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Epigenetic histone modifications play critical roles in the control of gene transcription. Recently, an increasing number of histone H2A deubiquitinases have been identified and characterized. However, the physiological functions for this entire group of histone H2A deubiquitinases remain unknown. In this study, we revealed that the histone H2A deubiquitinase MYSM1 plays an essential and intrinsic role in early B-cell development. MYSM1 deficiency results in a block in early B-cell commitment and a defect of B-cell progenitors in expression of EBF1 and other B-lymphoid genes. We further demonstrated that MYSM1 de-represses EBF1 transcription in B-cell progenitors by orchestrating histone modifications and transcription factor recruitment to the EBF1 locus. Thus, this study not only uncovers the essential role for MYSM1 in gene transcription during early B cell development, but also underscores the biological significance of reversible epigenetic histone H2A ubiquitination.

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This paper builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and control Lyapunov function based quadratic programs (CLF-QP) for underactuated hybrid systems. The primary contribution of this paper is developing a robust control technique for underactuated hybrid systems with application to bipedal walking, that is able to track desired trajectories with significant model perturbation (mass and inertia increased by up to 200%.) We evaluate our proposed control design on a model of RABBIT, a five-link planar bipedal robot.This work is supported by CMU Mechanical Engineering startup funds.