Nucleotide binding domain,leucine-rich repeat,and pyrin domain-containing 3(NLRP3)is an NLR-protein family member that can be activated by diverse exogenous and endogenous stimuli but without direct binding of any of ...Nucleotide binding domain,leucine-rich repeat,and pyrin domain-containing 3(NLRP3)is an NLR-protein family member that can be activated by diverse exogenous and endogenous stimuli but without direct binding of any of these pathogen ligands.Biological studies show that inactive NLRP3 is usually in an as-sembly state and its activation requires a kinase protein,NEK7.However,our re-cent computational studies as well as other biological investigations have demonstrated that NEK7 does not play a significant role in the activation of NLRP3 assembly and activation.In-stead,biological studies suggest that NEK7 is essential in the dissociation of inactive NLRP3 assemblies.Despite extensive research,the dissociation mechanism of the inactive NLRP3 as-sembly remains largely elusive.In this work,an improved MM-PBSA method is applied to the protein-protein binding free energies in the inactive NLRP3 decamer.Combined with the po-tential mean force(PMF)computation for the 0°→5°conformational change,the standard free-energy change,ΔG^(0)is calculated for NEK7-driven association of the inactive NLRP3 de-camer.Our calculations show that in the absence of NEK7,the dissociation of the inactive NLRP3 decamer is an energetically unfavorable process(ΔG^(0)=99.69 kcal/mol),whereas upon NEK7 binding,the overall standard free energy differenceΔG^(0)=-24.21 kcal/mol is obtained for the inactive NLRP3 decamer dissociation.The free-energy difference calcula-tions in this work also disclose an energetically optimized dissociation pathway,along which the inactive NLRP3 decamer is disunited by a one-by-one dissociation mechanism.展开更多
Keeping balance in movement is an important premise for biped robots to complete various tasks.Now,the balance control of biped robots mainly depends on the cooperation of various joints of the robot's body.When r...Keeping balance in movement is an important premise for biped robots to complete various tasks.Now,the balance control of biped robots mainly depends on the cooperation of various joints of the robot's body.When robots move faster,the adjustment allowance of joints is reduced,and the robot's anti-disturbance ability will inevitably decline.To solve this problem,the control moment gyroscope(CMG)is creatively used as an auxiliary stabilisation device for fully actuated biped robots and the CMG assistance strategy,which can be integrated into the biped's balance control framework,is proposed.This strategy includes model predictive control module,distribution module,and CMG precession controller.Under the command of it,CMGs can effectively assist the robot in resisting impact and returning to initial positions in time.The results of anti-impact simulation on the walking and running biped robot prove that,with the help of CMGs,the robot's ability to resist disturbance and remain stable is significantly improved.The cover image is based on the Original Article Disturbance rejection for biped robots during walking and running using control moment gyroscopes by Haochen Xu et al.,https://doi.org/10.1049/csy2.12070.展开更多
基金supported by Ministry of Science and Technology of China(2022YFA1303100)the National Natural Science Foundation of China(No.32090040)。
文摘Nucleotide binding domain,leucine-rich repeat,and pyrin domain-containing 3(NLRP3)is an NLR-protein family member that can be activated by diverse exogenous and endogenous stimuli but without direct binding of any of these pathogen ligands.Biological studies show that inactive NLRP3 is usually in an as-sembly state and its activation requires a kinase protein,NEK7.However,our re-cent computational studies as well as other biological investigations have demonstrated that NEK7 does not play a significant role in the activation of NLRP3 assembly and activation.In-stead,biological studies suggest that NEK7 is essential in the dissociation of inactive NLRP3 assemblies.Despite extensive research,the dissociation mechanism of the inactive NLRP3 as-sembly remains largely elusive.In this work,an improved MM-PBSA method is applied to the protein-protein binding free energies in the inactive NLRP3 decamer.Combined with the po-tential mean force(PMF)computation for the 0°→5°conformational change,the standard free-energy change,ΔG^(0)is calculated for NEK7-driven association of the inactive NLRP3 de-camer.Our calculations show that in the absence of NEK7,the dissociation of the inactive NLRP3 decamer is an energetically unfavorable process(ΔG^(0)=99.69 kcal/mol),whereas upon NEK7 binding,the overall standard free energy differenceΔG^(0)=-24.21 kcal/mol is obtained for the inactive NLRP3 decamer dissociation.The free-energy difference calcula-tions in this work also disclose an energetically optimized dissociation pathway,along which the inactive NLRP3 decamer is disunited by a one-by-one dissociation mechanism.
基金National Natural Science Foundation of China,Grant/Award Numbers:No.61973039,No.62073041‘111’Project,Grant/Award Number:B08043。
文摘Keeping balance in movement is an important premise for biped robots to complete various tasks.Now,the balance control of biped robots mainly depends on the cooperation of various joints of the robot's body.When robots move faster,the adjustment allowance of joints is reduced,and the robot's anti-disturbance ability will inevitably decline.To solve this problem,the control moment gyroscope(CMG)is creatively used as an auxiliary stabilisation device for fully actuated biped robots and the CMG assistance strategy,which can be integrated into the biped's balance control framework,is proposed.This strategy includes model predictive control module,distribution module,and CMG precession controller.Under the command of it,CMGs can effectively assist the robot in resisting impact and returning to initial positions in time.The results of anti-impact simulation on the walking and running biped robot prove that,with the help of CMGs,the robot's ability to resist disturbance and remain stable is significantly improved.The cover image is based on the Original Article Disturbance rejection for biped robots during walking and running using control moment gyroscopes by Haochen Xu et al.,https://doi.org/10.1049/csy2.12070.
