chest one of which epithelialized in 1 week the other in 3 weeks the second wound now has a hypertrophic scar why
Báo cáo hóa học: " A common fixed point theorem for a commuting family of nonexpansive mappings one of which is multivalued" pdf
... Anal 74, 18 35 18 40 (2 011 ) doi :10 .10 16/j na.2 010 .10 .056 Nanan and Dhompongsa Fixed Point Theory and Applications 2 011 , 2 011 :54 http://www.fixedpointtheoryandapplications.com/content/2 011 /1/ 54 10 ... spaces Int J Math Math Sci 1 9 (2008) Article ID 16 35 80 Razani, A, Salahifard, H: Invariant approximation for CAT(0) spaces Nonlinear Anal 72, 24 21 2425 (2 010 ) doi :10 .10 16/j na.2009 .10 . 039 Shahzad, ... doi :10 .10 16/j.jmaa.2005. 03. 055 Shahzad, N, Markin, J: Invariant approximations for commuting mappings in CAT(0) and hyperconvex spaces J Math Anal Appl 33 7 (2008) Dhompongsa, S, Khaewcharoen, A, ...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... Sira-Ram´ ırez, Juan M Ibarra, Alfonso P´manes, Ilse Cervantes, Jos´ Alvareza e Ram´ ırez, Antoine Chaillet and Marco A Arteaga Special words of thanks go to Ricardo Campa who actively participated ... definitions are kept to a minimum; they are mainly present in Chapter (mathematical preliminaries) and some appendices Yet, when simplicity in the language may induce mathematical ambiguity or ... organized in four main parts: I) Preliminaries, which contains the two chapters on robot dynamics, the chapter on mathematical preliminaries and the chapter describing the Pelican prototype Parts II and...
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Báo cáo y học: "Gender-based reciprocal expression of transforming growth factor-β1 and the inducible nitric oxide synthase in a rat model of cyclophosphamide-induced cystitis" ppsx
... levels of active and latent/total TGF- 1 at baseline and after CYP Active and latent/total TGF- 1 values are reported as pg/mg of creatinine Panel A Urine levels of TGF- 1 at baseline In the absence ... a central mediator of the resolution of inflammation and induction of healing and in the bladder Our results therefore argue in favor of evaluating urinary TGF- 1 in IC patients in order to assess ... that levels of NO reaction products not remain constant throughout the day, but are maximal at the beginning of day and then stabilize for the remainder of the day Values at baseline in female...
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Study of the effect of transforming growth factor 1 on the gap junction protein connexin 43 in hepatic stellate cells
... synthase kinase -3; ILK, integrin-linked kinase; LIV1, metalloprotease, zinc transporter; MTA3, metastasis-associated protein 3; PAK1; p 21- activated kinase; PTH(rP)R, parathyroid hormone related ... Cx 43 at serine 36 8 (pCx 43 Ser368, 3 511 S, Cell Signaling Technology, USA), PCNA (Ab29, Abcam, UK) and β-actin (A2 228, Sigma, USA) primary antibodies were applied at a dilution of 1: 1000, 1: 750, 1: 5000 ... phosphorylated Cx 43 at serine 36 8 (pCx 43 Ser368, 3 511 S, Cell Signaling Technology, USA) were applied at a dilution of 1: 50 The secondary antibodies, anti-rabbit Alexa 488 and anti-rabbit Alexa 555 (Invitrogen,...
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Báo cáo khóa học: Conformational changes of b-lactoglobulin in sodium bis(2-ethylhexyl) sulfosuccinate reverse micelles A fluorescence and CD study docx
... kq1 · 10 )9 kq2 · 10 )9 V1 V2 R1 R2 ˚ ˚ (M )1) (M )1) (M )1 s )1) (M )1 s )1) (M )1) (M )1) (A) (A) 30 Water 0.470 0.600 0.795 0. 530 0.400 0.205 33 0 33 5 33 8 34 0 34 5 34 0 1. 61 1. 43 1. 28 4.07 3. 87 3. 36 10 ... % 1. 1 · 10 9 M )1 s )1 at x0 ¼ 20) [19 ] or indole (kqacrylamide % 1. 2 · 10 9 M )1 s )1) [36 ] than for the Trp residue in the protein matrix This may be associated with a decrease in the translational ... to apply, based on recent data of X-ray crystallography [8] and NMR [60] The increase in the average lifetime is a manifestation of the increasing amplitude of the longer decay component at longer...
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Báo cáo khoa học: Solution structure of long neurotoxin NTX-1 from the venom of Naja naja oxiana by 2D-NMR spectroscopy pot
... properties and amino acid sequences of the toxin Laticauda semifasciata III, a weak and reversibly acting neurotoxin from venom of a sea snake, Laticauda semifasciata Biochem J 14 1, 38 9–400 37 Scarselli, ... C., Lange, G., Pal, G.P., Wilson, K.S., Maelicke, A & Saenger, W (19 91) The refined crystal structure of a- cobratoxin 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 ˚ from Naja naja siamensis ... study Biochemistry 31 , 11 33 5 11 34 7 Ruan, K.H., Stiles, B.G & Atassi, M.Z (19 91) The short neurotoxin binding regions on the a- chain of human and Torpedo californica acetylcholine receptors Biochem...
