In many infeasible linear programs it is important to construct it to a feasible problem with a minimum pa-rameters changing corresponding to a given nonnegative vector. This paper defines a new inverse problem, called “inverse feasible problem”. For a given infeasible polyhedron and an n-vector a minimum perturba-tion on the parameters can be applied and then a feasible polyhedron is concluded.

Virtual characters playing virtual musical instruments in a realistic way need to interact in real-time with the simulated sounding environment. Dynamic simulation is a promising approach to finely represent and modulate this interaction. Moreover, capturing human motion provides a database covering a large variety of gestures with different levels of expressivity. We propose in this paper a ne...

This paper gives a global dynamic analysis of a two wheeled riding simulator that we have built and instrumented for the study of drivers behavior. These studies concern drive situations in normal urban scenario as well as dangerous driving situations such as skidding. The justification of the choice of the platform movements for a good feeling is discussed. Different models for inverse kinemat...

We present a new framework for prioritized multi-task motion/force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they do not find the optimal solution for the secondary tasks. Other frameworks are optimal, but they tackle the control problem at kinematic level, hence they ne...

The limited adaptivity of current robots is preventing their widespread application. However, nowadays there are mature techniques available to palliate this deficiency. After briefly surveying the several levels of adaptivity required and the disciplines addressing each of them, the paper concentrates on the contributions of the field of Neural Networks to improve sensorimotor adaptivity. Sinc...

In October 2012, the humanoid robot HRP-2 was presented during a live demonstration performing fine-balanced dance movements with a human performer in front of more than 1000 people. This success was possible by the systematic use of operational-space inverse dynamics to compute dynamically consistent movements following a motion capture pattern demonstrated by a human choreographer. The first ...

Background: Friedreich ataxia (FRDA) is an autosomal recessive disorder caused by guanine-adenine-adenine (GAA) triplet expansions in the FXN gene. Its product, frataxin, which severely reduces in FRDA patients, leads to oxidative damage in mitochondria. The purpose of this study was to evaluate the triple nucleotide repeated expansions in Iranian FRDA patients and to elucidate distinguishable ...

Methionine synthase catalyzes the remethylation of homocysteine to methionine in a methylcobalamin-dependent reaction. We used specific regions of homology within the methionine synthase sequences of several lower organisms to clone a human methionine synthase cDNA by a combination of RT-PCR and inverse PCR. The enzyme is 1265 amino acids in length and contains the seven residue structure-based...

5-Azidomethyl dUTP and two 5-trans-cyclooctene dUTPs with different linkers between the TCO and the uracil base have been incorporated into DNA by primer extension, reverse-transcription and PCR amplification. For azidomethyl dUTP the PCR reaction was successful even when the modified dUTP was not supplemented with dTTP. In one case 335 azidomethyl dU residues were incorporated into the 523 bas...