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  • 1
    Electronic Resource
    Electronic Resource
    Spatial grasp synthesis for complex objects using model-based simulation (2005)
    Bradford : Emerald
    Industrial robot 32 (2005), S. 24-31 
    Details
    ISSN: 0143-991X
    Source: Emerald Fulltext Archive Database 1994-2005
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Purpose - Selection of an effective grasp of a complex object using a multifingered gripper is a challenging problem because of the many possible grasp positions that are typically available. Design/methodology/approach - Given the geometrical description of the particular object feature to be grasped, all feasible grasps are performed in offline simulation using a geometrically accurate model of the desired gripper. The six-dimensional convex hull for each grasp is computed and archived. This convex hull indicates the span of forces and torques that the grasp can resist. When a grasp is needed the force/torque due to the total object weight is estimated and the best grasp is selected. The selected grasp has minimum peak contact force consistent with equilibrium. Findings - Experimental trials with several complex object show the method is capable of producing grasps which can support the object and resist external force/torque. Research limitations/implications - An accurate geometrical description of the feature to be grasped must be known in advance. This would typically be a cylindrical or prismatic portion of the object. Practical implications - There are many environments in which a dexterous multifingered gripper must be used due to the variety of objects which must be grasped. The results indicate that effective grasps can be selected for complex objects from a database of simulated grasps. Originality/value - The primary contribution of this paper is the use of a database of simulated grasps on simple graspable features to synthesize grasps on complex objects.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1108/01439910510573255
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    Paper (German National Licenses)
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  • 2
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    Identification and investigation of ORFans in the viral world (2008)
    BioMed Central
    Details
    Publication Date: 2008-01-01
    Electronic ISSN: 1471-2164
    Topics: Biology
    Published by BioMed Central
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  • 3
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    Utility of EST-derived SSR in cultivated peanut (Arachis hypogaea L.) and Arachis wild species (2009)
    BioMed Central
    Details
    Publication Date: 2009-01-01
    Electronic ISSN: 1471-2229
    Topics: Biology
    Published by BioMed Central
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  • 4
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    Genomic characterization of ribitol teichoic acid synthesis in Staphylococcus aureus: genes, genomic organization and gene duplication (2006)
    BioMed Central
    Details
    Publication Date: 2006-04-05
    Description: Background Staphylococcus aureus or MRSA (Methicillin Resistant S. aureus), is an acquired pathogen and the primary cause of nosocomial infections worldwide. In S. aureus, teichoic acid is an essential component of the cell wall, and its biosynthesis is not yet well characterized. Studies in Bacillus subtilis have discovered two different pathways of teichoic acid biosynthesis, in two strains W23 and 168 respectively, namely teichoic acid ribitol (tar) and teichoic acid glycerol (tag). The genes involved in these two pathways are also characterized, tarA, tarB, tarD, tarI, tarJ, tarK, tarL for the tar pathway, and tagA, tagB, tagD, tagE, tagF for the tag pathway. With the genome sequences of several MRSA strains: Mu50, MW2, N315, MRSA252, COL as well as methicillin susceptible strain MSSA476 available, a comparative genomic analysis was performed to characterize teichoic acid biosynthesis in these S. aureus strains. Results We identified all S. aureus tar and tag gene orthologs in the selected S. aureus strains which would contribute to teichoic acids sythesis.Based on our identification of genes orthologous to tarI, tarJ, tarL, which are specific to tar pathway in B. subtilis W23, we also concluded that tar is the major teichoic acid biogenesis pathway in S. aureus. Further analyses indicated that the S. aureus tar genes, different from the divergon organization in B. subtilis, are organized into several clusters in cis. Most interesting, compared with genes in B. subtilis tar pathway, the S. aureus tar specific genes (tarI,J,L) are duplicated in all six S. aureus genomes. Conclusion In the S. aureus strains we analyzed, tar (teichoic acid ribitol) is the main teichoic acid biogenesis pathway. The tar genes are organized into several genomic groups in cis and the genes specific to tar (relative to tag): tarI, tarJ, tarL are duplicated. The genomic organization of the S. aureus tar pathway suggests their regulations are different when compared to B. subtilis tar or tag pathway, which are grouped in two operons in a divergon structure.
    Electronic ISSN: 1471-2164
    Topics: Biology
    Published by BioMed Central
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  • 5
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    The cellulose synthase superfamily in fully sequenced plants and algae (2009)
    BioMed Central
    Details
    Publication Date: 2009-07-31
    Description: Background The cellulose synthase superfamily has been classified into nine cellulose synthase-like (Csl) families and one cellulose synthase (CesA) family. The Csl families have been proposed to be involved in the synthesis of the backbones of hemicelluloses of plant cell walls. With 17 plant and algal genomes fully sequenced, we sought to conduct a genome-wide and systematic investigation of this superfamily through in-depth phylogenetic analyses. Results A single-copy gene is found in the six chlorophyte green algae, which is most closely related to the CslA and CslC families that are present in the seven land plants investigated in our analyses. Six proteins from poplar, grape and sorghum form a distinct family (CslJ), providing further support for the conclusions from two recent studies. CslB/E/G/H/J families have evolved significantly more rapidly than their widely distributed relatives, and tend to have intragenomic duplications, in particular in the grape genome. Conclusion Our data suggest that the CslA and CslC families originated through an ancient gene duplication event in land plants. We speculate that the single-copy Csl gene in green algae may encode a mannan synthase. We confirm that the rest of the Csl families have a different evolutionary origin than CslA and CslC, and have proposed a model for the divergence order among them. Our study provides new insights about the evolution of this important gene family in plants.
    Electronic ISSN: 1471-2229
    Topics: Biology
    Published by BioMed Central
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