Günter Wöhlke

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We show here that the Enterobacterium Salmonella typhimurium LT2 has the capacity to grow anaerobically on l(+)- or d(-)-tartrate as sole carbon and energy source. Growth on these substrates was Na+-dependent and involved the l(+)- or d(-)-tartrate-inducible expression of oxaloacetate decarboxylase. The induced decarboxylase was closely related to the(More)
A genomic library of Salmonella typhimurium DNA was constructed in the lambda-phage EMBL3 and screened by immunoblotting for expression of the oxaloacetate decarboxylase alpha-subunit. After subcloning on plasmids the entire sequence of the oxaloacetate decarboxylase was determined. The genes encoding subunits gamma (oadG), alpha (oadA), and beta (oadB) of(More)
Methylmalonyl-CoA decarboxylase catalyses the only energy-conserving step during succinate fermentation by Propionigenium modestum: the decarboxylation of (S)-methylmalonyl-CoA to propionyl-CoA is coupled to the vectorial transport of Na+ across the cytoplasmic membrane, thereby creating a sodium ion motive force that is used for ATP synthesis. By taking(More)
This paper deals with the problems of grasp planning and force computation that occur when objects have to be manipulated with dextrous multi-finger robot hands. Assuming that the initial contact points at the object surface are pre-selected, the joint motions to perform a desired operation according to a given object trajectory are determined. This is done(More)