Use of Edman's method for splitting actinoidin peptides and aglycone

Phenylthiohydantoins of amino acids isolated from actinoidine (n-oxyphenylglycine, 3-chlor-4-oxyphenylglycine, actinoidinic amino acid) were prepared. Their spectral and chromagraphic properties were studied. Splitting of the aglycone of actinoidine and the prodlcts of its incomplete acid hydrolysis (peptides Y-Phe and B-Y-Phe) was achieved with the Edman method. Parital structure of tripeptide B-Y-Phe (4NH2-group) was proposed. Tripeptide B-Y Phe constitutes about 80 per cent of the antibiotic aglycone part.     

Wheel-Walking Propulsion Unit of a Planetary Rover with Active Suspension

The scheme of the propulsion unit with walking mechanism for a wheeled planetary rover is considered. The walking mechanism permits to convert the chassis in a transport position, displacement of rover’s center of mass so as to optimize the load on motor wheels. In wheeled motion the walking mechanism realize function of the active suspension for adaptation of the locomotion system to the surface features. On friable soils where wheeled locomotion is difficult or impossible, wheel-walking mode improves trafficability.