Chemical genetics has arisen as a powerful approach for identifying novel anti-cancer agents. However, a major bottleneck of this approach is identifying the targets of lead compounds that arise from screens. Here, we coupled the synthesis and screening of fragment-based cysteine-reactive covalent ligands with activity-based protein profiling (ABPP) chemoproteomic approaches to identify compoun...

This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing the jacobian matrices we find the configurations at which J is rank deficient and derive the kinemat...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

objectives: the aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how total knee replacement (tkr) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. methods: two-dimensional kinematic gait pattern of 10 participants were collected before and after the tkr surgery, using a ...

The paper presents the configuring of a virtual prototype BiSCARA robot generated on basis fully developed kinematic model robot. CAD in this way will enable its implementation Python graphical environment as an integral part open architecture control system presented model. included solving inverse and direct problem, determining Jacobian matrix workspace analysis. Verification model, i.e. con...

This paper introduces the novel notion of kinematic reductions for mechanical systems and studies their controllability properties. We focus on the class of simple mechanical control systems with constraints and model them as a ne connection control systems. For these systems, a kinematic reduction is a driftless control system whose controlled trajectories are also solutions to the full dynami...

This article presents a direct kinematic analysis of 3-RS parallel mechanisms. A 3-RS parallel mechanism consists of a ®xed base and a moving platform connected by three serial chains, with each serial chain containing one passive revolute joint and one passive spherical joint. A variety of 3-RS mechanisms have been proposed in the literature, to overcome the disadvantages of small workspace ch...

This paper describes the design concept of a new robot based on the direct-'drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available. For example, we can eliminate all the transmission mechanisms between the motors and their loads, such as reducers and ...

Two different approaches are used for evaluating two-time correlations of Fourier velocity modes in isotropic, and in rotating, homogeneous incompressible turbulence. A synthetic model is proposed and compared with the results of direct numerical simulations. This kinematic model presents the advantage to incorporate different sources of unsteadiness, from arbitrary timescales to linear dynamic...