1 mechanism and 2 control of saliva secretion in acinar cells

... membrane intrinsic protein Gorai.002G248400_A ? ?1. 9 ? ?1. 7 ? ?2 .1 plasma membrane intrinsic protein Gorai.004G 21 2 800_A ? ?1. 3 ? ?1. 2 ? ?1. 9 plasma membrane intrinsic protein 1; 4 Gorai.004G 21 2 800_D ? ?1. 4 ? ?1. 1 ? ?1. 8 ... membrane intrinsic protein 2; 4 Gorai.002G0 025 00_A ? ?2. 3 ? ?1. 9 ? ?2. 5 plasma membrane intrinsic protein Gorai.002G0 025 00_D ? ?2. 0 ? ?1. 6 ? ?2 .1 plasma membrane intrinsic protein Gorai.002G248400_D −3 .1 ? ?2. 6 ? ?2. 4 ... Gorai. 013 G148800_A 3.5 1. 8 2. 3 amino acid permease Gorai.002G23 310 0_D 1. 0 1. 3 2 .1 aromatic and neutral transporter Gorai.005G253300_D 1. 3 1. 4 1. 2 amino acid permease Gorai. 013 G148600_A 2. 2 1. 8 1. 6

Ngày tải lên: 26/05/2020, 23:57

... %) 12 9 (10 0.0 %) Male 22 (17 .1 %) 24 (18 .6 %) 28 ( 21 . 7 %) 74 (57.4 %) Female 19 (14 .7 %) 17 (13 .2 %) 19 (14 .7 %) 55 ( 42. 6 %) Gender Age under 20 (0.0 %) (0.8 %) (0.8 %) (1. 6 %) 20 -59 18 (14 .0 ... %) 14 (10 .9 %) 26 (20 .2 %) 58 (45.0 %) 60 and over 23 (17 .8 %) 26 (20 .2 %) 20 (15 .5 %) 69 (53.5 %) Any relapse Yes (2. 4 %) 23 (18 .1 %) 39 (30.7 %) 65 ( 51. 2 %) No 37 (29 .1 %) 16 ( 12 .6 %) (2. 4 ... Cancer (2 016 ) 16 : 313 Page of 11 Fig Coverage and intensity of HAS1 and HAS2 immunostainings in melanoma cells of superficial melanoma (pT1), deep melanoma (pT4) and lymph node metastasis (pN1-) Coverage

Ngày tải lên: 21/09/2020, 01:22

... both interfaces D "X extends Y" is correct for all combinations of X and Y being classes and/ or interfaces ch1 -11 23 f.indd 74 11 /28 /05 12 :25 : 32 AM CertPrs8/Java Cert StudyGuide/Sierra-Bates /22 5360-6/Chapter ... statements (including static imports) ch1 -11 23 f.indd 10 11 /28 /05 12 :24 :19 AM CertPrs8/Java Cert StudyGuide/Sierra-Bates /22 5360-6/Chapter 66  Chapter 1:   Declarations and Access Control Certification ... private members can- not be inherited ch1 -11 23 f.indd 70 11 /28 /05 12 :25 :28 AM CertPrs8/Java Cert StudyGuide/Sierra-Bates /22 5360-6/Chapter Two-Minute Drill  71 q Default and protected members differ

Ngày tải lên: 05/07/2014, 02:20

... [576] 2D4 [ 81] 4J2 [16 ] D8 [1] D4 ⊕ J2 ⊕ D3 ( 12 108) Figure (2 916 ) J4 ⊕ D5 (10 56) 3J3 [ 21 6 ] 3J2 ⊕ D3 (16 ) 10 2J3 ⊕ D4 ( 12 7044) 2D5 [ 328 26] 2J5 [14 400] J4 ⊕ 2D3 (19 68) 2J3 ⊕ D4 ( 324 ) 11 2J3 ⊕ J2 ⊕ ... (656 415 36) D6 ⊕ 2J2 ⊕ D3 ∗ (15 950 816 ) 14 3J3 ⊕ J2 ⊕ D3 (3 410 776944) 2J4 ⊕ 3J2 ∗ (9 614 914 56) 2( 2J2 ⊕ D3 ) ∗ (2 411 1 9 12 0) 15 5J3 [ 520 978 314 24 ] 2J4 ⊕ J3 ⊕ D4 ∗ (14 9 927 811 84) 3J5 ∗ [38 914 56000] 16 4J3 ⊕ ... D 11 [1] J 11 [0] − 12 3J4 [13 824 ] 4J3 [ 12 96] 6J2 [64] D 12 [1] J 12 [0] 13 J5 ⊕ 2D4 ∗ (15 7560) 2J4 ⊕ D5 ∗ (25 344) 3J3 ⊕ D4 (19 44) 5J2 ⊕ D3 (64) D13 [1] J5 ⊕ Figure ∗ (349 920 )† 2J4 ⊕ 2D3 ∗ (4 723 2)

