Background: There is an urgent need to develop safe and effective adjuvants for the new generation of subunit vaccines. We developed the tubular immunostimulating complex (TI-complex) as a new nanoparticulate antigen delivery system. The morphology and composition of TI-complexes principally differ from the known vesicular immunostimulating complexes (ISCOMs). However, methodology for the preparation of TI-complexes has suffered a number of shortcomings. The aim of the present work was to obtain an antigen carrier consisting of triterpene glycosides from Cucumaria japonica, cholesterol, and monogalactosyldiacylglycerol from marine macrophytes with reproducible properties and high adjuvant activity.
Lysophosphatidyletnolamine (LPE) is one of enigmatic lipids of bacteria. It is generated from major membrane lipid - phosphatidylethanolamine at severe changes of the bacterial growth conditions. Accumulation of this phospholipid in cells of Gram-negative enterobacterium Yersinia pseudotuberculosis results in the enhanced thermostability of OmpF-like porin (YOmpF) from the same bacteria. The respective integral conformational rearrangements may disturb the channel permeability of protein under stress conditions. However, role of fatty acid composition of LPE in this effect remained unclear. Present work demonstrated that the level of unsaturated LPE is 3.5 times higher than saturated one in total LPE of bacterial cells exposed to stress (phenol treatment). Unsaturated 1-oleoyl-2-hydroxy-sn-glycero-3-phosphoethanolamine (MOPE) and saturated LPE 1-palmitoyl-2- hydroxy-sn-glycero-3-phosphoethanolamine (MPPE) oppositely affect the conformation of YOmpF. MOPE increases the protein thermal stability due to more dense packing of monomers in porin and preserves its trimeric form at elevated temperature, while MPPE weakens the contact between monomers and promotes dissociation of the protein.
The article considers the development of a control algorithm for the actuating links of a manipulator with a parallel-serial structure. The authors suggest a two-stage procedure for resolving the problem of controlling the robot operating body motion into a set neighborhood of the final state for a set time. The first stage covers the process of solving the problem of defining the manipulator generalized coordinates at the set coordinates of the operating body. Then the problem of determining the laws of the formation of reference influences for the actuators is solved, which ensures the movement of the working body in the vicinity of a given point. The technique for the synthesis of dynamic algorithms for stabilizing the effector relative to a given position and implementing the program paths is based on generating the control signals of actuators by solving the inverse dynamic problem using a control signal generation algorithm provided that deviations from the current program path values are the solutions of a second-order differential equation. The laws of change in control voltages are obtained. The results of numerical modeling are presented, confirming the efficiency of the proposed algorithm on the example of a specific manipulator.
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