Modelling of closed-chain manipulators on an excavator vehicle

The main focus of this paper is to develop a physics-based model for a closed-chain manipulator in an excavator vehicle. The derivation of closed-chain manipulator dynamic equations with a structure similar to open-chain manipulator equations is an important research problem, particularly with reference to controller design. In this paper, an approach for deriving closed-chain manipulator equations with an open-chain structure, based on trigonometric t-formulae, is presented. Holonomic loop closure constraints are employed in order to derive the closed-chain mechanism dynamics from the reduced system dynamics. The closed-chain equations, with a structure similar to serial link equations, are presented. The model incorporates the dynamic properties of the manipulator and bucket. The dynamic model for the excavation system is validated against measured data obtained from a full-scale closed-chain excavator vehicle. A dynamic model is important for the design of control strategies for trajectory tracking, a key requirement for automating the excavation task. It is noted that even though the results presented in this paper are focused on a particular excavator vehicle, the research is generic and can be adapted to any closed-chain manipulator.     

Tilcotil® Studies [3+2] additions with isothiazol-3(2H)-one 1,1-dioxide

Derivatives of isothiazol-3(2H)-one 1,1-dioxide react regiospecifically with 1,3-dipolar agents. The main regiocontrolling factor is ascertained to be the C?O group of the dipolarophile. The topology of the adducts is also in general agreement with predictions based on perturbation theory. Several adducts can be aromatized to heterocyclic equivalents of saccharin, and may then be elaborated into structural analogs of tenoxicam (Tilcotil® and piroxicam (Feldene®)).     

Alkenediazonium Salts: A New Chapter of Classical Organic Chemistry

Whereas the protonation of α-diazo-β-diketones and α-diazo-β-oxo esters with hydrogen chloride and antimony pentachloride yields the corresponding hydroxyalkenediazonium hexachloroantimonates, the “acid-sensitive” α-diazomonocarbonyl compounds can be transformed into resonance-stabilized alkenediazonium salts by an analogous O-alkylation with triethyloxonium hexachloroantimonate. A general route for synthesizing these compounds consists in the transformation of the p-toluenesulfonylhydrazones of α-halogenated aldehydes and ketones with Lewis acids. Alkenediazonium ions which are not resonance stabilized can be isolated at room temperature only if their decomposition at higher temperatures leads, via evolution of nitrogen, to vinyl cations in particularly high energy levels. Facile substitution reactions at the CC double bond with anisole and methanol demonstrate the strongly electrophilic nature of alkenediazonium salts. When electron-donating substituments are attached to C2 of an ethylenediazonium ion, the bond order of the NN triple bond can be reduced to a level comparable with that in diazoacetic ester.     

Syntheses of puromycin from adenosine and 7-deazapuromycin from tubercidin, and biological comparisons of the 7-aza/deaza pair.

Protection (O5') of 2',3'-anhydroadenosine with tert-butyldiphenylsilyl chloride and epoxide opening with dimethylboron bromide gave the 3'-bromo-3'-deoxy xylo isomer which was treated with benzylisocyanate to give the 2'-O-(N-benzylcarbamoyl) derivative. Ring closure gave the oxazolidinone, and successive deprotection concluded an efficient route to 3'-amino-3'-deoxyadenosine. Analogous treatment of the antibiotic tubercidin [7-deazaadenosine; 4-amino-7-(beta-D-ribofuranosyl)pyrrolo[2,3-d]pyrimidine] gave 3'-amino-3'-deoxytubercidin. Trifluoroacetylation of the 3'-amino function, elaboration of the heterocyclic amino group into a (1,2,4-triazol-4-yl) ring with N,N'-bis[(dimethylamino)methylene]hydrazine, and nucleophilic aromatic substitution with dimethylamine gave puromycin aminonucleoside [9-(3-amino-3-deoxy-beta-D-ribofuranosyl)-6-(dimethylamino)purine] and its 7-deaza analogue. Aminoacylation [BOC-(4-methoxy-L-phenylalanine)] and deprotection gave puromycin and 7-deazapuromycin. Most reactions gave high yields at or below ambient temperature. Equivalent inhibition of protein biosynthesis in a rabbit reticulocyte system and parallel growth inhibition of several bacteria were observed with the 7-aza/deaza pair. Replacement of N7 in the purine ring of puromycin by "CH" has no apparent effect on biological activity.     

Exact relation between the spectrum and the eigenfunctions of a generalized Jahn-Teller hamiltonian for different parameter values

A generalized E ? ? Jahn-Teller hamiltonian with a parameter δ (δ = ?1/4 in the JT case) is studied. As in the Jahn-Teller case, the angular momentum is a constant of the motion with the eigenvaluesj + 1/2 where j is a non-negative integer. For j fixed, consider two values δ₁ = ?j/2 ?1/2 and δ₂ = ?gd₁ ?1/2. The spectrum and the eigenfunctions for δ₂ are completely determined by the spectrum and the eigenfunctions for δ₁.