Normal development of the genitourinary (GU) tract is a complex process that frequently goes awry. In male children the most frequent congenital GU anomalies are cryptorchidism (1–4%), hypospadias (1%) and micropenis (0.35%). Bladder exstrophy and epispadias complex (BEEC) (1∶47000) occurs less frequently but significantly impacts patients' lives. Array comparative genomic hybridization (aCGH) identified seven individuals with overlapping deletions in the 2p15 region (66.0 kb-5.6 Mb). Six of these patients have GU defects, while the remaining patient has no GU defect. These deletions encompass the transcription factor OTX1. Subjects 2–7 had large de novo CNVs (2.39–6.31 Mb) and exhibited features similar to those associated with the 2p15p16.1 and 2p15p14 microdeletion syndromes, including developmental delay, short stature, and variable GU defects. Subject-1 with BEEC had the smallest deletion (66 kb), which deleted only one copy of OTX1. Otx1-null mice have seizures, prepubescent transient growth retardation and gonadal defects. Two subjects have short stature, two have seizures, and six have GU defects, mainly affecting the external genitalia. The presence of GU defects in six patients in our cohort and eight of thirteen patients reported with deletions within 2p14p16.1 (two with deletion of OTX1) suggest that genes in 2p15 are important for GU development. Genitalia defects in these patients could result from the effect of OTX1 on pituitary hormone secretion or on the regulation of SHH signaling, which is crucial for development of the bladder and genitalia.

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Synthesizing novel photocatalysts that can effectively harvest photon energy over a wide range of the solar spectrum for practical applications is vital. Porphyrin-derived nanostructures with properties similar to those of chlorophyll have emerged as promising candidates to meet this requirement. In this study, tetrakis(4-carboxyphenyl) porphyrin (TCPP) nanofibers were formed on the surface of ZnO nanoparticles using a simple self-assembly approach. The obtained ZnO/TCPP nanofiber composites were characterized via scanning electron microscopy, X-ray diffraction analysis, and ultraviolet–visible absorbance and reflectance measurements. The results demonstrated that the ZnO nanoparticles with an average size of approximately 37 nm were well integrated in the TCPP nanofiber matrix. The resultant composite showed photocatalytic activity of ZnO and TCPP nanofibers concomitantly, with band gap energies of 3.12 and 2.43 eV, respectively. The ZnO/TCPP photocatalyst exhibited remarkable photocatalytic performance for RhB degradation with a removal percentage of 97% after 180 min of irradiation under simulated sunlight because of the synergetic activity of ZnO and TCPP nanofibers. The dominant active species participating in the photocatalytic reaction were • O 2 – and OH • , resulting in enhanced charge separation by exciton-coupled charge-transfer processes between the hybrid materials.

About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. ABSTRACTThe insertion of a peg in a hole is the final phase in the assembly of a peg and a block with a hole. This paper briefly analyses the physical interaction between these two components during insertion, describes a simple fine-motion device which utilizes this interaction to insert pegs into closely-fitting holes, and discusses possible variations to the construction of the device.

The paper discusses an adaptive strategy to effectively control nonlinear manipulation motions of a dual arm robot (DAR) under system uncertainties including parameter variations, actuator nonlinearities and external disturbances. It is proposed that the control scheme is first derived from the dynamic surface control (DSC) method, which allows the robot's end-effectors to robustly track the desired trajectories. Moreover, since exactly determining the DAR system's dynamics is impractical due to the system uncertainties, the uncertain system parameters are then proposed to be adaptively estimated by the use of the radial basis function network (RBFN). The adaptation mechanism is derived from the Lyapunov theory, which theoretically guarantees stability of the closed-loop control system. The effectiveness of the proposed RBFN-DSC approach is demonstrated by implementing the algorithm in a synthetic environment with realistic parameters, where the obtained results are highly promising.