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Munasinghe, Helani,Koh, Soon-Mi,Lee, Jehee The Korean Society of Fisheries and Aquatic Scienc 2003 韓國養殖學會誌 Vol.16 No.3
Isolation, cloning and sequencing of red seabream (Pagrus major) somatolactin (rsbSL) cDNA from pituitary gland revealed an open reading frame of 693 bp coding for a pre-growth hormone of 231 amino acids with a 22 amino acid putative signal peptide. Deduced amino acid sequence showed that there was one possible N-glycosylation site at Asn$^{145}$ and seven Cys residues (Cys$_{29}$ , Cys$^{39}$ , Cys$^{66}$ , Cys$^{89}$ , Cys$^{205}$ , Cys$^{222}$ , Cys$^{230}$ ). Except Cys$^{66}$ , others may be involved in disulfide bond formation. The rsbSL presented a 93% amino acid sequence identity with the SL of gilthead seabream (Sparus aurata) and contained the conserved hormone domain region. Expression of rsbSL in E. coli (BL2l) cells and gel analysis revealed a higher molecular weight for rsbSL than expected theoretically, implying posttranslational modifications.
S. Rohan Munasinghe,Masatoshi Nakamura 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2002 International Journal of Assistive Robotics and Me Vol.3 No.2
This paper presents an advanced motion planning algorithm for effective teleoperation of welfare robotic systems. The proposed system includes means to achieve accurate autonomous performance, safety, stability, and user-friendliness. Proposed motion planning algorithm carefully plans precise manipulator motions by considering important constraints, and it uses a hard real-time control of the robot, thereby assures accurate performance. The telerobotic features of the system possess transmission control protocol (TCP) and supervisory control, to assure reliable communication and system stability. A parameterization algorithm was developed to resolve simple user requests into task parameters, thereby improving user-friendliness. Safe performance of the proposed welfare robotic system is assured by motion planning and telerobotic features. An experimental system was implemented within a local area network (LAN), with a Performer MK3s robot manipulator as the welfare robot. In this implementation, remote supervisor accepts and resolves simple user requests into task parameters, and send them to the local controller (LC) for motion planning and robot control. The experimental performance verified the effectiveness of the proposed method.