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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Journal of intelligent and robotic systems 16 (1996), S. 103-121 
    ISSN: 1573-0409
    Keywords: Parameter identification ; estimation techniques ; robot geometrical parameters ; Jacobian matrix
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract The computation of the geometrical parameters identification model of a robot arm leads to an intrinsic extended Jacobian matrix. This matrix is often singular and its manual computation is tedious and may lead to error. A computer assisted procedure is developed to compute this matrix symbolically and to check its singularity. The program GPIM is developed in Pascal and works on PC's for this purpose. Jacobian singularity is checked using its symbolic expressions with the aid of a proposed table for robot arm parameters to obtain a minimum set of identified parameters. This program can be used for simple chain robot arms having revolute (R) and/or prismatic (P) joints including the case of consecutive near parallel axes. TH8 robot arm of type RPPRRR having two pairs of consecutive near parallel axes is studied to show the program efficiency and how singularity is eliminated.
    Type of Medium: Electronic Resource
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  • 2
    ISSN: 1573-4986
    Keywords: erythropoietin ; BHK cell ; Mono Q column chromatography ; IEF-gel electrophoresis ; pI value ; sialic acid ; oligosaccharide chain ; in vivo activity ; in vitro activity ; α2,6-sialyltransferase
    Source: Springer Online Journal Archives 1860-2000
    Topics: Chemistry and Pharmacology
    Notes: Abstract Ten erythropoietin (EPO) fractions differing in sialic acid content, ranging from 9.5 to 13.8 mol mol−1 of EPO, were obtained from baby hamster kidney cell-derived recombinant human EPO by Mono Q column chromatography. The mean pI values of the EPO fractions determined by IEF-gel electrophoresis systematically shifted from 4.11 to 3.31, coinciding with the sialic acid content, without a change in the constitution of asialo N-linked oligosaccharides of each fraction. Although a linear relationship between thein vivo bioactivity and the sialic acid content of the fractionated, samples was observed until 12.1 mol mol−1 of EPO, there was no further increase in their activity over 12.4 mol mol−1 of EPO. On the other hand, an inverse relationship between thein vitro bioactivity and sialic acid content of EPO was observed. Also, we showed that thein vivo bioactivity of some fractions with low sialic acid contents was increased after treatment with α2,6-sialyltransferase, but thein vivo bioactivity of the other fractions with high sialic acid contents was either decreased or not affected.
    Type of Medium: Electronic Resource
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  • 3
    ISSN: 1573-5060
    Keywords: bulked segregant analysis ; Helianthus annuus ; linkage ; Plasmopara halstedii ; resistance genes ; RFLP ; sunflower ; downy mildew
    Source: Springer Online Journal Archives 1860-2000
    Topics: Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition
    Notes: Summary The Pl6 locus in the inbred sunflower (Helianthus annuus L.) line HA335 giving resistance to French races of downy mildew (Plasmopara halstedii (Farl.) Berl. & de Toni. was localized by molecular techniques. A bulked segregant analysis was made on the F2 progeny from a cross between this line and H52, a downy mildew susceptible line. The resistance gene in HA335 was found to have the same linked RFLP marker loci as those determined for Pl1 (resistance to race 1 in the line RHA266) on linkage group 1 of the consensus RFLP map of the cultivated sunflower. Pl1 and Pl6 thus appear either to be allelic or closely linked. The implications for sunflower breeding are discussed.
    Type of Medium: Electronic Resource
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