52 propagation delay in nanoseconds of selected 5 v cmos and ttl ssi parts
báo cáo hóa học:" The role of FGF-2 and BMP-2 in regulation of gene induction, cell proliferation and mineralization" pptx
... http://www.josr-online.com/content/6/1/8 5% Normal Media 5% Normal Media + 5ng/ml FGF 5% Mineralizing Media 5% Mineralizing Media + 5ng/ml FGF Page of 5% Normal Media + 50 ng/ml BMP 5% Mineralizing Media + 50 ng/ml ... FGF-2 and BMP-2, the yin and yang of mineralization: Contrast of effect of 24 hours of treatment with FGF-2 or BMP2 on fold increase in abundance of mineralization-related gene expression Mineralizing ... (Figure 3) we found that in general, BMP-2 maintained the mineralizing RNA profile of igf-1, alp, and bmp-2 and significantly increased expression of other genes associated with mineralization like...
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báo cáo hóa học:" The role of FGF-2 and BMP-2 in regulation of gene induction, cell proliferation and mineralization" pdf
... http://www.josr-online.com/content/6/1/8 5% Normal Media 5% Normal Media + 5ng/ml FGF 5% Mineralizing Media 5% Mineralizing Media + 5ng/ml FGF Page of 5% Normal Media + 50 ng/ml BMP 5% Mineralizing Media + 50 ng/ml ... FGF-2 and BMP-2, the yin and yang of mineralization: Contrast of effect of 24 hours of treatment with FGF-2 or BMP2 on fold increase in abundance of mineralization-related gene expression Mineralizing ... (Figure 3) we found that in general, BMP-2 maintained the mineralizing RNA profile of igf-1, alp, and bmp-2 and significantly increased expression of other genes associated with mineralization like...
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Báo cáo y học: " Decrease in expression of bone morphogenetic proteins 4 and 5 in synovial tissue of patients with osteoarthritis and rheumatoid arthritis" ppt
... hyperplasia of the synovial lining layer, 1.9, 1.1 and 0.3 points for activation of the sublining stroma, and 2.1, 0.8 and 0.1 points for inflammatory infiltration in RA, OA and ND, respectively Thus, ... morphogenetic protein signaling inhibits the onset and progression of ankylosing enthesitis J Clin Invest 20 05, 1 15: 157 1- 157 9 van Beuningen HM, Glansbeek HL, van der Kraan PM, van den Berg WB: ... expression values: all values of RA tissues were lower than the minimum level found in ND tissues In OA, expression values of of 12 synovial tissues were within the range of ND expression values...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... state variables and time See Chapter 12 What Does “Control of Robots” Involve? tailored for linear systems, in robot control In view of this and the present requirements of precision and rapidity ... Robotics and Automation, Vol 8, No 5, October Several theoretical and technological aspects on the guidance of manipulators involving the use of vision sensors may be consulted in the following books ... connecting the initial and final desired posture of the end-effector, while avoiding any obstacle Trajectory generation consists in parameterizing in time the soobtained curve during the path planning...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... 5. 7 Norm of the desired velocities vector Figures 5. 6, 5. 7 and 5. 8 show the evolution in time of the norms corresponding to the desired joint positions, velocities and accelerations respectively ... velocity vector v of the center of mass of such a link is then, v1 = x1 ˙ y1 ˙ Therefore, the speed squared, v = lc1 cos(q1 )q1 ˙ lc1 sin(q1 )q1 ˙ = v Tv , of the center of mass becomes 2 ˙ v Tv = ... obtained via the differential kinematics1 and its time derivative In doing this one must keep in mind that the expressions obtained are valid only as long as the robot does not “fall” into a singular...
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báo cáo khoa học: "Delay in diagnosis of generalized miliary tuberculosis with osseo-articular involvement: a case report" pps
... abscesses involving both skin and skeletal muscle of immunocompetent individuals are rare, but have been reported [4 ,5] They present with pain and swelling and follow a prolonged clinical course ... the initiation of anti-TB therapy was over four years Our patient had tuberculosis involving three different areas of the body, namely the skin, knee and the lungs Involvement of the musculoskeletal ... multibacillary skin lesions (AFB positive result from biopsies), the sensitivity in paucibacillary immunocompetent individuals is in the range of 55 % to 73% [6] This might explain the initial negative results...
