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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)
Oxidative base damage in DNA and metabolic defects in the recognition and removal of such damage play important roles in mutagenesis and human disease. The extent to which cellular RNA is a substrate for oxidative damage and the possible biological consequences of RNA base oxidation, however, remain largely unexplored. Since oxidatively modified RNA may(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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