Ngày tải lên: 07/08/2014, 06:22

... against time 23 7 Problem 1 Cartesian 2- DOF robot 23 9 11 .1 11 . 2 11 .3 11 .4 11 .5 Block-diagram: PD control with compensation 24 5 Diagram of the Pelican robot 24 7 Graph of ... 313 14 .1 Parameterization of the Dynamic Model 314 Contents xxi 14 .1. 1 Linearity in the Dynamic Parameters 315 14 .1. 2 The Nominal Model 319 14 .2 The Adaptive Robot Control ... variables and time See Chapter 2  12 1 What Does Control of Robots” Involve? tailored for linear systems, in robot control In view of this and the present requirements of precision and

Ngày tải lên: 09/08/2014, 07:20

... presented in Section 5.3 .2, and its components are g1 (q) = (m1 lc1 + m2 l1 )g sin(q1 ) + m2 glc2 sin(q1 + q2 ) g2 (q) = m2 glc2 sin(q1 + q2 ) Consider PD control In view of the presence of ... linear in the... sin(q1 ) + m2 glc2 sin(q1 + q2 ) g2 (q) = m2 glc2 sin(q1 + q2 ) The control objective consists in making 1 52 6 Proportional Control plus Velocity Feedback and PD Control ... performance of PD control with gravity compensation for the Pelican robot y g Link 1 l1 lc1 x I1 m1 Link 2 m2 q1 I2 q2 lc2 l2 Figure 7 .2 Diagram of the Pelican robot Example 7 .1. .. 15 20

Ngày tải lên: 09/08/2014, 07:20

... Alexander WS: Suppressor of cytokine signaling -1 regulates signaling in response to inter- leukin -2 and other gamma c-dependent cytokines in periph- eral T cells. J Biol Chem 20 03, 27 8 :22 755 -22 7 61. ... stimulation [19 ,20 ]. SOCS1 expression is induced by IL -2, IL-4, IL-7, IL - 12 , IL -15 and IFNγ, and T cells deficient in SOCS1 are hyper-proliferative to IL -2 and IL-4 [19 ,25 ], thus establishing SOCS1 as ... family includes NEDD4 -1, NEDD4 -2, Itch, Smurf1, Smurf 2, WWP1, WWP2, and NedL1, in humans and mice [ 52] . Besides a carboxy-terminal HECT domain for transfer of ubiquitin, these proteins contain an

Ngày tải lên: 09/08/2014, 07:20

... cos(δ)C 21 + m2 l1 lc2 sin()S 21 ]? ?2 q + [m2 l1 lc2 cos()S 21 + m2 l1 lc2 sin(δ)C 21 ]q2 ? ?2 (3.8) and ? ?2 = [m2 l1 lc2 cos()C 21 + m2 l1 lc2 sin()S 21 ]? ?1 q + [m2 lc2 + I2 ]? ?2 q + [m2 l1 lc2 cos(δ)S 21 − m2 ... −m2 l1 lc2 sin(q1 − q2 + δ)q1 q2 , ˙ ˙ ∂q1 ∂L = m2 lc2 q2 + m2 l1 lc2 cos(q1 − q2 + δ)q1 + I2 q2 , ˙ ˙ ˙ ∂ q2 ˙ d ∂L = m2 lc2 q2 + m2 l1 lc2 cos(q1 q2 + )? ?1 ă q dt ∂ q2 ˙ − m2 l1 lc2 sin(q1 ... (3.4), 2 ¨ ? ?1 = m1 lc1 + m2 l1 + I1 q1 + m2 l1 lc2 cos(q1 q2 + )? ?2 q + m2 l1 lc2 sin(q1 − q2 + δ)q2 ? ?2 and, 3 .1 Lagrange’s Equations of Motion 69 ? ?2 = m2 l1 lc2 cos(q1 q2 + )? ?1 + [m2 lc2 + I2 ]ă2

