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The definition of reaction coordinates for the characterization of a protein-folding reaction has long been a controversial issue, even for the "simple" case in which one single free-energy barrier separates the folded and unfolded ensemble. We propose a general approach to this problem to obtain a few collective coordinates by using nonlinear(More)
BACKGROUND There is an increasing number of proteins with known structure but unknown function. Determining their function would have a significant impact on understanding diseases and designing new therapeutics. However, experimental protein function determination is expensive and very time-consuming. Computational methods can facilitate function(More)
BACKGROUND Many proteins undergo extensive conformational changes as part of their functionality. Tracing these changes is important for understanding the way these proteins function. Traditional biophysics-based conformational search methods require a large number of calculations and are hard to apply to large-scale conformational motions. RESULTS In(More)
BACKGROUND Structural variations caused by a wide range of physico-chemical and biological sources directly influence the function of a protein. For enzymatic proteins, the structure and chemistry of the catalytic binding site residues can be loosely defined as a substructure of the protein. Comparative analysis of drug-receptor substructures across and(More)
Prehension may be deened as \The act of taking hold, seizing or grasping, as with the hand" (Webster's 3rd International Dictionary). Nonprehensile manipulation, then, can be de-ned as the manipulation of objects without grasping them. Manipulation without prehension is a natural way of handling objects for both humans and machines. The ability to(More)
The identification of protein function is crucial to understanding cellular processes and selecting novel proteins as drug targets. However, experimental methods for determining protein function can be expensive and time-consuming. Protein partial structure comparison methods seek to guide and accelerate the process of function determination by matching(More)
Proteins are at the root of many biological functions, often performing complex tasks as the result of large changes in their structure. Describing the exact details of these conformational changes, however, remains a central challenge for computational biology due the enormous computational requirements of the problem. This has engendered the development(More)
The protein kinases are a large family of enzymes that play fundamental roles in propagating signals within the cell. Because of the high degree of binding site similarity shared among protein kinases, designing drug compounds with high specificity among the kinases has proven difficult. However, computational approaches to comparing the 3-dimensional(More)
We present a new method to reconstruct the shape of an unknown object using tactile sensors, without requiring object immobilization. Instead, sensing and nonprehen-sile manipulation occur simultaneously. The robot infers the shape, motion and center of mass of the object based on the motion of the contact points as measured by the tactile sensors. We(More)