Unconstrained and constrained motion control of a planar two-link structurally flexible robotic manipulator

Unconstrained and constrained motion control of a planar two-link structurally-flexible robotic manipulator are considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The approach to solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulator along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The feedforward and feedback torques are obtained by solving the inverse dynamics problem for the rigid manipulator and designing linear quadratic Gaussian with loop transfer recovery (LQG/LTR) compensators, respectively. The LQG/LTR design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. Computer simulated results are presented for an example planar, two-link, structurally flexible robotic manipulator. © 1994 John Wiley & Sons, Inc.     

50 nm MOSFETs with side-gates for induced source/drain extension

50 nm long MOSFETs with side-gates were optimised in terms of the side-gate length and successfully fabricated with conventional MOS technology. The simulated and fabricated 50 nm long MOSFET shows a reasonable subthreshold swing of 81 mV/dec and a low drain induced barrier lowering of 77 mV     

Steroidal glycosides of the 14,15-seco-18-nor-pregnane series from Cynanchum ascyrifolium

Three new steroidal glycosides named cynascyrosides A-C were isolated from the roots of Cynanchum ascyrifolium. The structures of these compounds were determined on the basis of spectroscopic and chemical evidence as cynajapogenin A 3-O-alpha-D-oleandropyranosyl-(1-->4)-beta-L-cymaropyranosyl -(1-->4)-beta-D- digitoxopyranoside; cynajapogenin A 3-O-beta-D-glucopyranosyl-(1-->4)-alpha-L-cymaropyranosyl- (1-->4)-beta-L-cymaropyranosyl-(1-->4)-beta-L-cymaropyranoside+ ++; cynajapogenin A 3-O-beta-D-glucopyranosyl-(1-->4)-alpha-L-cymaropyranosyl- (1-->4)-beta-D-digitoxopyranosyl-(1-->4)-beta-L-cymaropyranosid e.     

Central GABAA and GABAB receptor modulation of basal and stress-induced plasma interleukin-6 levels in mice

The development of control strategies for loiasis is of crucial importance in endemic areas and depends heavily on the accurate identification of occult-infected individuals. A polymerase chain reaction (PCR) and nested polymerase chain reaction (nested PCR) were developed and based on sequences of the repeat 3 region (15r3) of the gene encoding a Loa loa 15-kD protein. The assays was performed on 20 blood samples from occult-infected subjects and 30 from field-collected amicrofilaremic individuals. The size of the initial PCR product was 396 basepairs (bp). When this initial amplification using primers 15r3(1) and 15r3(2) was carried out for 30 cycles, the PCR products from three of the 20 occult-infected and five of the 30 amicrofilaremic individuals were visualized after electrophoresis by staining the gel with ethidium bromide. Subsequent Southern blotting and hybridization with the specific probe revealed hybridization in 19 of 20 occult-infected and 23 of 30 amicrofilaremic samples but only after two days of exposure of the blot to the x-ray film. When the nested PCR was carried out (product size = 366 bp, primers 15r3(3) and 15r3(4)), 19 of 20 occult-infected and 23 of 30 amicrofilaremic samples that were positive by Southern hybridization of the initial PCR products were strongly positive by staining with ethidium bromide. Qualitative Southern blotting of the nested PCR products using the same probe previously described confirmed the ethidium bromide staining results after a very short exposure time of 4 hr. These results demonstrate that the nested PCR amplification product is specific and that its sensitivity in detecting occult loiasis is 95%. This approach has significant promise for the screening of large human populations for active loiasis without the requirement for blotting and hybridization of the PCR products.     

Purification and characterization of cysteine protease from Pleurotus ostreatus

Cysteine protease activity in mycelial culture increased 7.7-fold after fruit body formation in Pleurotus ostreatus, using the Leu pNA (LPNA) cleavage assay. The enzyme was purified from fruit bodies and its M(r) was 97,000 by gel filtration and 48,500 by SDS-PAGE, indicating that it is a dimer. The enzyme was sensitive to iodoacetic acid, p-chloromercuribenzoate, N-ethylmaleimide, and HgCl2. The sequence of the first 9 N-terminal amino acids of cysteine protease was ASGLXXAIL.     