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báo cáo hóa học: " Discrimination and reliability: equal partners? Understanding the role of discriminative instruments in HRQoL research: can Ferguson''''s Delta help? A response" pptx
... to rank order people in a meaningful way This would invalidate any statistical treatment of data that failed to take measurement error into account It does not constitute an argument against the ... raise the interesting issue of what constitutes a meaningful discrimination, and whether Delta is an index of such discriminations This happens to be a valid point, but not as argued here Norman argues ... points Delta then indexes the degree to which the instrument makes valid discriminations Wyrwich suggests that the results of another study [6], in which the dichotomous scoring method of the...
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Báo cáo sinh học: " Molecular biodiversity of cassava begomoviruses in Tanzania: evolution of cassava geminiviruses in Africa and evidence for East Africa being a center of diversity of cassava geminiviruses" pptx
... GCCGGGATTCGGTGAGTGGT TTACATCAC TACATCGGCCTTTGAGTCGC ATGG CTTATTAACGCCTATATAAAC ACC KSGGGTCGACGTCATCAATGA CGTTRTAC AARGAATTCATKGGGGCCCA RARRGACTGGC GTGACGAAGATTGCATTCT AATAGTATTGTCATAGAAG TAAGAAGATGGTGGGAATCC ... TAAGAAGATGGTGGGAATCC CGATCAGTATTGTTCTGGAAC TGGTGGGAATCCCACCTT GTATTGTTATGGAAGGTGATA TATATGATGATGTTGGTC TAGAAGGTGATAGCCGTA TATATGATGATGTTGGTC TAGAAGGTGATAGCCGAAC EACMV-KE-[TZT] DNA -A fla EACMV-KE-[TZT] DNA -A ... (5' 3' ) Begomovirus isolate DNA component UGT-F TCGTCTAGAACAATACTGATC GGTCTCC CGGTCTAGAAGGTGATAGCC GAACCGGGA ACGTCTAGAACAATACTGATC GGTCTC GTGCTCTAGAAGGTGATAGC CGAACCGGGA GCGCGGAATCACTTGTGAAG CAGTCGT...
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báo cáo hóa học:" Molecular biodiversity of cassava begomoviruses in Tanzania: evolution of cassava geminiviruses in Africa and evidence for East Africa being a center of diversity of cassava geminiviruses" pot
... GCCGGGATTCGGTGAGTGGT TTACATCAC TACATCGGCCTTTGAGTCGC ATGG CTTATTAACGCCTATATAAAC ACC KSGGGTCGACGTCATCAATGA CGTTRTAC AARGAATTCATKGGGGCCCA RARRGACTGGC GTGACGAAGATTGCATTCT AATAGTATTGTCATAGAAG TAAGAAGATGGTGGGAATCC ... TAAGAAGATGGTGGGAATCC CGATCAGTATTGTTCTGGAAC TGGTGGGAATCCCACCTT GTATTGTTATGGAAGGTGATA TATATGATGATGTTGGTC TAGAAGGTGATAGCCGTA TATATGATGATGTTGGTC TAGAAGGTGATAGCCGAAC EACMV-KE-[TZT] DNA -A fla EACMV-KE-[TZT] DNA -A ... (5' 3' ) Begomovirus isolate DNA component UGT-F TCGTCTAGAACAATACTGATC GGTCTCC CGGTCTAGAAGGTGATAGCC GAACCGGGA ACGTCTAGAACAATACTGATC GGTCTC GTGCTCTAGAAGGTGATAGC CGAACCGGGA GCGCGGAATCACTTGTGAAG CAGTCGT...
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control of robot manipulators in joint space r kelly v santibanez and a loria ppt
... Sira-Ram´ ırez, Juan M Ibarra, Alfonso P´manes, Ilse Cervantes, Jos´ Alvareza e Ram´ ırez, Antoine Chaillet and Marco A Arteaga Special words of thanks go to Ricardo Campa who actively participated ... controlling systems with unknown parameters is the main objective of the adaptive controllers These owe their name to the addition of an adaptation law which updates on-line, an estimate of the unknown ... typically derived in the analytic form, that is, using the laws of physics Due to the mechanical nature of robot manipulators, the laws of physics involved are basically the laws of mechanics On the...
