Serum lipoamide dehydrogenase activity and kinetics were studied in nine patients with Friedreich's ataxia before and three months after therapy with oral lecithin. Results disclosed a significant reduction in LAD inhibition by NADH in all patients after therapy. Three patients normalized their increased Km for lipoamide and one patient showed the opposite results after therapy. Two patients ceased lecithin after one month. All seven patients who remained in the trial group and one additional patient, showed subjective and objective signs of improvement in physical resistance. This study has offered some biochemical basis for the apparent clinical improvement in patients with Friedreich's ataxia who undergo lecithin therapy.

Lipoamide dehydrogenase was measued in cultivated skin fibroblasts from twelve patients with Friedreich's ataxia and nine normal controls. No difference in specific activity, subcellular distribution and Vmax or Km was observed between patients and controls.

Lecithin and sqfflower oil brought about the same changes in serum LAD activity and kinetics in patients with Friedreich’s Ataxia as in controls when results of this double-blind crossover study were analyzed according to group assignation. According to functional stages, pretrial LAD activity decreased with advancing severity while Km for lipoamide increased. Lecithin and sqfflower oil supplements corrected the elevated Km for lipoamide but produced a further reduction in LAD activity. These changes may have been due to the increased intake of linoleic acid, a precursor of lipoic acid, which is present in high percentage in both lecithin and safflower oil. Results of the biochemical study thus agreed with the clinical data gathered during the course of the one-year trial in suggesting that linoleic acid may well have been the active factor through which biochemical and clinical improvement was previously observed in patients with Friedreich’s Ataxia supplemented with lecithin.

The activity of lipoamide dehydrogenase and two closely related enzymes was studied simultaneously in early, mid, and late passage fibroblast cultures. Friedreich's ataxia fibroblasts tended to lose pyruvate dehydrogenase and citrate synthase activities, while lipoamide dehydrogenase activity remained constant with aging of the cells. Mean pyruvate dehydrogenase activity was lower over-all in fibroblasts from ataxies. Mean citrate synthase activity was higher in ataxie fibroblasts. Present tissue culture media do not represent the best conditions in which to reproduce cofactor binding defects such as those found in other genetic diseases with structural enzyme mutations.

Glutamic and aspartic acid uptake was measured in skin fibroblasts from patients with Friedreich's Ataxia, dicarboxylic aminoaciduria, and normal individuals. The results showed no difference in uptake kinetics of either dicarboxylic amino acids between Friedreich's Ataxia and normal cells, but reduced uptake velocities in dicarboxylic aminoaciduria fibroblasts. Friedreich's Ataxia fibroblasts were, however, less calcium-dependant and more magnesium and phosphate-dependent than controls in glucose-free incubation mixture. This difference might be related to some degree of glucose intolerance by Friedreich's Ataxia fibroblasts in culture.

Twenty-two patients with Friedreich’s Ataxia and ten normal controls were followed for one year and assessed as to their clinical performance after two successive six-month periods of lecithin or safflower oil. Results demonstrated no significant difference in performance scores according to group assignation, neither in patients nor in controls. According to stages, two patients in stage I and to a lesser degree, one patient in stage IV showed better scores for muscle strength and some motor accuracy and coordination tests with lecithin. Controls as groups maintained positive scores in all tests. Patients as groups showed negative mean values in nine out of eleven tests. Again as groups, patients receiving safflower oil demonstrated a mean 8% less deterioration than patients receiving lecithin. This study demonstrates that objective clinical tests and the participation of normal controls are a must in a therapeutic trial implicating patients with a progressive disorder such as Friedreich’s Ataxia. The possible role of linoleic acid as the active factor from which clinical improvement proceeded in some specific patients and with early functional stages of the disease, has to be considered and reevaluated in the near future.

The evolved, core helium burning, extreme horizontal branch stars (also known as hot B subdwarfs) host several classes of pulsators showing either p- or g-modes, or both. They offer particularly favorable conditions for probing with asteroseismology their internal structure, thus constituting arguably the most interesting seismic window for this intermediate stage of stellar evolution. G-modes in particular have the power to probe deep inside these stars, down to the convective He-burning core boundary where uncertain physics (convection, overshooting, semi-convection) is at work. Space data recently obtained with CoRoT and Kepler are offering us the possibility to probe these regions in detail and possibly shed new light on how these processes shape the core structure. In this short paper, we present the most recent advances that have taken place in this field and we provide hints of the foreseen future achievements of hot subdwarf asteroseismology.

We first present a brief description of the six distinct families of pulsating white dwarfs that are now known. These are all opacity-driven pulsators showing low- to mid-order, low-degree gravity modes. We then discuss some recent highlights that have come up in the field of white dwarf asteroseismology.