Ngày tải lên: 10/08/2014, 01:23

... m 2 l 1 l c2 sin(δ)S 21 ] M 22 (q)=[m 2 l 2 c2 + I 2 ] C 11 (q, ˙ q)=0 C 12 (q, ˙ q)=[−m 2 l 1 l c2 cos(δ)S 21 + m 2 l 1 l c2 sin(δ)C 21 ]˙q 2 C 21 (q, ˙ q)=[m 2 l 1 l c2 cos(δ)S 21 − m 2 l 1 ... q) C 22 (q, ˙ q)     C(q, ˙ q) ˙ q = τ(t) where M 11 (q)=  m 1 l 2 c1 + m 2 l 2 1 + I 1  M 12 (q)=[m 2 l 1 l c2 cos(δ)C 21 + m 2 l 1 l c2 sin(δ)S 21 ] M 21 (q)=[m 2 l 1 l c2 cos(δ)C 21 + ... elasticity, and while the robot is in motion we have, in general, q = θ. q 2 k 2 r 2 :1 q 1 k 1 r 1 :1 τ 2 θ 2 θ 1 τ 1 Figure 3.7. Diagram of a robot with elastic joints Typically, the position and

Ngày tải lên: 10/08/2014, 01:23

... of mass (Link 2) lc2 0. 022 9 m Mass of Link 1 m1 6 . 52 25 kg Mass of Link 2 m2 2. 0 458 kg Inertia rel to center of mass (Link 1) I1 0 . 12 13 kg m2 Inertia rel to center of mass (Link 2) ... denoted by l c1 and l c2 for links 1 and 2, respectively. Finally, I 1 and [...]... Length of Link 1 l1 0 .26 m Length of Link 2 l2 0 .26 m Distance to the center of mass (Link 1) lc1 0.0983 m ... Robotics lab y g Link 1 l1 lc1 x I1 m1 Link 2 m2 q1 I2 q2 lc2 l2 Figure 5. 2 Diagram of the 2- DOF Pelican prototype robot I2 denote the moments of inertia of the links with respect to

Ngày tải lên: 10/08/2014, 01:23

... lc1 + m2 l1 )g sin(q1 ) + m2 glc2 sin(q1 + q2 ) g2 (q) = m2 glc2 sin(q1 + q2 ) The control objective consists in making 15 2 6 Proportional Control plus Velocity Feedback and PD Control. ... ˙ Kv q 0 (6. 12 ) ˙ q ˙ Using V (˜ , q) and V (˜ , q) given in (6. 9) and (6. 12 ) respectively and inq ˙ ˙ ˜ voking Lemma 2. 2, we... 2U(q(0)) − 2kU λmin {M (q)} (6. 14 ) (6. 15 ) hold for ... 14 ) and (6. 15 ) and considering the information above, we get ˜ q 2 (t) ≤ q 2 (0) = 2. 46 rad2 ˜ q 2 (t) ≤ ˙ kp 2 q (0) = 0 . 61 ˜ J (6. 17 ) rad s 2 (6. 18 ) for all t ≥ 0 Figures 6. 3 and

Ngày tải lên: 10/08/2014, 01:23

... ˜ ? ?1 ? ?2 1+ q (8 .23 ) where f (˜ ) was defined in (8 .18 ) and the constants ε0 > 0, ? ?1 > and ? ?2 > q are chosen so that 2? ?min {Kp } > ? ?1 > (8 .24 ) kg ? ?2 = 2? ?1 >2 ? ?1 − 2? ?min {Kp } > ε0 > ? ?2 β (8 .25 ) ... given by g1 (q) = [m1 lc1 + m2 l1 ]g sin(q1 ) + m2 lc2 g sin(q1 + q2 ) g2 (q) = m2 lc2 g sin(q1 + q2 ) According to Property 4.3, the constant kg may be obtained as (see also Example 9 .2) kg = ... The components of the control input τ are given by ? ?1 = kp q1 − kv q1 + g1 (q d ) , ˜ ˙ ˜ ˙ ? ?2 = kp q2 − kv q2 + g2 (q d ) The initial conditions corresponding to the positions and velocities,

