitative proteomic approach using various modified peptide baits to identify reader proteins of various acyl modifications. We discovered that proteins harboring HEAT and ARM repeats bind to lysine myristoylated peptides. Recombinant HEAT and ARM repeats bind to myristoylated peptides independent of the peptide sequence or the position of the myristoyl group. Indeed, HEAT and ARM repeats bind directly to medium- and long-chain free fatty acids (MCFA and LCFA). Lipidomic experiments suggest that MCFAs and LCFAs interact with HEAT and ARM repeat proteins in mammalian cells. Finally, treatment of cells with exogenous MCFAs and inhibitors of MCFA-CoA synthases increase the transactivation activity of the ARM repeat protein β-catenin. Taken together, our results suggest an unappreciated role for fatty acids in the regulation of proteins harboring HEAT or ARM repeats.

Design and development of a 5R 2DOF parallel robot arm for handling paper pot seedlings in a vegetable transplanter

This paper presents a complete mechatronic approach in designing and developing a robotic arm for handling paper pot seedlings in a transplanter for the purpose of inclusion of automation and possible reduction of heavy mechanical components in pot seedling transplanters by utilizing microcontrollers and embedded systems. The robot arm developed was of two degrees of freedom (DOF), five revolute joints (5R) with parallel arm structure using 3D printed parts, commercially available embedded microcontrollers and sensors. The gripper which was connected to the parallel robot arm performed pick and place operations at a desired path. For achieving the preferred maximum and minimum reach of the gripper, a suitable method for synthesizing the link length has been discussed. A complete logical technique to program microcontrollers was developed which enabled smooth actuation of both the independent input links simultaneously. Parabolic blends were utilized at the beginning and at the end of the robot input joint trajectory for minimizing dynamic vibrations during continuous operation. The developed robot arm was flexible to change the number of pickup points in a row, pickup and drop co-ordinates within the workspace envelope. Finally, the robot arm was tested and evaluated for picking and placing 15 numbers (4 replications, 60 runs) of actual paper pots filled with vermicompost, soil and sand. Each pot weighed approximately 80 g with a moisture content of approximately 5%. The robot arm took 2.1 to 2.4 s to pick and drop a pot seedling from a distance of 116.6 mm with a maximum power consumption of 20.47 W. Experimental results showed that no pots were missed in picking and dropping, no visual cracks and damage appeared on the pots. The repeatability of the robot arm was 2.1 mm in X-axis and 3.4 mm in Y-axis.

Identification and characterization of BoPUB3: a novel interaction protein with S-locus receptor kinase in Brassica oleracea L.

Armadillo repeat containing 1 (ARC1) is phosphorylated by S-locus receptor kinase (SRK) and functions as a positive regulator in self-incompatibility response of Brassica. However, ARC1 only causes partial breakdown of the self-incompatibility response, and other SRK downstream factors may also participate in the self-incompatibility signaling pathway. In the present study, to search for SRK downstream targets, a plant U-box protein 3 (BoPUB3) was identified from the stigma of Brassica oleracea L. BoPUB3 was highly expressed in the stigma, and its expression was increased with the stigma development and reached to the highest level in the mature-stage stigma. BoPUB3, a 76.8-kDa protein with 697 amino acids, is a member of the PUB-ARM family and contains three domain characteristics of BoARC1, including a U-box N-terminal domain, a U-box motif, and a C-terminal arm repeat domain. The phylogenic tree showed that BoPUB3 was close to BoARC1. The synteny analysis revealed that B. oleracea chromosomal region containing BoPUB3 had high synteny with the Arabidopsis thaliana chromosomal region containing AtPUB3 (At3G54790). In addition, the subcellular localization analysis showed that BoPUB3 primarily localized in the plasma membrane and also in the cytoplasm. The combination of the yeast two-hybrid and in vitro binding assay showed that both BoPUB3 and BoARC1 could interact with SRK kinase domain, and SRK showed much higher level of β-galactosidase activity in its interaction with BoPUB3 than with BoARC1. These results implied that BoPUB3 is a novel interactor with SRK, which lays a basis for further research on whether PUB3 participates in the self-incompatibility signaling pathway.

