k jayaraman p s shelokar p shingade b d kulkarni b damale and a anekar
Báo cáo y học: "A novel nucleotide insertion in S gene of hepatitis B virus in a chronic carrier" pps
... contributions WBT carried out most part of the study and drafted the manuscript LS, JLH and SSH took part in serological detection FD was responsible for epidemiological data analysis All authors ... insertion between aa123 and aa124 [16], 1-aa insertion between aa121 and aa122 [20], 3-aa insertion between aa118 and aa119 [18], 2-aa deletion from aa110 to aa111 [17], 4-aa deletion from aa119 to aa122 ... After purification with Sephadex G-50 Fine (Amersham, Sweden), sequencing products were analyzed on ABI PRISM 3130 Genetic Analyzer(Applied Biosystems, Japan) PCR Amplicon of 0 6A2 6 was also cloned...
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Solutions to problems in sakurai's quantum mechanics p saltsidis, b brinne
... represented by the perturbed Hamiltonian matrix E1 a B E1 b C @ A a b E2 20 where E2 > E1 The quantities a and b are to be regarded as perturbations that are of the same order and are small compared ... CONTENTS Part I Problems FUNDAMENTAL CONCEPTS Fundamental Concepts 1.1 Consider a ket space spanned by the eigenkets fja0ig of a Hermitian operator A There is no degeneracy (a) Prove that Y (A ; a0 ) ... normalized energy eigenstates and eigenvalues (A spin-dependent Hamiltonian of this kind actually appears in crystal physics.) Is this Hamiltonian invariant under time reversal? How the normalized...
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control problems in robotics and automation - b. siciliano and k.p. valavanis (eds)
... approaches can be used to carry out a robustness analysis against parameter uncertainty, as in [20], but they cannot deal with parameter adaptation Parameter adaptation can be addressed by passivity-based ... B. Sicilianoand K.< /b> P.< /b> Valavanis(Eds) Control Problems in Robotics and Automation ~ Springer Series A d v i s < /b> o r y B o a r d A Bensoussan • M.J Grimble • P < /b> Kokotovic • H Kwakernaak J.L Massey ... graduate students, researchers, scientists and scholars who wish to broaden and strengthen their knowledge in robotics and automation and prepare themselves to address and solve control problems in...
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control problems in robotics and automation b siciliano and k p valavanis eds doc
... approaches can be used to carry out a robustness analysis against parameter uncertainty, as in [20], but they cannot deal with parameter adaptation Parameter adaptation can be addressed by passivity-based ... B. Sicilianoand K.< /b> P.< /b> Valavanis(Eds) Control Problems in Robotics and Automation ~ Springer Series A d v i s < /b> o r y B o a r d A Bensoussan • M.J Grimble • P < /b> Kokotovic • H Kwakernaak J.L Massey ... graduate students, researchers, scientists and scholars who wish to broaden and strengthen their knowledge in robotics and automation and prepare themselves to address and solve control problems in...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 1 pdf
... B. Sicilianoand K.< /b> P.< /b> Valavanis(Eds) Control Problems in Robotics and Automation ~ Springer Series A d v i s < /b> o r y B o a r d A Bensoussan • M.J Grimble • P < /b> Kokotovic • H Kwakernaak J.L Massey ... graduate students, researchers, scientists and scholars who wish to broaden and strengthen their knowledge in robotics and automation and prepare themselves to address and solve control problems in ... farthest advanced issues related to underactuated and nonholonomic systems, as well as to sensors and fusion An important part of the book has been dedicated to automation by focusing on interesting...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 2 pps
... approaches can be used to carry out a robustness analysis against parameter uncertainty, as in [20], but they cannot deal with parameter adaptation Parameter adaptation can be addressed by passivity-based ... decade The chapter presents the state of the art of multirobots and cooperative systems and discusses control issues related to the topic Kinematics and dynamics of the system is to clarify a ... etc., may be designed in the framework The chapter presents and discusses those control schemes, and briefs examples of real systems that are being studied in the author 's < /b> laboratory The examples...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 3 pdf
... psychophysical studies and constraints such as manageable size and cost [19] Peak acceleration, isotropy and dynamic range of achievable impedances are considered to be very important A design approach that ... functions W1,W2,W3 are low-pass Delays have also been included in the model as Pad~ all-pass approximations with output errors modified accordingly Various performance and performance vs stability ... designed with the goal of ensuring stability for an appropriate class of operator and environment models and satisfying an appropriately defined measure of performance, usually termed as transparency...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 4 ppt
... A bilateral adaptive impedance control architecture has been proposed in [17] The idea is to use operator and environment impedance estimators at the master and slave and local master and slave ... constraints for a teleoperation task are known, the master and slave workspaces can be split into dual position-controlled and force-controlled subspaces, and information can be transmitted unilaterally ... [38] described below provides some kinesthetic feedback while maintaining stability For larger delays, the use of predictive displays has been proposed and demonstrated [6, 20] The user is presented...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 5 ppt
