in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

the plant-pathogen interaction is a multifactor process that may lead to resistance or susceptible responses of plant to pathogens. during the arms race between plant and pathogens, various biochemical, molecular and physiological events are triggered in plant cells such as ros signaling, hormone activation and gene expression reprogramming. in plants, micrornas (mirnas) are key post-transcript...

background : nonmyeloablative chemotherapy followed by adoptive immunotherapy is an attractive strategy for depleting regulatory t cells in the host. however, its efficacy is transient. here, we aim to investigate whether cyclic chemoim- munotherapy has therapeutic efficacy against cancer. methods :we examined the efficacy of cyclic chemoimmunotherapy with cyclophos- phamide and adoptively tran...

Phenotypically and functionally, the early steps of T cell differentiation are not well characterized. In addition, the effector T cell stage shares several phenotypic characteristics with memory T cells, which has made the analysis of T cell memory difficult. In this study, we have investigated in vitro and in vivo the differentiation of naive CTL into effector and memory CTL as a function of ...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

fusarium oxysporum f. sp. lycopersici (fol) is the causal agent of vascular wilt in tomato, an important plant disease in iran. four monogenic resistance genes in tomato are used for identification of races of fol and their corresponding avirulence genes avr1, avr2 and avr3 were identified in pathogen one of which, avr2, is f.sp. specific. hence they can serve as reliable markers for racial ide...

background: polysaccharides have long been used as immune-modulators in various pathologic conditions including inflammation and solid malignancies. objective: to evaluate the effects of zymosan and betaglucan on cytotoxic reactions in an effectortarget conjugate system. methods: blood was obtained from 20 healthy subjects; purified mononuclear leukocytes (monocytes and lymphocytes) were extrac...