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This paper describes a robot capable of inspecting a pipe. The robot is composed of units and connecting links. Three or more units are combined for the robot to move in a straight pipe, while four or more units are needed to move and turn in a divergent pipe. It is also able to with pipes with different diameters by adjusting to the number of units. Several experiments are conducted in the pipes...
We performed X-ray crystallographic analyses of 6-aminohexanoate-dimer hydrolase (Hyb-24DN), an enzyme responsible for the degradation of nylon-6, an industry by-product, and of a complex between Hyb-24DN-A 112 (S112A-mutant of Hyb-24DN) and 6-aminohexanoate-linear dimer (Ald) at 1.58 Å and 1.4 Å resolution, respectively. In Hyb-24DN, Asp181-O δ forms hydrogen bonds with Tyr170-O ...
Carboxylesterase (EII′) from Arthrobacter sp. KI72 has 88% homology to 6-aminohexanoate-dimer hydrolase (EII) and possesses ca. 0.5% of the level of 6-aminohexanoate-linear dimer (Ald)-hydrolytic activity of EII. To study relationship between Ald-hydrolytic and esterolytic activities, random mutations were introduced into the gene for Hyb-24 (an EII/EII′ hybrid with the majority of the sequence deriving...
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