Graduate University of Advanced Technology

About: Graduate University of Advanced Technology is a education organization based out in Kerman, Iran. It is known for research contribution in the topics: Carbon paste electrode & Electrochemical gas sensor. The organization has 890 authors who have published 2169 publications receiving 31027 citations.

Knee and torso kinematics in generation of optimum gait pattern based on human-like motion for a seven-link biped robot

Abstract: Gait pattern affects the quality of a walking robot. In this paper, an optimum human-like gait generation method is proposed for a seven-link biped robot. This method utilizes kinematic constraints based on human-like motion. At first, the constraints are parameterized with unknown parameters. Then, an optimization problem is defined with an objective function and the kinematic constraints. The objective function includes the energy consumption and walking stability. Unknown parameters appearing in the constraints are determined by solving the optimization problem. Joint variables are obtained by integrating a velocity form of the kinematic constraints. This approach is carried out for gait planning of the seven-link biped robot and its results are presented. This method allows studying some effective parameters on the gait such as constant knee angle duration, and torso inclination is optimized for different speeds. Our studies indicate that as walking speed increases the knee should extend and the torso should lean forward further in order to maintain better stability. Moreover, energy consumption increases as the torso leans forward.

Bayesian approach to identify Hammerstein–Wiener non-linear model in presence of noise and disturbance

Abstract: In this study, a recursive algorithm is presented for identification of both linear and non-linear blocks of the Hammerstein-Wiener (H-W) models. An iterative sampling schema is used, along with non-parametric describing of non-linear functions by Gaussian processes, to consider the Gaussian distributed noise and disturbances. Different aspects of solving the H-W problem are discussed, covering the formulation of the non-linear functions, uniqueness assumptions and the effect of stochastic disturbances on the solution. The proposed method is used to identify an H-W model for the systems encounter all possible disturbances consists of input and output measurement noise, disturbances in the linear block and the additive disturbances to the interconnecting signals of the linear and non-linear blocks. Effectiveness and simplicity of the method are shown by an example. The results show that the accuracy of the proposed method is acceptable in presence of noise and disturbances.

Bioinformatic Identification of Rare Codon Clusters (RCCs) in HBV Genome and Evaluation of RCCs in Proteins Structure of Hepatitis B Virus.

Abstract: Background Hepatitis B virus (HBV) as an infectious disease that has nine genotypes (A - I) and a 'putative' genotype J. Objectives The aim of this study was to identify the rare codon clusters (RCC) in the HBV genome and to evaluate these RCCs in the HBV proteins structure. Methods For detection of protein family accession numbers (Pfam) in HBV proteins, the UniProt database and Pfam search tool were used. Protein family accession numbers is a comprehensive and accurate collection of protein domains and families. It contains annotation of each family in the form of textual descriptions, links to other resources and literature references. Genome projects have used Pfam extensively for large-scale functional annotation of genomic data; Pfam database is a large collection of protein families, each represented by multiple sequence alignments and hidden Markov models (HMMs). The Pfam search tools are databases that identify Pfam of proteins. These Pfam IDs were analyzed in Sherlocc program and the location of RCCs in HBV genome and proteins were detected and reported as translated EMBL nucleotide sequence data library (TrEMBL) entries. The TrEMBL is a computer-annotated supplement of SWISS-PROT that contains all the translations of European molecular biology laboratory (EMBL) nucleotide sequence entries not yet integrated in SWISS-PROT. Furthermore, the structures of TrEMBL entries proteins were studied in the PDB database and 3D structures of the HBV proteins and locations of RCCs were visualized and studied using Swiss PDB Viewer software®. Results The Pfam search tool found nine protein families in three frames. Results of Pfams studies in the Sherlocc program showed that this program has not identified RCCs in the external core antigen (PF08290) and truncated HBeAg gene (PF08290) of HBV. By contrast, the RCCs were identified in gene of hepatitis core antigen (PF00906 and the residues 224 - 234 and 251 - 255), large envelope protein S (PF00695 and the residues 53-56 and 70 - 84), X protein (PF00739 and the residues 10 - 24, 29 - 83, 95 - 99. 122 - 129, 139 - 143), DNA polymerase (viral) N-terminal domain (PF00242 and the residues 59 - 62, 214 - 217, 407 - 413) and protein P (Pf00336 and the residues 225 - 228). In HBV genome, seven RCCs were identified in the gene area of hepatitis core antigen, large envelope protein S and DNA polymerase, while protein structures of TrEMBL entries sequences found in Sherlocc program outputs were not complete. Conclusions Based on the location of detected RCCs in the structure of HBV proteins, it was found that these RCCs may have a critical role in correct folding of HBV proteins and can be considered as drug targets. The results of this study provide new and deep perspectives about structure of HBV proteins for further researches and designing new drugs for treatment of HBV.

Efficacy of SCoT and ISSR markers in assessment of genetic diversity in some Iranian pistachio (Pistacia vera L.) cultivars

Abstract: Background: Start Codon Targeted (SCoT) and Inter-Simple Sequence Repeat (ISSR) markers were used to appraisegenetic diversity existed in 20 samples of four Iranian pistachio (Pistacia vera L.) cultivars and relative efficiencies of themarker systems were compared.Materials and Methods: 20 and 15 primers were used in SCoT and ISSR markers, respectively. Effective Multiplex Ratio(EMR), Marker Index (MI), Resolving Power (RP) and Polymorphic Information Content (PIC) of the primers were assessedfor the two marker systems. Cluster analysis for molecular data was performed. Principal Coordinate Analysis (PCoA) wasdone too.Results: The most of the parameters examined were found to be more suitable in ISSR system. The most remarkable resultof the current research is that cluster analysis on SCoT and ISSR data clearly discriminated the cultivars in terms of theirgenetic characterizations. There was a high similarity between dendrogram derived from ISSR marker and dendrogramderived from both markers, in spite of some observed differences.Conclusions: It is shown in the current research that there is remarkable genetic diversity among evaluated samples. SCoTand ISSR analysis produces adequate polymorphisms for DNA fingerprinting. This research reports the first application of theSCoT marker in characterization of Iranian pistachio cultivars.