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We describe the chemoenzymatic synthesis of a variety of monodisperse hyaluronan (beta 4-glucuronic acid-beta 3-N-acetylglucosamine (HA)) oligosaccharides. Potential medical applications for HA oligosaccharides (approximately 10-20 sugars in length) include killing cancerous tumors and enhancing wound vascularization. Previously, the lack of defined(More)
Skp1 is a nucleocytoplasmic protein that is post-translationally modified by a pentasaccharide, Gal alpha1,Gal alpha1,3Fuc alpha1,2Gal-beta1,3GlcNAc alpha1O-, at a 4-hydroxylated derivative of Pro-143 in the amebazoan Dictyostelium discoideum. An enzymatic activity that catalyzes formation of the Gal alpha1,3Fuc linkage by transfer of Gal from UDP-alphaGal(More)
Designing a robot controller that can optimally manage limited resources in a deterministic, real-time manner can be challenging. Behavior-based architectures, which split autonomy into levels, are very popular but neither have real-time features that enforce timing constraints nor support determinism. Even though real-time features are not included, it(More)
This paper presents the Local Vector Control (LVC) algorithm that is applicable to power electronic systems. This controller does not differentiate between linear or non-linear systems and can operate, without change, in stationary or rotating reference frames. The performance of this current controller with particular emphasis on current clamp minimisation(More)
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