Algebra of algorithms and Kaluzhnin's graphschemas

This research was supported under project No. 6.02.02/128-93 as part of the state scientific-technical program on future information technologies and systems by the Ukrainian State Committee, of Science and Technology.     

Review of the Robotica software package for robotic manipulators

Robotica is a computer-aided design package for robotic nmanipulators developed at the Coordinated Science Laboratory at the University of Illinois at Urbana- Champaign. The package is a collection of function definitions for the Mathematica symbolic mathematics program. Robotica can be used either with an X- Windows graphical user interface (GUI) on a Sun Workstation or as an included function definition file within Mathematica. The primary feature of Robotica is the ability to compute, symbolically or numerically, the kinematic and dynamic equations of arbitrary robot systems utilizing the standard Denevit-Hartenburg (DH) kinematic convention. Robotica also provides the ability to visualize these arbitrary manipulators using the X- Windows graphical interface to the Mathematica graphics routines. The paper looks at the usage of Robotica at the Air Force Institute of Technology, comments on the features of Robotica, and needs for improvement and suggestions for future development     

Nasal gas composition in humans and its implication on middle ear pressure

Chewing and acid on the tongue evoked a flow of saliva from the duct-cannulated parotid gland of the conscious rat despite pretreatment with atropine and adrenoceptor antagonists. This non-adrenergic, non-cholinergic (NANC) response depended on an intact parasympathetic innervation and was abolished by a tachykinin antagonist. The present findings are consistent with a physiological role for the secretory NANC mechanisms of the salivary glands.