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Báo cáo khoa học: Yeast oxidative stress response Influences of cytosolic thioredoxin peroxidase I and of the mitochondrial functional state pot
... a DNA-binding protein that binds to elements in the vicinity of Yap1 binding site [52 ] Alternatively, the increased reducing power of tsa1 mutant, achieved by the expression elevation of GSH1, ... alteration in Yap1 cellular distribution Probably other factors, such as ability of Yap1 to bind DNA [51 ], are also involved in the activation of genes involved in the response of yeast to oxidative ... probably involved with its specific role in the antioxidant defense of yeast with mitochondrial dysfunction 808 45 Fig Protein structures of cTPxI in vivo Native-PAGE analysis of crude protein extracts...
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Entitling art: Influence of title information on understanding and appreciation of paintings doc
... aesthetic processing, which combines aspects of understanding and cognitive mastering with affective and emotional processing A short version of the model is depicted in Fig According to the model, ... the role of titles in the processing of paintings Experiment revealed that abstract paintings received higher ratings of understanding when accompanied by elaborative titles Descriptive titles ... time of 10 s would be sufficient for an interpretative activity of a painting The present study In the present study, we examined the in uence of descriptive and elaborative titles on paintings...
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control of robot manipulators in joint space r kelly v santibanez and a loria ppt
... Petkov and M.M Konstantinov Publication due July 20 05 Active Noise and Vibration Control M.O Tokhi Publication due November 20 05 R Kelly, V Santibáñez and A Loría Control of Robot Manipulators in ... III contain, respectively, set-point and tracking model-based controllers Part IV covers additional topics such as adaptive versions of the controllers studied in parts II and III, and a controller ... for human beings The main arguments in favor of the use of manipulators in industry is the reduction of production costs, enhancement of precision, quality and productivity while having greater...
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Influence of positive active material type and grid alloy on corrosion layer structure docx
... subsequent rolling Once the lead strip was obtained, holes for the active material, having dimensions mm  13 mm were introduced using a punching machine, converting the strip into a grid Pressing the ... type and rate of reactions occurring [5] A consequence of this is a variation in stoichiometric coefficient of the oxides and therefore conductivity of the corrosion layer Work conducted by Pavlov ... identified in all corrosion layers with the addition of tin in the case of those attached to a grid bar originally alloyed with tin This indicates that tin contained initially within the grid becomes incorporated...
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Báo cáo lâm nghiệp: "Influence of tree species on gross and net N transformations in forest soils" ppsx
... measuring the dilution of an input of 15 NH4 by the 14 NH4 originating from the mineralization of organic N Gross nitrification is quantified by measuring the formation of 15 NO3 from an input of 15 ... soils 155 Table IV Net and gross nitrogen mineralization in the mineral soil (0 5 cm depth) from an old coppice and in five pure stands of oak, beech, spruce, Douglas fir and Corsican pine planted ... composition (C/N) and degree of opening of the stand, allowing understory species to develop are likely factors favouring nitrification, and (5) the activity of heterotrophic nitrifyers bypassing the ammonium...
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Báo cáo toán hoc:" Hurwitz Equivalence in Tuples of Dihedral Groups, Dicyclic Groups, and Semidihedral Groups" pptx
... sequence of moves transforming a to b that does not involve any of those terms For example, setting (j, l) = (0, 0), (0, 1), (1, 0), and (1, 1) respectively in the above equivalences and omitting ... are no terms of the form ατ +F or ατ +G From (ii)(b), we have τ < 15, τ ≡ (mod 3), and τ ≡ (mod 5) , so τ = From (ii)(c), min {v3 (i1 ), , v3 (is ), 2} = and min {v5 (i1 ), , v5 (is ), 2} ... of invariants of the Hurwitz action and show that these invariants completely determine the Hurwitz equivalence classes The invariants and the strategies used to find a canonical representative...