Draft genome of Santalum album L. provides genomic resources for accelerated trait improvement

Sandalwood (Santalum album L.) is a valuable commodity in the international trade due to its use in fragrance and essential oil industries. In the present study, a draft genome of S. album representing the natural population from Kerala, India, was sequenced and assembled into 74,900 major scaffolds with N50 of 12,068 bp and the estimated genome size was 286 Mb. A total of 37,500 genes were predicted including 30 genes from terpene synthase gene family. Repetitive sequence was mined and spanned 12.52% of the sandalwood genome. Domain analysis of predicted proteins revealed that transcription factors and kinases were the major category of proteins followed by ARM repeat proteins and WD domain proteins. The draft genome encoded for 574 miRNAs belonging to 23 families including two miRNAs associated with terpenoid biosynthesis pathway. Further, the consensus chloroplast genome of 147.25 kb size was reconstructed and phylogenetic analysis with 40 plastid genes grouped members of Santalales with Asterids in accordance with its taxonomic status recommended in APG III and APG IV. Variant calling was conducted against the published genome and a total of 1,191,838 (0.42%) SNPs and 98,312 (0.034%) InDels were predicted in the present genome. The draft genome presented in this study has provided additional genomic resource for S. album for subsequent research in population diversity estimation and accelerated trait breeding in this species.

Physical performance indicators in traditional rowing championships.

Traditional rowing is a very popular discipline practiced worldwide through sliding and fixed seat modalities with little scientific evidence. The aim of this study is to analyze high and low-performance rowers' profile of traditional rowing modalities in order to establish performance reference values. One hundred and fifteen male rowers were split into high and low performance groups, competing in the Spanish National Championships, volunteered to participate. Anthropometric measurements, body composition, and strength and power of lower extremities were evaluated by a jump height protocol. In the high-performance group, sliding seat rowers were characterized by longer lower extremities (97.5±3.5 cm), whereas fixed seat rowers resulted in higher countermovement jump values (36.8±5.0 cm). Also, sliding seat rowers showed a resistance index to fast strength significantly higher (0.8±0.1) than fixed seat rowers (0.8±0.0). On the other hand, group comparison within modality indicated that high-performance rowers of both modalities were significantly taller than lower performance rowers (184.3±6.8 and 181.2±4.9 cm vs. 179.3±6.4 and 177.9±5.9 cm for sliding and fixed seat rowers, respectively). Furthermore, leg length (97.5±3.5 cm) and resistance index to fast strength (0.8±0.1) for sliding seat modality, and arm span (187.3±5.7 cm), trunk length (87.4±3.7 cm) and repeat jump height (28.6±4.2 cm) for fixed seat modality were found as performance factors in traditional rowing. This study facilitates talent detection and selection of athletes to form competitive traditional rowing teams based on measurable physical characteristics.

Domain architecture of BAF250a reveals the ARID and ARM-repeat domains with implication in function and assembly of the BAF remodeling complex.

BAF250a and BAF250b are subunits of the SWI/SNF chromatin-remodeling complex that recruit the complex to chromatin allowing transcriptional activation of several genes. Despite being the central subunits of the SWI/SNF complex, the structural and functional annotation of BAF250a/b remains poorly understood. BAF250a (nearly 2200 residues protein) harbors an N-terminal DNA binding ARID (~110 residues) and a C-terminal folded region (~250 residues) of unknown structure and function, recently annotated as BAF250_C. Using hydrophobic core analysis, fold prediction and comparative modeling, here we have defined a domain boundary and associate a β-catenin like ARM-repeat fold to the C-terminus of BAF250a that encompass BAF250_C. The N-terminal DNA-binding ARID is found in diverse domain combinations in proteins imparting unique functions. We used a comparative sequence analysis based approach to study the ARIDs from diverse domain contexts and identified conserved residue positions that are important to preserve its core structure. Supporting this, mutation of one such conserved residue valine, at position 1067, to glycine, resulted in destabilization, loss of structural integrity and DNA binding affinity of ARID. Additionally, we identified a set of conserved and surface-exposed residues unique to the ARID when it co-occurs with the ARM repeat containing BAF250_C in BAF250a. Several of these residues are found mutated in somatic cancers. We predict that these residues in BAF250a may play important roles in mediating protein-DNA and protein-protein interactions in the BAF complex.