Ngày tải lên: 10/08/2014, 01:23

... diag {2? ? 1 , 2? ? 2 } = diag{77.46, 23 6.64}  1/ s 2  , where we used ω 1 =38.7 [rad/s] and ω 2 = 11 8.3 [rad/s]. 23 2 10 Computed-torque Control and Computed-torque+ Control 024 6 810 −0. 02 −0. 01 0.00 ... control for robot manipulators ”, Mechanism and Machine Theory, Vol 25 , No 2, pp 16 1? ?16 5 Problems 1 Consider the Cartesian robot 2- DOF shown in Figure 10 .5 z0 q2 z0 m2 m1 q2 q1 q1 ... equations (10 . 12 ), (10 .10 ) and (10 .11 ) allow one to obtain the closed-loop equation d dt ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ˜ q ˙ ˜ q ξ 1 ξ 2 ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ = ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ˙ ˜ q −M(q) ? ?1 C(q, ˙ q)  ξ 1 + ξ 2

Ngày tải lên: 10/08/2014, 01:23

... applications as we show in the following example. l 2 l c2 q 2 q 1 I 1 m 1 g y x l 1 m 2 I 2 l c1 Link 1 Link 2 Figure 12 .2. Diagram of the Pelican prototype Example 12 .3. Consider the 2- DOF prototype robot ... [m 1 + m 2 + m 3 ]¨q 1 +[m 1 + m 2 + m 3 ]g = τ 1 [m 1 + m 2 ]¨q 2 = τ 2 m 1 ¨q 3 = τ 3 , where we identify M(q)= ⎡ ⎣ m 1 + m 2 + m 3 00 0 m 1 + m 2 0 00m 1 ⎤ ⎦ C(q, ˙ q)=0 g(q)= ⎡ ⎣ [m 1 + m 2 ... ( 12 .1) and to solve for τ . This reasoning leads to the equation of the feedforward controller, given by τ = M(q d ) ¨ q d + C(q d , ˙ q d ) ˙ q d + g(q d ) . ( 12 .2) 12 .1 Feedforward Control 26 5

Ngày tải lên: 10/08/2014, 01:23

... [μM] Cells Virus (MOI 1) HeLa P4 WT ΔRev LEDGF/p75-knockdown 2. 5 1. 02 ± 0.08 1. 04 ± 0.07 1. 25 ± 0.09 12 .5 62. 5 10 0 15 0 20 0 2 .16 ± 0 .11 3.30 ± 0 .14 5 .16 ± 0 .20 9.70 ± 0.43 18 .93 ± 0.74 8. 82 ± 0.37 ... 9 .13 ± 0.34 9.65 ± 0. 41 10.98 ± 0.43 13 .83 ± 0. 61 16.66 ± 0. 71 21 . 99 ± 0.94 30 .16 ± 1. 12 WT 0.04 ± 0. 01 0.08 ± 0. 01 0 .17 ± 0. 02 0.39 ± 0.03 0.69 ± 0.05 1. 23 ± 0 .10 3. 32 ± 0 .14 ΔRev 3.93 ± 0 .17 ... knockdown cells occurs only in the presence of INS [25 ] or INr [17 ,22 ,24 ] peptides which promote dissociation of the Rev -IN complex, formed in the infected cells [14 ,17 ,18 ,22 ,24 ] Following Rev -IN dissociation...

