A canonical formulation of the direct position kinematics problem for a general 6-6 stewart platform

This paper deals with the direct position kinematics problem of a general 6-6 Stewart platform, the complete solution of which is not reported in the literature until now and even establishing the number of possible solutions for the general case has remained an unsolved problem for a long period. Here a canonical formulation of the direct position kinematics problem for a general 6-6 Stewart platform is presented. The kinematic equations are expressed as a system of six quadratic and three linear equations in nine unknowns, which has a maximum of 64 solutions. Thus, it is established that the mechanism, in general, can have up to 64 closures. Further reduction of the system is shown arriving at a set of three quartic equations in three unknowns, the solution of which will yield the assembly configurations of the general Stewart platform with far less computational effort compared to earlier models.

An unusual distribution of glucose-6-phosphate dehydrogenase deficiency of south Indian newborn population.

Glucose-6-phosphate dehydrogenase (G6PD) deficiency is seen at a higher frequency in many national and ethnic groups in areas of current or former malaria endemicity. A screening programme undertaken to evaluate the gene frequencies for this deficiency in the highly inbred South Indian population of Karnataka revealed that of the 5140 neonates screened, 7.8% were G6PD deficient with no correlation between the reported level of inbreeding and enzyme deficiency. An interesting finding was the equal number of male (198) and female (207) individuals, with G6PD activity of less than 3 IU. The possible implications of this finding with regard to the expression of G6PD gene is discussed.

Characterization of a variant glucose-6-phosphate dehydrogenase from the south Indian population.

Glucose-6-phosphate dehydrogenase (G6PD) is coded by a gene on the X-chromosome. Earlier studies have shown that the South Indian population has a high incidence of this enzyme deficiency. The electrophoretic mobility, pH optimum and the K-m values for G6PD from normal and variant individuals were identical. However, the specific activity of the variant enzyme was 8 times less compared to the value of the normal enzyme. Western blot analysis of partially purified G6PD from normal and variant individuals performed using equal amounts of total protein showed that the variant protein was 3 times less in concentration. Similar analysis performed using protein corresponding to equal enzyme activity units in the normal and variant samples showed that the variant enzyme was 2.25 times less efficient compared to the normal enzyme. RNA dot blot analysis using full length G6PD cDNA probe (PGDT5B, a kind gift from Prof. L Luzzatto) revealed that lymphocytes from normal and variant individuals had equal amounts of G6PD specific mRNA.

Double Aromaticity in the 3,5-Dehydrophenyl Cation and in Cyclo[6]carbon

The presence of two (4n+2)-electron conjugated systems in perpendicular planes results in considerable aromatic stabilization. Despite having two fewer hydrogens, the 6 pi e-2 sigma e 3,5-dehydrophenyl cation (C6H3+, 1) is 32.7 (CCSD(T)/6-31G**) and 35.2 kcal/mol (RMP4sdtq/6-3iG*//RMP2(fu)/6-31G*) more stable than the phenyl cation (evaluated by an isodesmic reaction involving benzene and m-dehydrobenzene (4)). Cation 1, the global C6H3+ minimum, is 11.7,24.2, 11.8, and 30.4 kcal/mol lower in energy than the 2,6- (11) and 3,4-dehydrophenyl (12) cations as well as the open-chain isomers 13 and 14 (RMP4sdtq/6-31G*//RMP2(fu)/6-31G* + ZPE(RMP2(fu)/6-31G*)). The stability of 1 is increased hyperconjugatively by 2,4,6-trisilyl substitution. The double aromaticity of 1 is indicated by the computed magnetic susceptibility exaltations (IGLO/II//RMP2(fu)/6-31G*) of -5.2, -6.8, -15, and -23.2 relative to 11, 12, 13, and 14, respectively. Thus, 1 fulfills the geometric, energetic, and magnetic criteria of aromaticity. The double aromaticity of the D-6h cyclo[6]carbon is apparent from the same criteria