Trajectory tracking with ANFIS and uncalibrated vision system for uncertain robotic manipulators

This paper describes a new approach for tracking the trajectory of uncertain robotic manipulators using ANFIS (Artificial Neuro-Fuzzy Inference System) and uncalibrated vision system. The main emphasis of this work is on the ability to estimate the positioning accuracy and repeatability of a low-cost robotic arm with unknown parameters under uncalibrated vision system. In this study, captured image data are collected from two fixed-cameras vision system; installed on the top and lateral sides of the robot, respectively. For training and validating purposes, the robot is manoeuvring within its workspace using forward kinematics. The tracking system is trained using ANFIS with subtractive clustering method in MATLAB. Extensive simulations were carried out to illustrate the effectiveness of the proposed visual tracking method for LabVolt R5150 manipulator in our laboratory. Observing the simulation results, the performance of the proposed approach is efficient for using the vision-based learning system as visual feedback in uncertain robotic manipulator.

Cullin 3 is a partner of Armadillo repeat containing 5 (ARMC5), the product of the gene responsible for primary bilateral macronodular adrenal hyperplasia

Background ARMC5 has been identified as the gene responsible for PBMAH (primary bilateral macronodular adrenal hyperplasia). ARMC5 inactivating mutations are reported in 20 to 25% of PBMAH patients. ARMC5 is considered as a tumor suppressor gene controlling apoptosis and regulating steroidogenesis. The mechanisms of action of ARMC5 are unknown. The structure of the ARMC5 protein contains ARM repeats and a BTB domain, patterns known to play a role in protein-protein interactions. Therefore identification of proteins that interact with ARMC5 and study of the mechanisms of this interaction will help to understand its function. By co-immunoprecipitation followed by mass spectrometry in HEK293 cells we identified a potential interaction between ARMC5 and Cullin3 (Cul3), also suggested in online databases and by 2 Hybrid Assay (Hu et al., 2017). Cul3 is a protein that mediates the ubiquitination process and subsequent degradation of specific protein substrates. Therefore, the aim of this study was to confirm this interaction and to investigate its mechanisms. Methods We used immunoprecipitation experiments with HA-tagged Cul3 and the bioluminescence resonance energy transfer (BRET) proximity assay in HEK293 cells in order to confirm and investigate the interaction of ARMC5 with Cul3. Results ARMC5 co-immunoprecipitated with HA-Cul3 and a hyperbolic BRET saturation curve was observed with YFP-Cul3 and ARMC5-Luc indicating a specific close proximity between these two proteins. We have also observed that a missense mutation in the BTB domain (p.L754P) of ARMC5 disrupts the interaction with Cul3. Altogether, these complementary approaches demonstrate that ARMC5 and Cul3 form a complex involving the BTB domain of ARMC5. Conclusion These data demonstrate that Cul3 is an ARMC5 partner. A likely direct interaction involves the BTB domain of ARMC5 and can be altered by pathogenic ARMC5 missense mutations. This suggests that ARMC5 participates in the ubiquitination process and open new perspectives in the pathophysiology of PBMAH.

Cullin 3 is a partner of Armadillo Repeat Containing 5 (ARMC5), the product of the gene responsible for Primary Bilateral Macronodular Adrenal Hyperplasia

