FINITE TIME TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH FRICTION AND EXTERNAL DISTURBANCES

1.Introduction Variable structure control is well known for its robustness to system uncertainties and external disturbances and has been successfully applied to the rigid robotic manipulator systems(Utkin(1992),Zinober(1990)).Generally,a linear sliding mode is firstly designed to describe the desired system error dynamics,a robust controller drives the switching plane variables to reach the sliding mode,and the error dynamics will asymptotically converge to zero on the linear sliding mode.Si…     

Laplace Transformation and Ergodic Potential Kernel for q-Process in Random Environment

This paper introduces some concepts such as q-process in random environment, Laplace transformation, ergodic potential kernel, error function and some basic lemmas.We study the continuity and Laplace transformation of random transition function. Finally, we give the sufficient condition for the existence of ergodic potential kernel for homogeneous q-processes in random environments.     

Force generation in glycerinated insect-flight muscles without ATP

Zusammenfassung Durch Zugabe und durch Auswaschen von Mg-Pyrophosphat (0,5 mM) oder Mg-Tripoly-Phosphat (1 mM) konnten (in Abwesenheit von ATP) in glyzerinextrahierten Fasern von fibrillären Insektenmuskeln (Lethocerus maximus) reversible Kontraktionszyklen und Änderungen des Dehnungswiderstandes bewirkt werden.

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Supported by Grant No. Ru 154/b of the Deutsche Forschungsgemeinschaft. The excellent technical assistance of Mrs.Helgard Jung is gratefully acknowledged.     

Hendrik Antoon Lorentz und Emil Wiechert

Ohne Zusammenfassung Vorgelegt von S. Flügge     

The complete structure of ryanodine

Zusammenfassung Die Struktur des Ryanodins und die Natur der Ryanodin-Anhydroryanodin-Umlagerung wird diskutiert.     

EC,ASMC and Macrophage Oxidize Human Low Density Lipoprotein

Ｉｔｉｓｋｎｏｗｎｔｈａｔｄｕｒｉｎｇａｔｈｅｒｏｓｃｌｅｒｏｓｉｓ (Ａｓ)ｏｘｉｄｉｚｅｄｌｏｗｄｅｎｓｉｔｙｌｉｐｏｐｒｏｔｅｉｎ (ｏｘ ＬＤＬ)ｐｌａｙｓａｎｉｍｐｏｒｔａｎｔｒｏｌｅｔｈａｔｉｓｔａｋｅｎｕｐｂｙａｒｔｅｒｉａｌｗａｌｌｍａｃｒｏｐｈａｇｅｓａｔａｎｅｎｈａｎｃｅｄｒａｔｅ ,ｌｅａｄｉｎｇｔｏｃｅｌｌｕｌａｒｃｈｏｌｅｓｔｅｒｏｌａｃｃｕｍｕｌａｔｉｏｎａｎｄｆｏａｍｃｅｌｌｆｏｒｍａｔｉｏｎ .ＴｈｅａｔｈｅｒｏｇｅｎｉｃｉｔｙｏｆｏｘｉｄｉｚｅｄＬＤＬａｌｓｏｉｎｖｏｌｖ…     

COMPARISON OF MAX—MIN APPROACH AND NN METHOD FOR RELIABILITY OPTIMIZATION OF SERIES—PARALLEL SYSTEM

Two heuristics, the max-min approach and the Nakagawa and Nakashima method, are consideredfor the redundancy allocation problem with series-parallel structure. The max-min approach canformulate the problem as an integer linear programming problem instead of an integer nonlinearproblem. This paper presents a comparison between those methods from the standpoint of solutionquality and computational complexity. The experimental results show that the max-min approach issuperior to the Nakagawa and Nakashima method in terms of solution quality in small-scale problems,but analysis of computational complexity shows that the max-min approach is inferior to other greedyheuristics.     

Metachromasia in cultured fibroblasts of subjects with glycogenosis type II

Riassunto Frammenti di cute di due soggetti affetti da glicogenosi tipo II e dei loro genitori e fratelli sono stati coltivati in vitro. Sia nelle culture dei pazienti che dei loro familiari si è osservata la presenza di materiale metacromatico dopo colorazione con blu di toluidina 0. Nei leucociti di tutti i familiari esaminati l'attività della -1,4-glucosidasi è risultata ridotta.     

Confirmation of sex pheromone biosynthesis from (16-D3)palmitic acid in the turnip moth using capillary gas chromatography

Summary (16-D₃)palmitic acid was applied topically to pheromone glands of the turnip moth. After incubation omega labeled analogues of fatty acid methyl esters and acetates were identified by gas chromatography with flame ionization detection and selected ion monitoring. The pheromone components (Z)-5-decenyl, (Z)-7-dodecenyl- and (Z)-9-tetradecenyl acetate were all biosynthesized from palmitic acid along a common pathway.