Ngày tải lên: 12/08/2014, 04:20

... consisting of 700µl ethanol, 20 0µl MgCl2 (0.5 M), 50µl Alcian Blue (0.4%), 40µl H20 and 10 µl Alizarin Red (0.5%) On the next day, larvae were washed in H20 and bleached in 1% KOH /1. 5% H2O2 for 20 minutes ... part in this process It has been shown that the intracellular domain of Lrp5/6 contains Axin2 binding sites (Mao et al., 20 01) Thus, binding of Axin might be the trigger for inactivation of the ... GTCTCCGAGTCAGTCCAGTA-3’ 11 Lrp5MointronChkdown 5’- CTAAGATTGTGGGTCACAGG-3’ 12 SOSTExon1up 5’- TGCTTCAGGGATGTTTCACA-3’ 13 SOSTExon2down 5’- CGATTGGTTGTGTTGTCGAG-3’ 25 2. 2 Fish treatment 2. 2 .1 Fish keeping and husbandry...

Ngày tải lên: 10/09/2015, 08:43

... coordinate frames 2. 2 Direct Kinematics 22 link (n -1) {n} On {0} {1} z1 z0 x0 yE {2} joint n link OE {E} O2 zE O0 , O1 link x1 link n link y0 y1 joint xE joint Figure 2 .1: An open kinematic chain ... 17 Manipulator Kinematics and the Operational Space Formulation 21 2 .1 Chapter Overview 21 2. 2 Direct Kinematics 21 iii 2. 2 .1 2. 3 Differential ... are still heuristic and manual; • Reducing the number of standard inertial parameters (13 n 1, where n is the number of joints) into a minimum set of parameters [25 , 26 , 27 , 28 , 29 , 30], however,...

Ngày tải lên: 14/09/2015, 08:50

... 21 4 ˜ Graphs of position errors q1 and q2 21 5 ˜ ˜ Graphs of position errors q1 and q2 21 6 ˜ 10 .1 10 .2 10 .3 10 .4 10 .5 Block-diagram: ... in Control and Signal Processing series ISSN 14 39 -22 32 ISBN -10 : 1- 8 523 3-994 -2 ISBN -13 : 978 -1- 8 523 3-994-4 Springer Science+Business Media springeronline.com © Springer-Verlag London Limited 20 05 ... 23 7 Problem Cartesian 2- DOF robot 23 9 11 .1 11. 2 11 .3 11 .4 11 .5 Block-diagram: PD control with compensation 24 5 Diagram of the Pelican robot...

Ngày tải lên: 10/08/2014, 01:23

... a 12 a 22 ··· ··· am1 am2 · · · amp a1p a2p ⎤⎡ ⎤ b1n b2n ⎥ ⎥ ⎦ b 11 ⎥ ⎢ b 21 ⎥⎢ ⎦⎣ b 12 b 22 ··· ··· bp1 bp2 · · · bpn 22 Mathematical Preliminaries ⎡ p k =1 p k =1 a1k bk2 ··· p k =1 ... x2 N x1 Figure 2. 4 Phase plane of the harmonic oscillator x1 = x2 ˙ x2 = −x1 ˙ (2. 7) (2. 8) and whose solution is x1 (t) = x1 (0)cos(t) + x2 (0)sin(t) x2 (t) = −x1 (0)sin(t) + x2 (0)cos(t) ... the concept of instability Example 2. 6 Consider the equations that define the motion of the van der Pol system, x1 = x2 , ˙ x2 = −x1 + (1 − x2 )x2 , ˙ (2 .13 ) (2 .14 ) where x1 and x2 ∈ IR Notice...

Ngày tải lên: 10/08/2014, 01:23

... April 11 , 20 01 11. 11 Dedication To our parents and our family for their love and support LA 413 9/ fm/frame Page Wednesday, April 11 , 20 01 11. 11 Preface Pest and disease management continues to ... LA 413 9/ch 01/ frame Page Wednesday, April 11 , 20 01 11. 25 SECTION I Biological Control Agents LA 413 9/ch 01/ frame Page Wednesday, April 11 , 20 01 11. 25 CHAPTER Parasitoids and Predators David B Orr and ... Fr 22 : 15 8 18 4 © 20 00 by CRC Press LLC LA 413 9/ch 01/ frame Page 25 Wednesday, April 11 , 20 01 11. 25 de Selincourt, K 19 94 Genetic engineers target: Third World crops Genetic Engin Biotechnol 14 : 15 5 17 6...

Ngày tải lên: 11/08/2014, 04:20