Construction of bispecific antibodies by specific pairing between the heavy chain and the light chain using removable SpyCatcher/SnoopCatcher units.

During the production of bispecific antibodies (bsAbs), nonspecific pairing results in low yields of target bsAb molecules, an issue known as the "mispairing problem." Several antibody engineering techniques have been developed to overcome mispairing issues. Here, we introduce "bsAb by external pairing and excision" (BAPE), a novel chain pairing method that induces specific chain pairing by fusing external SpyCatcher/Tag and SnoopCatcher/Tag units.

Combinatorial optimization of the hybrid cellulase complex structure designed from modular libraries.

Cellulase selectively recognizes cellulose surfaces and cleaves their β-1,4-glycosidic bonds. Combining hydrolysis using cellulase and fermentation can produce alternative fuels and chemical products. However, anaerobic bacteria produce only low levels of highly active cellulase complexes so-called cellulosomes.

Use of a stent-retriever for treatment of iatrogenic vasospasm secondary to mechanical thrombectomy.

The treatment strategy for iatrogenic intracranial vasospasm has not been established. We reported a rare case of stent-retriever use for the treatment of iatrogenic vasospasm after mechanical thrombectomy. The patient presented acute ischemic stroke due to the occlusion of the left middle cerebral artery (MCA).

Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap.

This study introduces a rapid motion-replanning technique driven by a semantic 3D voxel mapping system, essential for humanoid robots to autonomously navigate unknown territories through online environmental sensing. Addressing the challenges posed by the conventional approach based on polygon mesh or primitive extraction for mapping, we adopt semantic voxel mapping, utilizing our innovative Extended-Octomap (ExOctomap). This structure archives environmental normal vectors, outcomes of Euclidean Cluster Extraction, and principal component analysis within an Octree structure, facilitating an (log ) efficiency in semantic accessibility from a position query x∈R3.