Hot B subdwarfs (sdB) are hot and compact helium core burning stars of nearly half a solar mass that can develop pulsational instabilities driving acoustic and/or gravity modes. These evolved stars are expected to be chemically stratified with an almost pure hydrogen envelope surrounding a helium mantle on top of a carbon/oxygen enriched core. However, the sdB stars pulsating in g-modes show regularities in their observed period distributions that, surprisingly (at first sight), are typical of the behavior of high order g-modes in chemically homogeneous (i.e., non-stratified) stars. This led to a claim that hot B subdwarfs could be much less chemically stratified than previously thought. Here, we reinvestigate trapping effects affecting g-modes in sdB stars. We show that standard stratified models of such stars can also produce nearly constant period spacings in the low frequency range similar to those found in g-mode spectra of sdB stars monitored with Kepler.

Asteroseismic modeling of subdwarf B (sdB) stars provides measurements of their fundamental parameters with a very good precision; in particular, the masses and radii determined from asteroseismology are found to typically reach a precision of 1% containing various uncertainties associated with their inner structure and the underlying microphysics (composition and transition zones profiles, nuclear reaction rates, etc.). Therefore, the question of the accuracy of the stellar parameters derived by asteroseismology is legitimate. We present here the seismic modeling of the pulsating sdB star in the eclipsing binary PG 1336–018, for which the mass and the radius are independently and precisely known from the modeling of the reflection/irradiation effect and the eclipses observed in the light curve. This allows us to quantitatively evaluate the reliability of the seismic method and test the impact of uncertainties in our stellar models on the derived parameters. We conclude that the sdB star parameters inferred from asteroseismology are precise, accurate, and robust against model uncertainties.

We briefly introduce hot subdwarfs and their evolutionary status before discussing the different types of known pulsators in more detail. Currently, at least six apparently distinct types of variable are known among hot subdwarfs, encompassing p- as well as g-mode pulsators and objects in the Galactic field as well as in globular clusters. Most of the oscillations detected can be explained in terms of an iron opacity mechanism, and quantitative asteroseismology has been very successful for some of the pulsators. In addition to helping constrain possible evolutionary scenarios, studies focussing on stellar pulsations have also been used to infer planets and characterize the rotation of the host star.

We explore quantitatively the low but sufficient sensitivity of oscillation modes to probe both the core composition and the details of the chemical stratification of pulsating white dwarfs. Until recently, applications of asteroseismic methods to pulsating white dwarfs have been far and few, and have generally suffered from an insufficient exploration of parameter space. To remedy this situation, we apply to white dwarfs the same double-optimization technique that has been used quite successfully in the context of pulsating hot B subdwarfs. Based on the frequency spectrum of the pulsating white dwarf R548, we are able to unravel in a robust way the unique onion-like stratification and the chemical composition of the star. Independent confirmations from both spectroscopic analyses and detailed evolutionary calculations including diffusion provide crucial consistency checks and add to the credibility of the inferred seismic model. More importantly, these results boost our confidence in the reliability of the forward method for sounding white dwarf internal structure with asteroseismology.

Hot subdwarf stars (of the sdB and sdO type) host three known classes of nonradial pulsators. Two of them feature short period (P ~ 60 - 600 s) accoustic mode oscillations, while the third group is characterized by slow g-mode deformations with periods of ~ 1 - 2h. These pulsations offer favorable grounds to infer some of the internal properties of these objects through asteroseismology. This has been exploited for the rapid p-mode sdB pulsators and the present contribution reviews some of the recent advances in this field. The long period g-mode pulsators, whose vibrations probe much deeper inside the star, are also of high interest. With the advent of space observations using CoRoT and KEPLER, the asteroseismology of these slower oscillators will also become a possibility, and likely contribute to significant breakthroughs in our understanding of these hot and compact stars.

In the field of multifingered mechanisms the control/command problem is mainly a problem o1 coordination. The problem is not only to coordinate joints of a chains but also to coordinate the different chains together.

This paper presents a general and efficient method for implementing the control/command of such systems, taking into account the force distribution problem. To solve this problem it is necessary to pay great attention to dynamic effects. To do this, we broke down the Inverse Dynamic Model (I.D.M.) problem into two main levels; One level is devoted to I.D.M. computation; it can be called the Finger Level (F.L.). As we wanted to divide up the work to be done as much as possible, we subdivided the Finger Level according to the number o1 kinematic chains. In addition, we considered a second level, the Coordinator. This level has to control all the chains using the Fingers-to-Object-Interaction Model (F.O.LM.).

Next, we will also introduce new grasping systems: Polyvalent Gripper Systems (P.G.S). There are a new solution to multicomponent assembly problems. As they can be equipped with several multifingered mechanisms, they can also use the control/command scheme.