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Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was developed. There are many possible alternatives for d...

The earthworm fibrinolytic enzyme (EFE), belonging to a group of serine proteases with strong fibrinolytic activity, has been used in a mixture as an oral drug for prevention and treatment of thrombosis in East Asia. The EFE component b (EFE-b) is one of seven EFE components from Eisenia fetida, and among them it has nearly the highest fibrinolytic activity. Here, we report its crystal structur...

An algorithm for solving linear programming problems whose matrix of coefficients contains a large number of "zero" entries is studied. This algorithm is more useful when it is generated as a sub-program in a real-time program. The singly linked lists for storing only the non-zero entries of the coefficients matrix is used. The modified Revised Simplex Method is also used for solving such probl...

Following a recent experimental investigation of the effect of the length of the alkyl side chain in a series of cholesterol analogues (Angew. Chem., Int. Ed., 2013, 52, 12848-12851), we report here an atomistic molecular dynamics characterization of the behaviour of methyl-branched side chain sterols (iso series) in POPC bilayers. The studied sterols included androstenol (i-C0-sterol) and chol...

The search for encryption schemes that allow to evaluate functions (or circuits) over encrypted data has attracted a lot of attention since the seminal work on this subject by Rivest, Adleman and Dertouzos in 1978. In this work we define a theoretical object, chained encryption schemes, which allow an efficient evaluation of polynomials of degree d over encrypted data. Chained encryption scheme...

As Distributed Denial-of-Service attacks become more prevalent and sophisticated, a promising new mechanism designed to defeat these attacks is client puzzles. Client puzzles force a computational load on clients before their traffic is forwarded thereby slowing the rate at which a client can inject traffic into the network. Chained puzzles are a type of IP-layer puzzle that require a series of...

In this paper, the inverse optimal control designs for chained systems are investigated. The presented designs are based on the thorough study of controllability of chained systems. Particularly, two methods are proposed to recover uniform complete controllability for the chained system. One involves a global singularity-free state-scaling transformation, the other is based on a time transform,...

In this paper, we show how ihe machinery of ederior differential sysiemr can k wed i o help soltie nonholonomic motion planning problems. Since the Gorrsat normal form for ezterior differential systems is dual i o chained form for vectorfields, we solve the problem of steering a mobile robot with n trailers by convcriing ihe system int.0 chained form, doing ihe paih-planning in the chained form...