... (eds) Analysis and Control of Nonlinear Systems North-Holland, Amsterdam, The Netherlands, pp 61 70 [9] De Luca A, Lanari L 1995 Robots with elastic joints are linearizable via dynamic feedback ... regulation has been used in [11, 21]; asymptotic output tracking is obtained by closing a stabilizing state feedback around the reference state trajectory Finally, separation of stable and unstable zero ... numerical as well as experimental analyses to design robotic mechanisms capable of generating stable gait patterns Desired gait patterns have been commonly generated by specially tailored objective...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 6 ppt
... stability, and scaling A S < /b> M E J Biomech Eng to appear [7] Goswami A, Thuilot B, Espiau B 1996 Compass like bipedal robot part I: Stability and bifurcation of passive gaits Tech Rep 2996, INRIA ... general feedback control laws and stability concept for hybrid mechanical systems, such as bipedal robots remains an open problem [2, 3] A second challenge in developing controllers for bipeds is ... that the approach can address a variety of possible motions by construction of maps with the appropriate set of attached conditions The discrete map obtained by following the procedure described...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 8 ppsx
... systems is dictated by the frame rate of the camera, and this is defined by broadcast television standards to be 30 Hz in the US and J a p < /b> a n and 25Hz elsewhere The standard was not driven by control ... following-the-leader principle described in the previous section is also an example of a task to be performed in the regulation layer Issues such as string stability and platooning error propagation are also ... needs to be designed, and stability of the complete system need to be studied Frezza and co-workers proposed to use an extended Kalman filter to estimate a( t), but they not provide stability analysis...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 9 pps
... Measurement systems control and access transducers (sensors and actuators) via the HP Vantera using the HP Vantera Information Backplane publish/subscribe information bus Some transducers are self-identifying ... Systems of this type are typical of assembly processes [20], and other constrained motion systems [7] Hybrid dynamic modelling is particularly appropriate for assembly processes as assembly has natural ... ratetables, overload alerts Companiesmust monitorand control energy usageand costs more precisely Site managersmonitorratetables, , contracts and energy usage, ¢ issue load balancingand load sheddingdirectives...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 10 pps
... operations Typical examples include machine shops, tool and dye shops, many plastic molding operations, and hospitals Job shop scheduling problems take many different forms, include these presented ... measurements depend on a number of system parameters, such as workpiece and environment stiffnesses, sensor noise and dynamics and the individual joint P < /b> I D gains of the robot manipulator These ... operation When an anomaly develops, additional sensors are utilised The benefits of the proposed method are an increased reliability compared to individual sensors while the bandwidth is kept...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 11 ppsx
... t s < /b> The numerical results of six examples based on Cannondale 's < /b> system are presented below There are machines types, 105 total machines, and 60 stations All machines and stations are available ... the system output and the sensory measurements This gives a real time planning process to adjust and modify the plan based on the system output and sensory information The event-based planning and ... with great success used its theories and its design and analysis tools to build and operate these distributed control systems There are two reasons why the p < /b> a r a d i g m succeeded in practice,...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 12 pptx
... (TMA), the Descent Advisor (DA) and the Final Approach Spacing Tool (FAST) T M A and DA coexist and operate in Center airspace whereas FAST operates as a standalone in T R A C O N airspace CTAS ... raises a fundamental issue that has to be addressed by any proposed ATM The current ATC system is primarily centralized; all safety critical decisions are taken centrally (at the ATC units) and distributed ... adopt the potential and vortex field approach for distributed motion planning proposed in [17] In ATM the absence of stationary obstacles and the approximation of individual agents by circles...
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Control Problems in Robotics and Automation - B. Siciliano and K.P. Valavanis (Eds) Part 13 ppsx
... necessary to be able to assess the economic impact of air traffic automation strategies Acknowledgement This research is supported by NASA under grant NAG 2-1039, and by ARO under grants DAAH 04-95-1-0588 ... very simple classes of hybrid system models Another important area of investigation in large scale systems design (such as the ATMS just described) is the global or emergent characteristics of ... feedback linearizable systems under input constraints In: Proc 3~th IEEE ConJ Decision Contr New Orleans, LA, pp 596-601 [22] Pappas G J, Sastry S < /b> 1997 Towards continuous abstractions of dynamical...
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