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Molecular geneticists and ovarian physiologists today face the challenge of defining and reconciling two major biological imperatives that each center on oogenesis, folliculogenesis and competition between ovarian follicles: (1), defining how the mitochondrial genome--important in both aging and a number of serious mitochondrial diseases--is refreshed and(More)
This paper considers robotic automation of a common surgical retraction primitive of exposing an underlying area by grasping and lifting a thin, 3D, possibly inhomogeneous layer of tissue. We present an algorithm that computes a set of stable and secure grasp-and-retract trajectories for a point-jaw gripper moving along a plane, and runs a 3D finite element(More)
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