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Báo cáo toán học: "Enumerating all Hamilton Cycles and Bounding the Number of Hamilton Cycles in 3-Regular Graphs" ppsx
... edges of vi to include Remark 2.2 v1 and v2 are active (since they can not have an incoming diagonal) whereas vn 1 and are passive (since they can not have an outgoing diagonal) Since the edges which ... we obtain a list of all the electronic journal of combinatorics 18 (2 011 ), #P 132 v8 v3 v1 v5 v10 v12 v6 v8 v3 v5 v6 v2 v4 v7 v9 v 11 v4 v9 Figure 1: An example for the transformation of a graph ... problems SIAM Journal on Applied Mathematics 10 , (19 62), 19 6– 210 [7] K Iwama and T Nakashima An Improved Exact Algorithm for Cubic Graph TSP Proc 13 th Annual International Computing and Combinatorics...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... obtained is in general more imprecise than the analytic model since it largely depends on the inputs and the operating point1 However, in many cases it has the advantage of being much easier and quicker ... Due to the mechanical nature of robot manipulators, the laws of physics involved are basically the laws of mechanics On the other hand, from a dynamical systems viewpoint, an n-DOF system may be ... by arrays of real numbers ordered in n rows and m columns, ⎡ ⎤ a1 m a2 m ⎥ ⎥ ⎦ a 11 ⎢ a 21 A = {aij } = ⎢ ⎣ a1 2 a2 2 ··· ··· an1 an2 · · · anm A vector x ∈ IRn may be interpreted as a particular...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... Equations (3 .12 )– (3 .14 ) define a set of linear autonomous differential equations ˙ ˙ ˙ In terms of the state vector [q1 q2 q3 q1 q2 q3 ] , the equations (3 .12 ), (3 . 13 ) and (3 .14 ) may be expressed as ⎡ ... + m3 ] 1 + [m1 + m2 + m3 ]g = 1 q q [m1 + m2 ]¨2 = τ2 (3 .12 ) (3 . 13 ) m1 q3 = 3 ¨ (3 .14 ) where 1 , τ2 and 3 are the external forces applied at each joint Notice that in this example Equations ... the mathematical model of a robot one typically starts by placing a 3- dimensional reference frame (e.g in Cartesian coordinates) at any location in the base of the robot Here, axes will be labeled...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... Figure 3 .16 , for which the meaning of the constants and variables involved is as follows: z q2 m2 δ l1 ¢ 1 ¢ lc1 I1 , m1 q1 τ2 y x Figure 3 .16 Problem • m1 , m2 are the masses of links and ... Consider the 2-DOF robot depicted in Figure 3 .17 Such a robot has a transmission composed of a set of bar linkage at its second joint Assume that the mass of the lever of length l4 associated with actuator ... consulted in the references which are listed at the end of the chapter and others are developed in Appendix C 4 .1 The Inertia Matrix The inertia matrix M (q) plays an important role both in the robot’s...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... motion of link can be obtained as 1 ˙ m1 v Tv + I1 q1 2 1 2 = m1 lc1 q1 + I1 q1 ˙ ˙ 2 ˙ K1 (q, q) = (5 .1) On the other hand, the coordinates of the center of mass of link 2, expressed on the plane ... observe that the coordinates of the center of mass of link 1, expressed on the plane x–y, are x1 = lc1 sin(q1 ) y1 = −lc1 cos(q1 ) The velocity vector v of the center of mass of such a link is then, ... The meaning of the diverse constant parameters involved as well as their numerical values are summarized in Table 5 .1 Table 5 .1 Physical parameters of Pelican robot arm Description Notation Value...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... of another Lyapunov function which does not appeal to La Salle’s theorem Certainly, this alternative analysis is also valid for the study of (6.6) ˜ Note that we are not claiming that the matrix ... S., 19 81, A new feedback method for dynamic control of manipulators”, Transactions ASME, Journal of Dynamic Systems, Measurement and Control, Vol 10 5, p 11 9 12 5 Also, the same analysis for the ... one finds that the control laws (6 .1) and (6.2) are indistinctly called “PD control” The common argument in favor of this ambiguous terminology is that in the particular case when the vector of...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... Equation (8.22) To study the stability properties of the origin, consider now the following Lyapunov function candidate, which as a matter of fact, may be regarded as a generalization of the ... digital equipment (e.g ordinary personal computers) take a longer time than the evaluation of the ‘PD-part’ of the control law In certain applications, the (high) sampling frequency specified may ... equation Phenomena such as bifurcations of equilibria and catastrophic jumps may occur These types of phenomena appear even in the case of one single link with a revolute joint We present next an...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
... Figure 11 .2 Diagram of the Pelican robot Example 11 .1 Consider the Pelican robot presented in Chapter 5, and shown in Figure 11 .2 The numerical values of its parameters are listed in Table 5 .1 Consider ... −0. 01 −0.02 10 t [s] Figure 11 .3 Graph of position errors against time Figure 11 .3 shows that the experimental tracking position errors ˜ q (t) remain acceptably small Although in view of the stability ... view of the practical aspects mentioned in Example 11 .1 (mainly friction phenomena), not vanish ♦ Comparing the experimental results in Figures 11 .5 and 11 .3, we see that PD control with compensation...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10 pps
... use may yield catastrophic results in certain applications as we show in the following example y g Link l1 lc1 x I1 m1 Link m2 q1 I2 q2 lc2 l2 Figure 12 .2 Diagram of the Pelican prototype Example ... motivates the quotes around “D” in the names of the controllers As in other chapters appropriate references are presented at the end of the chapter 13 .1 P“D” Control with Gravity Compensation The ... a 3DOF Cartesian robot The dynamic model of this manipulator is an innocuous linear system 12 .1 Feedforward Control 267 Example 12 .2 Consider the 3- DOF Cartesian robot studied in Example 3. 4...
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