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Trunk motions are typically used to stabilize the lo-comotion of biped robots, which can be very large in some leg trajectories. This paper proposes a method to reduce the motion range of the trunk by generating a desired trajectory of the ZMP. The trajectory is determined by a fuzzy logic based upon the leg trajec-tories that are arbitrary selected. The(More)
Taken together, this study suggests that potato D-type cyclin genes are expressed differentially between in vitro and planta caused by intrinsic differences in physiology and gene action at the cellular and whole organism levels. Cyclin performs a pivotal role in control of the cell cycle by forming a complex with cyclin-dependent kinases (CDKs). In this(More)
Chrysanthemum stunt viroid (CSVd), the smallest plant pathogen known to infect chrysanthemums, is a single-stranded circular RNA viroid that induces stunting that results in an overall height reduction of 30–50 % in mature plants. A catalytic single-chain variable antibody, 3D8 scFv, which exhibits intrinsic DNase and RNase activities, was expressed in(More)
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