Robert J. Grabowski

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L-Serine dehydratase with a specific activity of 15 nkat/mg protein was present in the anaerobic eubacterium Peptostreptococcus asaccharolyticus grown either on L-glutamate or L-serine. The enzyme was highly specific for L-serine with the lowest Km = 0.8 mM ever reported for an L-serine dehydratase. L-Threonine (Km = 22 mM) was the only other substrate.(More)
Two families of enzymes are described which catalyse identical chemical reactions but differ in their prosthetic groups and hence in their mechanism of action. One family, the pyridoxal-5'-phosphate (PLP)-dependent L-threonine dehydratases, also use L-serine as substrate. The other, hitherto unrecognized family is the iron-dependent, highly specific(More)
The MITRE Meteor team fielded an autonomous vehicle that competed in DARPA's 2005 Grand Challenge race. This paper describes the team's approach to building its robotic vehicle, the vehicle and components that let the vehicle see and act, and the computer software that made the vehicle autonomous. It presents how the team prepared for the race and how their(More)
L-Serine dehydratase from the Gram-positive bacterium Peptostreptococcus asaccharolyticus is novel in the group of enzymes deaminating 2-hydroxyamino acids in that it is an iron-sulfur protein and lacks pyridoxal phosphate [Grabowski, R. and Buckel, W. (1991) Eur. J. Biochem. 199, 89-94]. It was proposed that this type of L-serine dehydratase is widespread(More)
In this paper, we describe the design and development of a network of large unmanned ground vehicles (LUGVs) using low-cost, off-the-shelf technology and building upon experience gained at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. Our unique distributed architecture allows robots with different capabilities to interact,(More)
The Defense Advanced Research Projects Agency (DARPA) challenged autonomous ground vehicle developers in the "2005 DARPA Grand Challenge" to build a vehicle that could complete a 132 mile course through the American desert southwest. MITRE, a not-for-profit systems engineering company, responded to this challenge by creating the MITRE Meteor in just 11(More)
— This paper presents an on-line algorithm which provides high signal to noise ratio heading predictions for un-manned ground vehicles. The algorithm uses cross correlation of SICK laser scans to improve the heading predictions from GPS. It is tested on our ground vehicles in outdoor urban environment and verified to provide accurate smooth heading(More)
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