An increasing number of human diseases and syndromes are being found to result from micro-duplications or microdeletions arising from meiotic recombination between homologous repeats on the same chromosome. The first microduplication syndrome delineated, Charcot-Marie-Tooth disease type 1A (CMT1A), results from unequal crossing over between two >98% identical 24 kb repeats (CMT1A-REPs) on chromosome 17. In addition to its medical significance, the CMT1A region has features that make it a unique resource for detailed analysis of human unequal recombination. Previous studies of CMT1A patients showed that the majority of unequal crossovers occurred within a small region (<1 kb) of the REPs suggesting the presence of a recombination hot-spot. We directly measured the frequency of unequal recombination in the hot-spot region using sperm from four normal individuals. Surprisingly, unequal recombination between the REPs occurs at a rate no greater than the average rate for the male genome (approximately 1 cM/Mb) and is the same as that expected for equally aligned REPs. This conclusion extends to humans the findings in yeast that recombination between repeated sequences far apart on the same chromosome may occur at similar frequencies to allelic recombination. Finally, the CMT1A hot-spot stands in sharp contrast to the human MS32 mini-satellite-associated hot-spot that exhibits highly enhanced recombination initiation in addition to positional specificity. One possibility is that the CMT1A hot-spot may consist of a region with genome average recombination potential embedded within a recombination cold-spot.
This paper presents a novel impact rotary motor based on a piezoelectric tube actuator with helical interdigitated electrodes which has a compact structure and high resolution. The assembled prototype motor has a maximum diameter of 15 mm and a length of 65 mm and works under a saw-shaped driving voltage. The LuGre friction model is adopted to analyze the rotary motion process of the motor in the dynamic simulations. From the experimental tests, the first torsional resonant frequency of the piezoelectric tube is 59.289 kHz with a free boundary condition. A series of experiments about the stepping characteristics of different driving voltages, duty cycles, and working frequencies are carried out by a laser Doppler vibrometer based on a fabricated prototype motor. The experimental results show that the prototype rotary motor can produce a maximum torsional angle of about 0.03° using a driving voltage of 480 Vp-p (peak-to-peak driving voltage) with a duty ratio of 0% under a small friction force of about 0.1 N. The motor can produce a maximum average angle of about 2.55 rad/s and a stall torque of 0.4 mN∙m at 8 kHz using a driving voltage of 640 Vp-p with a duty ratio of 0% under a large friction force of about 3.6 N. The prototype can be driven in forward and backward motion and is working in stick-slip mode at low frequencies and slip-slip mode at high frequencies.
A novel impact two-degree-of-freedom (2-DOF) motor based on the decomposed screw-type motion of a piezoelectric actuator (PA) has been proposed. The fabricated prototype motor has a maximum diameter of 15 mm and a length of 100 mm which can produce a maximum torsional angle of about 1000 μrad and a maximum longitudinal displacement of about 1.03 μm under a saw-shaped driving voltage with 720 Vp-p (peak-to-peak driving voltage). When the axial prepressure generated by the spring is about 1N and the radial prepressure generated by the snap ring is about 14 N, the fabricated motor realizes rotary motion with the driving frequency from 200 Hz to 4 kHz. When the axial prepressure generated by the spring is about 11.7 N and the radial prepressure generated by the snap ring is about 21.1 N, the fabricated motor realizes linear motion with the driving frequency from 2 kHz to 11 kHz. In the experiments, the prototype motor can achieve 9.9 × 105 μrad/s rotary velocity at 2 kHz and it can achieve 2.4 mm/s linear velocity at 11 kHz under the driving voltage of 720 Vp-p.
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