Synthesis and comparative molecular field analysis (CoMFA) of antitumor 3-arylisoquinoline derivatives

In this study a series of 3-arylisoquinoline derivatives were synthesized and cytotoxicity against human melanoma tumor cell evaluated, and a three dimensional quantitative structure-activity relationship was investigated using the comparative molecular field analysis (CoMFA). The results suggested that the electrostatic, steric and hydrophobic factors of 3-arylisoquinolines were strongly correlated with the antitumor activity. Considerable predictive ability (cross-validated r2 as high as 0.721) was obtained through CoMFA.     

Susceptibility of penicillin-susceptible and -resistant pneumococci to CFC-222, a new fluoroquinolone

Rotavirus (RV) strains infecting newborns often have unique neutralization antigens (P serotypes) on their outer capsids that are distinct from those found on RV strains that cause diarrhea in older children. We examined the hypothesis that unusual RV strains preferentially infect newborns because the newborns lack maternal neutralizing antibodies to these strains. To test this hypothesis, sera and saliva samples collected from neonates infected with 116E-like (P[11]G9) strains in the maternity ward of the All India Institute of Medical Sciences (AIIMS) hospital in New Delhi were tested for neutralizing antibodies against common RV strains and those infecting newborns and these titers were compared with those of newborns who did not become infected (controls). The infected neonates had significantly lower levels of cord blood neutralizing antibodies to 116E than the controls, suggesting that immunity to neonatal RV infection is acquired transplacentally through maternal antibodies. Further, this study confirmed the immunogenicity of the AIIMS neonatal strain 116E, a vaccine candidate, in its ability to evoke a potent RV-specific immunoglobulin A and neutralizing antibody response in serum and saliva among the infected babies. Our findings have important implications for the development of an effective RV vaccine. In India, where G9 strains are common in the community, the use of 116E as a vaccine, together with the rhesus tetravalent vaccine, may provide a broader protection against all the circulating RV serotypes, including serotype G9, which is not represented in the current rhesus RV tetravalent vaccine (G1-G4).     

Efficient scheduling of transmissions in optical broadcast networks

All-optical networks (AONs) with a broadcast-star based physical topology offer the possibility of transmission scheduling to resolve channel and receiver conflicts. This paper considers the problem of scheduling packet transmissions in a wavelength-division multiplexed (WDM) optical network with tunable transmitters and fixed-tuned receivers. The scheduling problem is complicated by tuning latency, a limited number of channels, and arbitrary traffic demands. We first analyze scheduling all-to-all packet transmissions and obtain a new lower bound for the schedule length. The lower bound is achieved by an algorithm proposed by Pieris and Sasaki (1994). We then extend the analysis to the case of arbitrary traffic demands and obtain lower bounds for the schedule length. Two constructions for scheduling algorithms are provided through list scheduling and multigraphs. The upper bounds so obtained not only provide performance guarantees with arbitrary demands, but also nearly meet the lower bound in simulations     

A programmable analog VLSI neural network processor forcommunication receivers

An analog VLSI neural network processor was designed and fabricated for communication receiver applications. It does not require prior estimation of the channel characteristics. A powerful channel equalizer was implemented with this processor chip configured as a four-layered perceptron network. The compact synapse cell is realized with an enhanced wide-range Gilbert multiplier circuit. The output neuron consists of a linear current-to-voltage converter and a sigmoid function generator with a controllable voltage gain. Network training is performed by the modified Kalman neuro-filtering algorithm to speed up the convergence process for intersymbol interference and white Gaussian noise communication channels. The learning process is done in the companion DSP board which also keeps the synapse weight for later use of the chip. The VLSI neural network processor chip occupies a silicon area of 4.6 mmx6.8 mm and was fabricated in a 2-mum double-polysilicon CMOS technology. System analysis and experimental results are presented.