Intelligent manipulator system with nonsymmetric and redundant master-slave

Some work is so complicated and unsteady that it is not possible to use automatic robots, such as FA robots. In such a case, a teleoperated manipulation system is applied. In this research, the authors aim at a reduction in the operator's physical and mental burdens. An artificially intelligent manipulator system has been developed with nonsymmetric and redundant master-slave. This system has five features: (1) a polar coordinates master arm; (2) a highly operational articulated slave arm with 7 degrees of freedom; (3) a nonsymmetric configuration and different degrees of freedom master-slave control; (4) an expert system; and (5) a new master-slave control motion, which makes the operator's task easier with automatic force/position control. The system was experimentally produced and its performance tested and evaluated. A qualitative evaluation was carried out by conducting a comparative test on the conventional master-slave control and the new master-slave control. It was found to be effective in reducing operating time, as well as work-induced fatigue.     

Protein modelling using a chimera reference protein derived from exons

Bovine pancreatic /S-trypsin (PDB ID-code: 1TPO) which is registeredin the Brookhaven Protein Data Bank (PDB) consists of four exons.The results of homology searches for each exon in the PDB showedthat homologous proteins were tonin (PDB ID-code: 1TON), ratmast cell protease (PDB ID-code: 3RP2_A), kaffikrein A (PDBID-code: 2PKA_B) and kallikrein A (2PKA_B) respectively. Thus,for the three-dimensional structure prediction of 1TPO, a chimeraprotein was constructed from the three proteins mentioned aboveand the 3-D structure prediction was performed using this chimerareference protein. The modelled structure of 1TPO was energeticallyoptimized by molecular mechanics and molecular dynamics simulationand was compared with its X-ray crystal structure registeredin the PDB. The root mean square deviations (r.m.s.d.) of mainchain atoms and the neighbouring active site (5 sphere fromHis57, AsplO2 and Serl95) between the modelled structure andthe X-ray structure were 1.66 and 0.94 respectively. Porcinepancreatic elastase (PDB ID-code: 3EST) which is registeredin the PDB was used as the reference protein and the modelledstructure from 3EST was also compared with the X-ray data. Ther.m.s.d. of main chain atoms and that of the active site were2.14 and 1.18 respectively. These results dearly support thepropriety of this method using the chimera reference protein.     

Motion of an antiviral compound in a rhinovirus capsid under rotational symmetry boundary conditions

A molecular dynamics (MD) simulation of a complex of a rhinovirus protein shell referred to as a "capsid" and an anti-rhinovirus drug, WIN52084s, was performed under the rotational symmetry boundary conditions. For the simulation, the energy parameters of WIN52084s in all-atom approximations were determined by ab initio calculations using a 6-31G* basis set and the two-conformational two-stage restricted electrostatic potential fit method. The motion of WIN52084s and the capsid was focused on in the analysis of the trajectory of the simulation. The root mean square deviations of WIN52084s from the X-ray structure were decomposed to conformational, translational, and rotational components. The translation was further decomposed to radial, longitudinal, and lateral components. The conformation of WIN52084s was rigid, but moving in the pocket. The easiest path of motion for WlN52084s was on the longitudinal line, providing a track for the binding process required of the anti-rhinovirus drug to enter the pocket. The conformation of the pocket was also preserved in the simulation, although the position of the pocket in the capsid fluctuated in the lateral and radial directions.     

A Comprehensive Approach for Estimating Hydraulic Quantities in a Multi-branched Estuarine System

Despite many previous investigations, there is no theoretically justifiable equation to determine the freshwater discharge, tidal velocity, and salinity in a complex estuary that contains several branches. In this study, the longitudinal distributions of freshwater and salinity concentration in multi-branched estuaries are investigated using a mathematical model, considering the energy balance by frictional head loss and the salt balance by diffusion and advection in a one-dimensional steady-state condition. We attempt to obtain the time-mean freshwater discharge rate quantitatively at a junction where the main flow separates into two branches. The salinity distribution along each branch is calculated by following the dispersion coefficient equation previously proposed for a single estuary. The salinity field is divided into the near-coast region and the upstream region, because in each segment the inland velocity varies according to the tidal flux. For computing the tidal velocity, we propose the Burgers equation and the Hoph-Cole transformation. The theoretical results obtained by these equations were found to be in good agreement with a set of observed data in the Red River estuary system.     

Novel π-conjugated organoboron polymers: Poly (ethynylene-phenylene-ethynylene-borane)s

Summary Novel poly(ethynylene-phenylene-ethynylene-borane)s were prepared by polycondensation between bifunctional lithium acetylide and aryldimethoxyborane. The polymers obtained are expected as a novel type of organoboron π-conjugated polymers via vacant p-orbital of boron atom. The polymerization between dilithium 2,5-didodecyloxybenzene- 1,4-diethynilide and tripyldimethoxyborane [tripyl=2,4,6-triisopropylphenyl] gave the corresponding polymer in 67% yield. From gel permeation chromatographic analysis (THF, PSt standards), the number-average molecular weight of the polymer was found to be 2700. In the UV-vis spectrum of the polymer (in chloroform at room temperature), an absorption maximum was observed at 397 nm. The fluorescence emission spectrum (in chloroform, room temperature, excitation wavelength at 400 nm) showed its λ_max at 456 nm in the visible blue region. The polymers obtained were very soluble in common organic solvents such as THF, chloroform and benzene. Received: 11 April 2000/Accepted: 22 April 2000     

Parameterized point pattern matching and its application torecognition of object families

The problem of recognizing and localizing objects that can vary in parameterized ways is considered. To achieve this goal, a concept of parameterized point pattern is introduced to model parameterized families of such objects, and a parameterized point pattern matching algorithm is proposed. A parameterized point pattern is a very flexible concept that can be used to model a large class of parameterized objects, such as a pair of scissors with rotating blades. The proposed matching algorithm is formulated as a tree search procedure, and it generates all maximum matchings satisfying a condition called δ-boundedness. Several pruning methods based on the condition of δ-boundedness and their efficient computing techniques are given. The proposed matching algorithm is applied to a real shape matching problem in order to check the validity of the approach