• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.76-85
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• 2008

Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been proposed. In this paper we contribute to this subject by presenting a theoretical reexamination of a known controller, by using the theory of singularly perturbed systems. Motivated by this analysis, a redesign of that controller is introduced. As another contribution, we present an experimental evaluation in a two degrees-of-freedom revolute-joint direct-drive robot, confirming the practical feasibility of the proposed approach.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09a
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• pp.156-157
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• 2006

The preparation of composite powders for plasma spraying by an in-house designed mechanofusion process is investigated. Results show that dry particle coating depends on the chemical and mechanical properties of powders. In metal/oxide and metal/oxide/carbide powder mixtures, fine ceramic particles coat the surface of the metallic coarser particles. A nearly rounded shape of the final composite particles is induced by the mechanical energy input with no formation of new phases. However with the carbide/metal powdered system, only an intimate mixture of components is achieved. It is suggested that the coating mechanism is governed by agglomeration and rolling phenomena.

• 비료회보
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• s.127
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• pp.11-22
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• 1979

• Journal of Microbiology and Biotechnology
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• v.22 no.3
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• pp.292-300
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• 2012

We report the expression, purification, and characterization of L-asparaginase (AnsA) from Rhizobium etli. The enzyme was purified to homogeneity in a single-step procedure involving affinity chromatography, and the kinetic parameters $K_m$, $V_{max}$, and $k_{cat}$ for L-asparagine were determined. The enzymatic activity in the presence of a number of substrates and metal ions was investigated. The molecular mass of the enzyme was 47 kDa by SDS-PAGE. The enzyme showed a maximal activity at $50^{\circ}C$, but the optimal temperature of activity was $37^{\circ}C$. It also showed maximal and optimal activities at pH 9.0. The values of $K_m$, $V_{max}$, $k_{cat}$, and $k_{cat}/K_m$ were $8.9{\pm}0.967{\times}10^{-3}$ M, $128{\pm}2.8$ U/mg protein, $106{\pm}2s^{-1}$, and $1.2{\pm}0.105{\times}10^4M^{-1}s^{-1}$, respectively. The L-asparaginase activity was reduced in the presence of $Mn^{2+}$, $Zn^{2+}$, $Ca^{2+}$, and $Mg^{2+}$ metal ions for about 52% to 31%. In addition, we found that $NH_4{^+}$, L-Asp, D-Asn, and ${\beta}$-aspartyl-hydroxamate in the reaction buffer reduced the activity of the enzyme, whereas L-Gln did not modify its enzymatic activity. This is the first report on the expression and characterization of the L-asparaginase (AnsA) from R. etli. Phylogenetic analysis of asparaginases reveals an increasing group of known sequences of the Rhizobial-type asparaginase II family.

• Iberoamérica
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• v.22 no.1
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• pp.31-72
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• 2020

This study examines the concepts and policy factors regarding gender-mainstreaming strategies and urban areas that have been discussed in the fields of international norms and development cooperation from the perspective of the Mexican government. It analyzes how gender-mainstreaming strategy is integrated and realized through Mexican law and key programs carried out by Mexico City. Through a literature review, this study builds upon previous research and theoretical discussions. In fact, Mexican federal government is considered to have successfully achieved "gender institutionalization." Within the framework of the law and institutions, the programs promoted by Mexico City aim to realize women's rights and meet their needs in the metropolis, while emphasizing a wider participation by citizens to realize these urban rights. In particular, the government of Mexico City is expanding on policies and programs that focus on strengthening the financial autonomy of women by understanding women's vulnerabilities as inequalities arising in the areas of the economy, space, and time.

• Journal of The Korean Astronomical Society
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• v.14 no.1
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• pp.19-35
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• 1981

Calculations of molecular number densities as a function of optical depth in selected umbral, penumbral and photospheric models predict penumbral enhancement of diatomic molecules containing carbon atoms, strong umbral enhancement of oxides, and moderate umbral enhancement of hydrides. The role of CO formation in an oxygen rich atmosphere is discussed.

• Bulletin of the Korean Mathematical Society
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• v.51 no.2
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• pp.437-442
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• 2014

In this paper we prove Ekeland's variational principle in the setting of locally complete spaces for lower semi continuous functions from above and bounded below. We use this theorem to prove Caristi's fixed point theorem in the same setting and also for lower semi continuous functions.

• Proceedings of the Polymer Society of Korea Conference
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• 2006.10a
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• pp.321-321
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• 2006

Aromatic diacetylenes form stable oligomeric diradicals when irradiated with UV light or heated at temperatures above their melting points. In this paper, the formation of stable diradicals is discussed, and the mechanism of polymerization in the presence of peroxide in solution, is discussed. The diphenyldiacetylene undergoes polymerization through coupling of diradicals, and not by the successive addition of radical species.

• Proceedings of the Korea Society of Mathematical Education Conference
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• 2010.04a
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• pp.249-259
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• 2010

This report is intended to document beliefs that engineers working as senior high school teachers have in Mexico. Documents come from the analysis of answers provided for two tasks contained in a questionnaire: one of them is marking statements as true or false in relation to the derivative function; the second one is about solving different problems: calculation of derivative of piecewise functions and the calculation of maximum and minimum of a polynomial function. Results show the strengths, quasi-logical relations and grouping which are verified in their system of beliefs and knowledge.

• 한국해양학회지
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• v.3 no.1
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• pp.8-15
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• 1968

An interesting bacterium (#271) was isolated from the abyssal plain of the Sigsbee Deep of the Gulf of Mexico. The organism exhibits marked polymorphism (baciloid, coryneform and myceloid morphologies) in response to certain cultural conditions. the organism has been observed undergoing reproduction by transverse fission, fragmentation and arthrospore production. The presence of arthrospores indicates the bacterium is a member of the genus Arthrobacter; however, computed affinity coefficients do not confirm this genus. Until further studies have been completed on this isolate the authors are reluctant to place it in a generic group.