Lotus japonicus
accumulates the hydroxynitrile glucosides lotaustralin, linamarin, and rhodiocyanosides A and D. Upon tissue disruption, the hydroxynitrile glucosides are bioactivated by hydrolysis ...by specific
β
-glucosidases. A mixture of two hydroxynitrile glucoside-cleaving
β
-glucosidases was isolated from
L. japonicus
leaves and identified by protein sequencing as LjBGD2 and LjBGD4. The isolated hydroxynitrile glucoside-cleaving
β
-glucosidases preferentially hydrolyzed rhodiocyanoside A and lotaustralin, whereas linamarin was only slowly hydrolyzed, in agreement with measurements of their rate of degradation upon tissue disruption in
L. japonicus
leaves. Comparative homology modeling predicted that LjBGD2 and LjBGD4 had nearly identical overall topologies and substrate-binding pockets. Heterologous expression of LjBGD2 and LjBGD4 in Arabidopsis (
Arabidopsis thaliana
) enabled analysis of their individual substrate specificity profiles and confirmed that both LjBGD2 and LjBGD4 preferentially hydrolyze the hydroxynitrile glucosides present in
L. japonicus
. Phylogenetic analyses revealed a third
L. japonicus
putative hydroxynitrile glucoside-cleaving
β
-glucosidase,
LjBGD7
. Reverse transcription-polymerase chain reaction analysis showed that
LjBGD2
and
LjBGD4
are expressed in aerial parts of young
L. japonicus
plants, while
LjBGD7
is expressed exclusively in roots. The differential expression pattern of
LjBGD2
,
LjBGD4
, and
LjBGD7
corresponds to the previously observed expression profile for
CYP79D3
and
CYP79D4
, encoding the two cytochromes P450 that catalyze the first committed step in the biosyntheis of hydroxynitrile glucosides in
L. japonicus
, with
CYP79D3
expression in aerial tissues and
CYP79D4
expression in roots.
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Lotus japonicus accumulates the hydroxynitrile glucosides lotaustralin, linamarin, and rhodiocyanosides A and D. Upon tissue disruption, the hydroxynitrile glucosides are bioactivated by hydrolysis ...by specific beta-glucosidases. A mixture of two hydroxynitrile glucoside-cleaving beta-glucosidases was isolated from L. japonicus leaves and identified by protein sequencing as LjBGD2 and LjBGD4. The isolated hydroxynitrile glucoside-cleaving beta-glucosidases preferentially hydrolyzed rhodiocyanoside A and lotaustralin, whereas linamarin was only slowly hydrolyzed, in agreement with measurements of their rate of degradation upon tissue disruption in L. japonicus leaves. Comparative homology modeling predicted that LjBGD2 and LjBGD4 had nearly identical overall topologies and substrate-binding pockets. Heterologous expression of LjBGD2 and LjBGD4 in Arabidopsis (Arabidopsis thaliana) enabled analysis of their individual substrate specificity profiles and confirmed that both LjBGD2 and LjBGD4 preferentially hydrolyze the hydroxynitrile glucosides present in L. japonicus. Phylogenetic analyses revealed a third L. japonicus putative hydroxynitrile glucoside-cleaving beta-glucosidase, LjBGD7. Reverse transcription-polymerase chain reaction analysis showed that LjBGD2 and LjBGD4 are expressed in aerial parts of young L. japonicus plants, while LjBGD7 is expressed exclusively in roots. The differential expression pattern of LjBGD2, LjBGD4, and LjBGD7 corresponds to the previously observed expression profile for CYP79D3 and CYP79D4, encoding the two cytochromes P450 that catalyze the first committed step in the biosyntheis of hydroxynitrile glucosides in L. japonicus, with CYP79D3 expression in aerial tissues and CYP79D4 expression in roots.
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Physical human-robot interactions (pHRI) must be safe and should feel natural to the human operator. To this end impedance or admittance control is often employed to relate the force applied by the ...human to the dynamic behavior of the robot. The robot in this work uses a load cell to sense the externally applied force. This paper presents a practical modelling procedure and implementation of admittance control that specifically deal with the undesired non-linearities caused by the use of a load cell. Experiments are performed on a 1-DoF (Degree of Freedom) testbed to validate the work done and the results show that the performance is satisfactory.
Most microprocessors today are used in embedded systems and the percentage of microprocessors used for embedded systems is increasing. At the same time development of embedded systems is very ...resource-consuming among others due to the lack of support for incremental development and for support for dynamic servicing and upgrading of deployed systems. This paper introduces the design and implementation of the
Resilient System for embedded systems development which has as a design goal to support exactly this. Programs are written in a dialect of Smalltalk and executed on a compact, efficient virtual machine running on embedded systems. Programmers may connect to running virtual machines and service, monitor, or change the running systems. Furthermore, we present an evaluation of the Resilient platform in relation to the design goals through a case study of two development projects which successfully used the platform.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK, ZRSKP
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