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The crystal structure of mammalian protein phosphatase-1, complexed with the toxin microcystin and determined at 2.1 A resolution, reveals that it is a metalloenzyme unrelated in architecture to the tyrosine phosphatases. Two metal ions are positioned by a central beta-alpha-beta-alpha-beta scaffold at the active site, from which emanate three surface(More)
cell injection has been the focus of many researches and commercial development for several years. In this paper, a robotic cell injection system for automatic batch injection of suspended cells is developed. To facilitate the process, these suspended cells are held and fixed to a cell array by a specially designed cell holding device, and injected one by(More)
This paper presents the development of new prismatic actuation approach and its application in human-safe humanoid head design. To reduce actuator output impedance and mitigate unexpected external shock, the prismatic actuation method uses cables to drive a piston with preloaded spring. By leveraging the advantages of parallel manipulator and cable-driven(More)
Stimulated by state-of-the-art robotic and computer technology, Intra Cytoplasmic Sperm Injection (ICSI) automation aims to scale and seamlessly transfer the human hand movements into more precise and fast movements of the micro manipulator. Piezo-drill cell injection, a novel technique using piezo-driven pipettes with a very small mercury column, has(More)