Background ARMC5 has been identified as the gene responsible for PBMAH (primary bilateral macronodular adrenal hyperplasia). ARMC5 inactivating mutations are reported in 20 to 25% of PBMAH patients. ARMC5 is considered as a tumor suppressor gene controlling apoptosis and regulating steroidogenesis. The mechanisms of action of ARMC5 are unknown. The structure of the ARMC5 protein contains ARM repeats and a BTB domain, patterns known to play a role in protein-protein interactions. Therefore identification of proteins that interact with ARMC5 and study of the mechanisms of this interaction will help to understand its function. By co-immunoprecipitation followed by mass spectrometry in HEK293 cells we identified a potential interaction between ARMC5 and Cullin3 (Cul3), also suggested in online databases and by 2 Hybrid Assay (Hu et al., 2017). Cul3 is a protein that mediates the ubiquitination process and subsequent degradation of specific protein substrates. Therefore, the aim of this study was to confirm this interaction and to investigate its mechanisms. Methods We used immunoprecipitation experiments with HA-tagged Cul3 and the bioluminescence resonance energy transfer (BRET) proximity assay in HEK293 cells in order to confirm and investigate the interaction of ARMC5 with Cul3. Results ARMC5 co-immunoprecipitated with HA-Cul3 and a hyperbolic BRET saturation curve was observed with YFP-Cul3 and ARMC5-Luc indicating a specific close proximity between these two proteins. We have also observed that a missense mutation in the BTB domain (p.L754P) of ARMC5 disrupts the interaction with Cul3. Altogether, these complementary approaches demonstrate that ARMC5 and Cul3 form a complex involving the BTB domain of ARMC5. Conclusion These data demonstrate that Cul3 is an ARMC5 partner. A likely direct interaction involves the BTB domain of ARMC5 and can be altered by pathogenic ARMC5 missense mutations. This suggests that ARMC5 participates in the ubiquitination process and open new perspectives in the pathophysiology of PBMAH.

ANFIS-Based Visual Pose Estimation of Uncertain Robotic Arm Using Two Uncalibrated Cameras

This paper describes a new approach for the visual pose estimation of an uncertain robotic manipulator using ANFIS (Artificial Neuro-Fuzzy Inference System) and two uncalibrated cameras. The main emphasis of this work is on the ability to estimate the positioning accuracy and repeatability of a low-cost robotic arm with unknown parameters under uncalibrated vision system. The vision system is composed of two cameras; installed on the top and on the lateral side of the robot, respectively. These two cameras need no calibration; thus, they can be installed in any position and orientation with just the condition that the end-effector of the robot must remain always visible. A red-colored feature point is fixed on the end of the third robotic arm link. In this study, captured image data via two fixed-cameras vision system are used as the sensor feedback for the position tracking of an uncertain robotic arm. LabVolt R5150 manipulator in our laboratory is used as case study. The visual estimation system is trained using ANFIS with subtractive clustering method in MATLAB. In MATLAB, the robot, feature point and cameras are simulated as physical behaviors. To get the required data for ANFIS, the manipulator was maneuvered within its workspace using forward kinematics and the feature point image coordinates were acquired with the two cameras. Simulation experiments show that the location of the robotic arm can be trained in ANFIS using two uncalibrated cameras; and problems for computational complexity and calibration requirement of multi-view geometry can be eliminated. Observing Mean Square Error (MSE), Root Mean Square Error (RMSE), Error Mean and Standard Deviation Errors, the performance of the proposed approach is efficient for using as visual feedback in uncertain robotic manipulator. Further, the proposed approach using ANFIS and uncalibrated vision system has better in flexibility, user-friendly manner and computational concepts over conventional techniques.

Identification of PEG-induced water stress responsive transcripts using co-expression network in Eucalyptus grandis

Ecophysiological studies in Eucalyptus have shown that water is the principal factor limiting stem growth. Effect of water deficit conditions on physiological and biochemical parameters has been extensively reported in Eucalyptus. The present study was conducted to identify major polyethylene glycol induced water stress responsive transcripts in Eucalyptus grandis using gene co-expression network. A customized array representing 3359 water stress responsive genes was designed to document their expression in leaves of E. grandis cuttings subjected to −0.225MPa of PEG treatment. The differentially expressed transcripts were documented and significantly co-expressed transcripts were used for construction of network. The co-expression network was constructed with 915 nodes and 3454 edges with degree ranging from 2 to 45. Ninety four GO categories and 117 functional pathways were identified in the network. MCODE analysis generated 27 modules and module 6 with 479 nodes and 1005 edges was identified as the biologically relevant network. The major water responsive transcripts represented in the module included dehydrin, osmotin, LEA protein, expansin, arabinogalactans, heat shock proteins, major facilitator proteins, ARM repeat proteins, raffinose synthase, tonoplast intrinsic protein and transcription factors like DREB2A, ARF9, AGL24, UNE12, WLIM1 and MYB66, MYB70, MYB 55, MYB 16 and MYB 103. The coordinated analysis of gene expression patterns and coexpression networks developed in this study identified an array of transcripts that may regulate PEG induced water stress responses in E. grandis.