Sub-3 Angstrom cryo-EM structure of RNA enabled by engineered homomeric self-assembly

Many functional RNAs fold into intricate and precise 3D architectures, and high-resolution structures are required to understand their underlying mechanistic principles. However, RNA structural determination is difficult. Herein, we present a nanoarchitectural strategy to enable the efficient single-particle cryogenic electron microscopy (cryo-EM) analysis of RNA-only structures. This strategy, termed RNA oligomerization-enabled cryo-EM via installing kissing-loops (ROCK), involves the engineering of target RNAs by installing kissing-loop sequences onto functionally nonessential stems for the assembly into closed homomeric nanoarchitectures. Assembly with geometric restraints leads to (1) molecular weight multiplication and (2) structural flexibility mitigation, both beneficial for cryo-EM analysis. Together with construct optimization and symmetry-expansion reconstruction, ROCK yields the cryo-EM reconstruction of the Tetrahymena group I intron at an overall resolution of 2.98 Angstrom (2.85 Angstrom resolution for the core domains), enabling the de novo model building of the complete intron RNA including previously unknown peripheral domains. When applied to smaller RNAs, ROCK readily produces modest-resolution maps, revealing the conformational rearrangement of the Azoarcus group I intron and the bound ligand in the FMN riboswitch. Our work unleashes the largely unexplored potential of cryo-EM in RNA structural studies.

Applying Improve Differential Evolution Algorithm for Solving Gait Generation Problem of Humanoid Robots

This chapter addresses an approach to generate 3D gait for humanoid robots. The proposed method considers gait generation matter as optimization problem with constraints. Firstly, trigonometric function is used to produce trial gait data for conducting simulation. By collecting the result, we build an approximation model to predict final status of the robot in locomotion, and construct optimization problem with constraints. In next step, we apply an improve differential evolution algorithm with Gauss distribution for solving optimization problem and achieve better gait data for the robot. This approach is validated using Kondo robot in a simulated dynamic environment. The 3D gait of the robot is compared to human in walk.

Carbon spot prices in equilibrium frameworks associated with climate change

<p style='text-indent:20px;'>At present, it is believed that the best approach to mitigate global warming is the market-based formulation of carbon emission pricing. Thus, in this paper, we work on determining the carbon spot prices in a stochastic equilibrium framework associated with climate change. Two circumstances, differentiated by whether taking carbon trading in the market, are considered. We construct optimization problems and solve them by using dynamic programming principle. The Fourier transform and its properties are fully made use of to return the explicit formulas of carbon prices. In addition, some surprising but interesting properties of the carbon prices are also found. First, the carbon prices happen jumps at the end of the abatement period. Second, the return rates of carbon prices are completely dependent on the climate elements. Finally, we present some numeric results in response to our theoretical results.</p>

A Joint Inspection-Based Preventive Maintenance and Spare Ordering Optimization Policy Using a Three-Stage Failure Process

Separated decision-making for maintenance and spare ordering is unrealistic in the industry, so this paper aims to optimize them together. A joint policy of inspection-based preventive maintenance (PM) and spare ordering considering two modes of spare ordering, namely, a regular order and an emergency order, is proposed for single-unit systems using a three-stage failure process. If the system is recognized to be in the minor defective stage, the original inspection interval is shortened and a regular order is placed. However, replacement is undertaken preventively or correctively if the severe defective stage is identified or a failure occurs. Depending on the system state and the state of the regular ordered spare when replacement is needed, all possible scenarios are considered to construct optimization model I. The decision variables are the optimal inspection interval and the times of shortening the original inspection interval. Additionally, model II on the basis of an assumption that the spare is always ordered at time 0 is also developed. The results from a numerical example illustrated the applicability and the effectiveness of model I compared to model II, and the irregular inspection policy is validated to be cost-saving compared to the regular inspection policy.

Combining dehydration, construct optimization and improved data collection to solve the crystal structure of a CRM1–RanGTP–SPN1–Nup214 quaternary nuclear export complex

High conformational flexibility is an intrinsic and indispensable property of nuclear transport receptors, which makes crystallization and structure determination of macromolecular complexes containing exportins or importins particularly challenging. Here, the crystallization and structure determination of a quaternary nuclear export complex consisting of the exportin CRM1, the small GTPase Ran in its GTP-bound form, the export cargo SPN1 and an FG repeat-containing fragment of the nuclear pore complex component nucleoporin Nup214 fused to maltose-binding protein is reported. Optimization of constructs, seeding and the development of a sophisticated protocol including successive PEG-mediated crystal dehydration as well as additional post-mounting steps were essential to obtain well diffracting crystals.