Advertisement

Is Design of New Drugs a Challenge for Kinematics?

  • Kazem Kazerounian
Chapter

Abstract

The systematic study of kinematics can be traced to the writings of the ancient Greeks, Egyptians, Romans and Persians as far back as 500 B.C.. For many centuries kinematics (along with geometry) was regarded as one of the basic sciences that explained observed physical phenomena, and was used to engineer machines. Though it may seem unlikely, today a valid claim may be that: kinematics (and in particular robot kinematics) is one of the disciplines that can significantly contribute to the understanding of the function of the biological systems at the microscopic level, and can be utilized to engineer new diagnostic tools, treatments and drugs for various diseases. Given the vast body of knowledge in the theoretical, applied and analytical kinematics and robotics, the obvious absence of the kinematics community and their contribution in the field of protein fold prediction, protein docking, protein engineering and drug design is puzzling. In this paper we will discuss these potential areas and challenges in biotechnology that might be pertinent and of interest to the kinematics and robotics research community.

Keywords

Drug design Protein conformation Kinematics Robotics 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Branden C. and Tooze J. (1991), Introduction to Protein Structure, 2nd edition, Garland Publishing.Google Scholar
  2. Burkert U. and Allinger N. (1982), Molecular Mechanics, Oxford Press.Google Scholar
  3. Cantor, C.R. and Schimmel, P.R. (1997), Biophysical Chemistry. The conformation of biological macromolecules, W.H. Freeman and Co. 1997.Google Scholar
  4. Chase, M. (1964), Vector analysis of Linkages, Transactions of the ASME Journal of Engineering for Industry, Vol. 85, No. 2, June 196, pp 300–308.Google Scholar
  5. Chirikjian, G.S. and Wang, Y.F., (2000), Conformational Statistics of Stiff Macromolecules as Solutions to PDEs on the Rotation and Motion Groups, Physical Review, pp. 880–892, Vol. 62, No. 1, July 2000.Google Scholar
  6. Chirikjian, G.S. (2001), Conformational Statistics of Macromolecules Using Generalized Convolution, Computational and Theoretical Polymer Science, pp 143–153, Vol. 11, February 2001.CrossRefGoogle Scholar
  7. Chirikjian, G.S. and Kyatkin, A.B. (2000), An Operational Calculus for the Euclidean Motion Group: Applications in Robotics and Polymer Science, Journal of Fourier Analysis and Applications, Vol. 6, No. 6, pp. 583–606, 2000.MathSciNetzbMATHCrossRefGoogle Scholar
  8. Denavit, J. and Hartenberg, R. S. (1955), A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices, ASME Journal of Applied Mechanics, 1955, pp. 215–221.Google Scholar
  9. Engh R.A. and Huber R. (1991), Accurate bond and Angle parameters for X-ray protein structure refinement, Acrta Cryst, A47, 392–400.CrossRefGoogle Scholar
  10. Floudas C. A., Klepeis, J. L., and Pardalos, P. M., (2000), Global Optimization Approaches in Protein Folding and Peptide Docking, DIMACS Series in Discrete Mathematics, and Theoretical Computer Science.Google Scholar
  11. Gupta, K.C. (1986), Kinematic Analysis of Manipulators Using the Zero Reference Position Description, The International J. of Robotic Research, Vol. 5, No. 2, pp. 5–13.CrossRefGoogle Scholar
  12. Kavraki. L. (1996), Geometry and the discovery of new ligands, In Proc. Int. Workshop on Algorithmic Foundations of Robotics (WAFR), pages 435–448, 1996.Google Scholar
  13. Kavraki, L. and Latombe J.C. (1998), Probabilistic roadmaps for robot path planning Practical Motion Planning in Robotic, K. Gupta and A. del Pobil ( Eds ), Wiley Press, 1998.Google Scholar
  14. Kazerounian, K. and Qian, Z. (1989), Kinematics Calibration of Robotic Manipulators, ASME J. of Mech. Trans. and Aut. in Des., Vol. 111.Google Scholar
  15. Kazerounian, K., Nedungadi, A. (1989), A Local Solution with Global Characteristics for torque optimization in Redundant Manipulators, Intl. J. of Robotic Systems, Vol. 6. 5.Google Scholar
  16. Kazerounian, K. and Nedungadi, A. (1988), Redundancy Resolution of Serial Manipulators Based on Robot Dynamics, Mechanism and Machine Theory, Vol. 22, No. 4.Google Scholar
  17. Kazerounian, K. and Wang, Z. (1988), Global Versus Local Optimization in Redundancy Resolution of Robotic Manipulators, The International J. of Robotics Research, Vol. 7, No. 5.Google Scholar
  18. Kazerounian K. (1987), Optimal Manipulation of Redundant Robots, The International J. of Robotics and Automation, Vol. 2, No. 2.Google Scholar
  19. Kislitsin A.P., (1954), Tensor Methods in the Theory of Spatial Mechanisms, Truth Seminar Po Teroii Mashin I Mekhanizmov, Akedemia Nauk, USSR, Vol 14, 1954, pp. 51–57.Google Scholar
  20. Lesk A.M. (2001), Introduction to Protein Architecture, Oxford University Press, 2001.Google Scholar
  21. Moult, J. (1999), Predicting Protein Three-dimensional Structure, Current Opinions in Biotechnology, 10: pp. 583–588, 1999.CrossRefGoogle Scholar
  22. Osman, M.O. and Mansour W. M. (1971), The Proximity Pertubation Method for the Kinematic Analysis of Six Link Mechanisms, Journal of Mechanisms, Vol. 6, No. 2, pp. 203–212.CrossRefGoogle Scholar
  23. Osman, M.O. and Segaev, D.N. (1972), Kinematic Analysis of Spatial Mechanisms by Means of Constant Distance Equations, Transactions of the Canadian Society of Mechanical Engineers, Vol 1, No. 3, pp 129–134.Google Scholar
  24. Osman, M.O., Bahgat, B. M. and Dukkipati, R.V. (1981), Kinematic Analysis of Spatial Mechanisms Using Train Components, Transaction of the ASME Journal of Mechanical Design, Vol 103, pp. 823–830.CrossRefGoogle Scholar
  25. Parsons, D. and Canny, J. F. (1994), Geometric Problems in Molecular Biology and Robotics, In Proceedings of the Second International Conference on Intelligent Systems for Molecular Biology, Palo Alto, CA, August, 1994.Google Scholar
  26. Rappe, A. Casewit, C. (1991), Molecular Mechanics Across Chemistry, University Science Books.Google Scholar
  27. Sandor, G. N. (1968), Principles of General Quaternion-Operator Method of Spatial Kinematic Synthesis, ASME paper number 68-APM-1.Google Scholar
  28. Song, G. and Amato, N. M. (2000), Motion planning approach to folding: From paper craft to protein structure prediction. Technical Report TR00–001, Department of Computer Science, Texas A&M University.Google Scholar
  29. Voet, D. and Voet, J. (1995), Biochemistry,2nd Ed., John Wiley and Sons. Google Scholar
  30. Yang, A.T. and Freudenstein, F. (1964), Application of Dual-Number Quaternions Algebra to the Analysis of Spatial Mechanisms, Transactions of the ASME Journal of Applied Mechanics,Vol 86, No. 2, pp. 300–308.MathSciNetCrossRefGoogle Scholar
  31. Yuan, M. S. and Freudenstien, F. (1971), Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates, Transactions of the ASME, Journal of Engineering for Industry, Vol 93, No. 1, pp. 61–73.CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • Kazem Kazerounian
    • 1
  1. 1.University of ConnecticutStorrsUSA

Personalised recommendations