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Báo cáo lâm nghiệp: "Infra-red images of heat field around a linear heater and sap flow in stems of lime trees under natural and experimental conditions" doc
... Issue, 1962 v [4] Cermák J., Nadezhdina N., Sapwood as the scaling parameter - defining according to xylem water content or radial pattern of flow? Ann Sci For 55 (1998) 50 9 52 1 v v [5] Cermák ... cutting), flow slightly increased there using the remaining part of water source (roots) towards the same sink (remaining branch) Magnitude of flow increase is dependent on water availability in ... 204 N Nadezhdina et al continuous heating); verification of HFD-method for measuring bi-directional and very low flows At the same time, combination of applied two independent methods of measurement...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... Petkov and M.M Konstantinov Publication due July 20 05 Active Noise and Vibration Control M.O Tokhi Publication due November 20 05 R Kelly, V Santibáñez and A Loría Control of Robot Manipulators in ... III contain, respectively, set-point and tracking model-based controllers Part IV covers additional topics such as adaptive versions of the controllers studied in parts II and III, and a controller ... for human beings The main arguments in favor of the use of manipulators in industry is the reduction of production costs, enhancement of precision, quality and productivity while having greater...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... components of the velocity vector of the ˙ ˙ center of mass of link The latter are obtained by evaluating the time derivative of the positions x2 and y2 of the center of mass of link 2, i.e x2 = l1 cos(q1 ... m1 and m2 respectively In turn, the kinetic energy includes the ˙ linear and angular motions Thus, we have K1 (q, q) = m1 v1 + I1 q1 , ˙2 2 where v1 is the speed of the center of mass of link In ... placed at that joint and the movement of the joints produces the relative movement of the links We temporarily denote by zi , the ith joint’s axis of motion The generalized joint coordinate denoted...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... of much practical relevance, as for instance, in velocity regulation, – when it is desired to maintain an operating point involving high and medium-high constant velocity, but the definition of ... C(q, q) and g(q) is in general, a relatively complex ˙ expression of the positions and velocities of all the joints, that is, of q and q ˙ The elements of M (q), C(q, q) and g(q) depend of course, ... x) (3. 35) where u ∈ IRn and x ∈ IRn are the input vectors and the state variables corresponding to the actuator and m, G and l are nonlinear functions In the case of DC motors, the input vector...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... ˙ Using V (˜ , q) and V (˜ , q) given in (6.9) and (6.12) respectively and inq ˙ ˙ ˜ voking Lemma 2.2, we conclude that q(t) and q (t) are bounded for all t and moreover, the velocities vector ... stability of the origin for the closed-loop equation, by using the Theorems 2.2, 2.3, 2.4 and 2.7 In particular, verification of the required properties, i.e positivity and negativity of the time derivative ... Kv q (6.1) where Kp , Kv ∈ IRn×n are symmetric positive definite matrices preselected by the practitioner engineer and are commonly referred to as position gain and velocity (or derivative) gain,...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... q = −q Incorporating this in Equation (8.7) we obtain ˙ q ˙ ˙ ˙ V (˜ , q) = −q T Kv q (8.8) ˙ q ˙ Using V (˜ , q) and V (˜ , q) given by (8 .5) and (8.8) respectively, and inq ˙ ˙ ˜ voking Lemma ... positive definite if it holds that λmin {Kp } > kg , 2λmin {Kv }(λmin {Kp } − kg ) > ε0 , λ2 {Kv } Max and we have δ > if λmin {Kv } > ε0 2[kC1 + 2β] (8.34) (8. 35) (8.36) Observe that (8.34) is verified ... ˙ Verify the expression of V (˜ , q) obtained in (7.4) Problems 169 Consider the 3-DOF Cartesian robot studied in Example 3.4 (see page 69) and shown in Figure 3 .5 Its dynamic model is given...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
... derivative with respect to time of V (ν, q ) is given by ˙ ˙ ˜ ˙ V (ν, q ) = ν TM (q)ν + ν TM (q)ν ˙ Solving for M (q)ν in Equation (10. 15) and substituting in the previous equation we obtain ... − q TKv q ≤ λMax {Kv Kv } q q Kv q ≤ q Kv q ≤ q 2 2 2 ˜ 1+ q ˙ ˙ ˙ ˜ ˜ ˜ • − λmin {Kv } q = − λmin {Kv } q ≤ − λmin {Kv } q 2ε 2ε0 2ε0 ˙ ˜ ˜ ˙ To guarantee that V (t, q , q ) is a negative definite ... which is positive definite since both the inertia matrix M (q) and the matrix of position (or proportional) gains, Kp , are positive definite Taking the time derivative of (11.9) we obtain ˙ ˜ ˜ ˙T...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10 pps
... requires, in its derivative ˙ part, measurement of the joint velocity q with the purpose of computing the ˙ ˙ ˜ ˙ ˜ ˙ velocity error q = q d − q, and to use the latter in the term Kv q Even in the ... ‘model-based’ The interest in a controller of this type resides in the advantages that it offers in implementation Indeed, ˙ ¨ having determined q d , q d and q d (in particular for repetitive tasks), ... using the inverse dynamic model approach ˙ ˙ consists basically in substituting x and x with xd and xd in the equation of the system to control, and then solving for u, i.e ˙ u = xd − Axd In...
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