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Extracellular chitinase from Alcaligenes xylosoxydans was purified to electrophoretic homogeneity using affinity and gel filtration chromatography. The molecularmass of chitinase was estimated to be 45 kDa and44 kDa by SDS-PAGE and gel-filtration, respectively. The enzyme was optimally active at 50 °C (over 30 min) and pH 5. Activity staining after PAGE(More)
Holonomic Robots are advantageous over non holonomic robots as they provide control to all of its degrees of freedom. Autonomous navigation of holonomic robots is expensive as it requires many costly odometry sensors. In this paper, a novel approach is proposed for the application of PID algorithm for autonomous navigation by reducing the complexity of 3(More)
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