Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...

Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...

We present an investigation of line defects in epitaxially grown silicon layers using Secco defect etching and transmission electron microscopy (TEM). 1 m thick layers were deposited onto Si (100) wafers at a substrate temperature of 560 C using electron cyclotron resonance chemical vapour deposition (ECRCVD). Defect etching reveals a variety of etch pits related to extended defects. A detailed...

The enzymes cyclooxygenase-1 and cyclooxygenase-2 (COX-1 and COX-2) catalyze the conversion of arachidonic acid to prostaglandin (PG) H2, the precursor of PGs and thromboxane. These lipid mediators play important roles in inflammation and pain and in normal physiological functions. While there are abundant data indicating that the inducible isoform, COX-2, is important in inflammation and pain,...

Structural change and color characteristics of chicken breasts as a function of irradiation dose and subsequent storage process were investigated by visible spectroscopy and HunterLab measurement. Ratios of R(1)=A(485 nm)/A(560 nm) and R(2)=A(635 nm)/A(560 nm,) which are related to absorbances of the visible bands at 485 nm (metmyoglobin), 560 nm (oxymyoglobin), and 635 nm (sulfmyoglobin), sugg...

We previously showed that a pandemic virus, A/Tennessee/560/09(H1N1), had the potential to adapt to human bronchial epithelial cells by the acquisition of hemagglutinin (HA) K154Q and polymerase acidic (PA) protein L295P mutations that conferred a more virulent phenotype. To better elucidate the role of each mutations, we generated recombinant viruses carrying single mutations or both mutations...