• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.9
• /
• pp.891-897
• /
• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Bulletin of the Korean Chemical Society
• /
• v.30 no.7
• /
• pp.1459-1462
• /
• 2009

Two new flavone glycosides, giraldiin A and B, together with three known compounds, annulatin, myricetin 3-O-$\alpha$- L-rhamnopyranoside and gallic acid, were isolated from the ethanol extract of the root of Pteroxygonum giraldii Damm. et Diels. The structures of giraldiin A and B are designated as 3'-($\alpha$-L-arabinopyranosyloxy)-4',5,5',7- tetrahydroxy-3-methoxyflavone and 4'-($\beta$-D-glucopyranosyloxy)-5,5',7-trihydroxy-2',3-dimethoxyflavone, respectively, on the basis of detailed spectroscopic analyses. The free radical scavenging activity of giraldiin A was evaluated by decolouring spectrophotometry of pentamethine cyanine dye (Cy5) with $Fe^{2+}-H_2O_2$ Fenton radical generating system. The results indicated the hydroxyl free radical scavenging activity of giraldiin A (E$D_{50}$ = 23.7 nmol/mL) is higher than that of some known antioxidants such as rutin, puerarin, daidzein and 2,6-di-tertbutyl-4-methylphenol.

• Journal of Plant Biotechnology
• /
• v.43 no.3
• /
• pp.317-331
• /
• 2016

Development of disease resistant plant is one of the important objectives in rice breeding programs because biotic stresses can adversely affect rice growth and yield losses. This study was conducted to identify lines with multiple-resistance genes to biotic stress among 173 hybrid rice breeding lines and germplasms using DNA-based markers. Our results showed that one hybrid rice line [IR98161-2-1-1-k1-3 (IR86409-3-1-1-1-1-1/IRBB66)] possessed 5 bacterial blight resistance genes (Xa4, xa5, Xa7, Xa13 and Xa21) while two hybrid rice lines [IR98161-2-1-1-k1-2 (IR86409-3-1-1-1-1-1/IRBB66) and 7292s (IR75589-31-27-8-33S(S1)/IR102758B)] possessed 3 bacterial blight resistance genes (Xa4, Xa7 and Xa21, and Xa3, Xa4 and xa5). Molecular survey on rice blast disease revealed that most of these lines had two different resistant genes. Only 11 lines possessed Pib, Pi-5, and Pi-ta. In addition, we further surveyed the distribution of insect resistant genes, such as Bph1, Bph18(t), and Wbph. Three hybrid breeding lines [IR98161-2-1-1-k1-3 (IR86409-3-1-1-1-1-1/IRBB66), IR98161-2-1-1-k1-2 (IR86409-3-1-1-1-1-1/IRBB66), and 7292s (IR75589-31-27-8-33S(S1) /IR102758B)] contained all three resistance genes. Finally, we obtained four hybrid rice breeding lines and germplasms [IR98161-2-1-1-k1-2 (IR86409-3-1-1-1-1-1/IRBB66), Damm-Noeub Khmau, 7290s, and 7292s (IR75589-31-27-8-33S(S1)/IR102758B)] possessing six-gene combination. They are expected to provide higher level of multiple resistance to biotic stress. This study is important for genotyping hybrid rice with resistance to diverse diseases and pests. Results obtained in this study suggest that identification of pyramided resistance genes is very important for screening hybrid rice breeding lines and germplasms accurately for disease and pest resistance. We will expand their cultivation safely through bioassays against diseases, pests, and disaster in its main export countries.