In this paper, the State Dependent Riccati Equation (SDRE) method is implemented on robotic systems such as a mobile two-links planar robot and a xed 6R manipulator with complicated dynamic equations. Dynamic modelings of both cases are presented using the Lagrange method. Afterwards, the Dynamic Load Carrying Capacity (DLCC), which is an important characteristic of robots, is calculated for th...

| The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipula-tors. The main interest has been in inverse kinematics of a six revolute (6R) jointed manipulator with arbitrary geometry. It has been recently shown that the joints of a general 6R manipulator can orient themselves in 16 diierent con-gurations (at most), for a given pose of the end{e...

IL-6 acts on target cells via the ligand-binding protein interleukin-6 receptor (IL-6R) and the affinity-converting and signal-transducing glycoprotein 130 (gp130). Soluble interleukin-6 receptor (sIL-6R) has an agonistic role because the soluble complex (IL-6/sIL-6R) can activate cells that do not express IL-6R and an antagonistic role as it enhances the inhibitory activity of sgp130. Soluble ...

We have recently shown that stimulation of glycoprotein (gp) 130, the membrane-anchored signal transducing receptor component of IL-6, by a complex of human soluble interleukin-6 receptor (sIL-6R) and IL-6 (sIL-6R/IL-6), potently stimulates the ex vivo expansion as well as erythropoiesis of human stem/progenitor cells in the presence of stem cell factor (SCF). Here we show that sIL-6R dose-depe...

In this paper, a kinematic separation calibration method of 6R series manipulator is proposed, and its absolute accuracy improved by binocular camera standard sphere. First, geometric error mapping model for the robotic arm was established, parameters were divided into position attitude purposes. Second, in process solving using numerical algorithms, it easy to encounter matrix ill-conditioned ...

(+)-Trans-(5R,6R)-5-bromo-6-ethoxy-5-ethyl-5,6-dihydro-2'-deoxyuridine [(5R,6R)-BEEDU], a potential brain-targeted prodrug of 5-ethyl-2'-deoxyuridine (EDU), was synthesized by the regiospecific addition of BrOEt to the 5,6-olefinic bond of EDU. (5R,6R)-BEEDU is more lipophilic (log P = 0.04) than EDU (log P = -1.09). In vitro incubation of (5R,6R)-BEEDU with rat whole blood and brain homogenate...

IL-6 trans-signaling via the soluble IL-6R (sIL-6R) plays an important role in the progression of several autoimmune diseases and cancer by providing IL-6-responsiveness to cells lacking IL-6R. However, the potential sources of sIL-6R are less understood. In this study we show that sIL-6R is produced by both naive and memory CD4 T cells upon TCR activation. The production of sIL-6R by activated...

The binding of tetrahydropteridines with 6-di- and trihydroxypropyl side chains to recombinant rat neuronal nitric oxide (NO) synthase (EC 1.14.13.39) was determined by competition with 6R-[3'-3H]-5,6,7,8-tetrahydro-L-erythro-biopterin (6R-[3'-3H]H4biopterin). Although all but one of the derivatives exhibited only poor affinities (Ki 50 microM), the 4-amino analogue of 6R-H4 biopterin was a pot...

IL-6 responses are classically orchestrated via a membrane-bound IL-6R (CD126) alpha subunit (classical IL-6R signaling) or through a soluble form of this cognate receptor (IL-6 trans signaling). Appraisal of IL-6R expression on human and mouse T cells emphasized that IL-6R expression is closely linked with that of CCR7 and CD62L. In this regard, infiltrating effector T cells from clinical and ...