Quadruped robot has many advantages over wheeled mobile robots, but it is a discrete system in which joints of each leg has to operate in particular fashion to get the desired locomotion. So, dynamics plays an important role in the operation and control of quadruped robot. Proper conception of the dynamic formulation is must for the complex system like quadruped robot. Here, an attempt is made ...

The dihedral angle between the benzene rings in the title compound, C15H10ClF3N2OS, is 54.02 (4)°. An intra-molecular N-H⋯O hydrogen bond occurs. In the crystal, N-H⋯S hydrogen bonds link the mol-ecules into inversion dimers.

Determining the weakest link: A simple analysis pinpoints kinetically unstable carbon-carbon bonds. No prior knowledge of reaction pathways is necessary and the approach is particularly helpful for the prediction of novel molecules. krel =relaxed force constant, req =bond length.

The purpose of this study was to evaluate the effects of adhesive primer applications on the bond strength of resin cements to cast titanium. Four adhesive primers - Metaltite, Metal Primer II, Alloy Primer and Ceramic Primer - and their respective resin cements - Bistite II DC, Link Max, Panavia F 2.0, RelyX Unicem and RelyX ARC - were tested. Cast plates were prepared from titanium ingots (n=...

In the title salt, (C34H44N4)[HgCl4], the [C34H44N4]2+ cations and [HgCl4]2- anions are linked by N-H⋯Cl hydrogen bonds. One of the two n-pentyl side chains was refined as disordered over two sets of sites, with occupancies of 0.733 (18) and 0.267 (18). The geometry around the HgII atom in the [HgCl4]2- anion is distorted tetra-hedral, with bond angles ranging from 98.16 (3) to 120.68 (3)°. In ...

In the title compound, C(12)H(17)NO(4)S(2), the carboxyl groups link the mol-ecules into centrosymmetric dimers through O-H⋯O hydrogen bonds. An N-H⋯O hydrogen bond between the NH group of the l-methio-nine unit and a neighbouring carboxyl group, together with a complementary C-H⋯O contact to one O atom of the sulfonyl group, link the dimers into one-dimensional chains along the crystallographi...

In the title compound, C(9)H(15)N(3)O(4), the 1,3-dioxane ring displays a chair conformation and the five-membered ring is close to planar (r.m.s. deviation = 0.054 Å). An intra-molecular N-H⋯O hydrogen bond to one of the nitro-group O atoms generates an S(6) ring. In the crystal, inter-molecular N-H⋯O hydrogen bonds link the mol-ecules into C(6) chains propagating in [010] and a C-H⋯O link als...

In the title mol-ecule, C(15)H(13)BrN(2)O(2), an intra-molecular O-H⋯N hydrogen bond influences the mol-ecular conformation; the two benzene rings form a dihedral angle of 13.6 (3)°. In the crystal, inter-molecular N-H⋯O hydrogen bonds link the mol-ecules into chains along the a axis and weak inter-molecular C-H⋯O hydrogen bonds further link these chains into layers parallel to the ac plane.

Previous work has shown that, in cla4Δ cells of budding yeast, where septin ring organization is compromised, the chitin ring at the mother-daughter neck becomes essential for prevention of neck widening and for cytokinesis. Here, we show that it is not the chitin ring per se, but its linkage to β(1-3)glucan that is required for control of neck growth. When in a cla4Δ background, crh1Δ crh2Δ mu...

آلیاژهای منیزیم معمولاً دارای عدم تقارن تسلیم در حالت کشش و فشار هستند که این عامل ناشی از سازوکارهای مختلف تغییر شکل پلاستیک فعال تحت بارگذاری‌های کششی فشاری است. مقاله بر روی شبیه‌سازی المان حجمی نماینده‌ی سه‌بعدی آلیاژ اکسترود شده تمرکز دارد تا با کمک روابط کریستال پلاستیسیته تأثیر شدت بافت پایه ـ را بررسی کند. پلاستیسته مبتنی‌بر لغزش به‌صورت یک زیربرنامه نرم‌افزار آباکوس (U‌M‌A‌T) برای آزمون...