Organometallics of diphosphazanes. Part 10. Dinuclear group 6 metal carbonyl complexes bridged by a cyclodiphosphazane in its cis or trans form

Mononuclear Group 6 metal tetracarbonyl complexes containing a cyclodiphosphazane ligand, [PhNP(OC(6)H(4)Me-p)](2) (L), have been used as synthons to prepare homo- and hetero-bimetallic complexes in which the cyclodiphosphazane bridges the two metal centres in its cis or trans isomeric forms. The dimolybdenum complex [Mo-2(eta(5)-C5H5)(2)(CO)(4)(mu-L)] has also been synthesized. The trends in P-31 NMR chemical shifts and the structural features as revealed by X-ray crystallography are discussed.

Potassamide induced in situ benzylation of 5,6-dihydroisoquinolines: Structure of novel products

Potassamide induced in situ benzylation of 1-alkyl-4-cyano-3-methoxy-5,6-dihydroisoquinolines (1a-b) with benzyl iodide gave the 5-benzyl-, 5,9-dibenzyl- and 4,4-dibenzyl-5,6-dihydroisoquinolines (9a-b, 8a-b and 10a-b), isoquinoline derivatives (4a-b) and diastereomeric mixture of 4-benzyl-1,2,3,4-tetrahydroisoquinolin-3(2H)-ones (11a-b & 11'a-b). Structures were assigned on the basis of spectral data [Mass, H-1 & C-13 NMR, 2D NOESY]. A few reactions carried out to transform the diastereomeric mixture of compounds 11a and 11's to the spirobenzylisoquinoline system 7a isomeric with naturally occurring ochotensane system ga are discussed.

Studies of phosphazenes. Part 34. group 6 metal carbonyl complexes of bis(pyrazolyl)cyclotriphosphazenes

Reactions of the bis(3,5-dimethylpyrazol-1-yl)cyclotriphosphazenes gem-N3P3Ph4(C3HN2Me2)2 (L1) and N3P3(MeNCH2CH2O)2(C3HN2Me2)2 (L2) with [M(CO)6] (M = Mo or W) afford complexes of the type [M(CO)3L] (L = L1 or L2), which have been characterised by IR and NMR spectroscopic data. The structures of [Mo(CO)3L1], [W(CO)3L2] and the ligand L2 have been determined by single-crystal X-ray diffraction. The phosphazenes act as novel tridentate NNN-donor ligands with two pyrazolyl nitrogen atoms and one phosphazene ring nitrogen atom bonded to the metal atom

Enantioselective Synthesis of Possible Diastereomers of Heptadeca-1-ene-4,6-diyne-3,8,9,10-tetrol; Putative Structure of a Conjugated Diyne Natural Product Isolated from Hydrocotyle leucocephala

Enantioselective synthesis of possible diastereomers of heptadeca-1-ene-4,6-diyne-3,8,9,10-tetrol, a structure proposed for the natural product isolated from Hydrocotyle leucocephala is accomplished. The reported spectral data of the natural product did not match those of any of the isomers that were synthesized and established that the structure proposed for the natural product is not correct and requires revision.

4-Hydroxy-6-(4-methoxyphenyl)-4-phenyl-1,3-diazinane-2-thione

In the title compound, C17H18N2O2S, the 1,3-diazinane-2-thione ring system is not coplanar with the benzene ring and methoxyphenyl ring system, the dihedral angle between the planes being 65.58 (13) and 89.18 (10)degrees, respectively. The crystal structure is characterized by intermolecular O-H...S, N-H...S, N-H...O and C-H...S hydrogen bonding.

Non-linear optical response of rutile-related oxides, LiM(V)M(VI)O(6), and their derivatives obtained by ion-exchange and intercalation

Polycrystalline samples of oxides of the general formula LiM(V)M(VI)O(6) (M(V) = Nb, Ta; M(VI) = Mo, W), crystallizing in a non-centrosymmetric (space group P (4) over bar 2(1)m) trirutile structure, exhibit second harmonic generation (SHG) of 1064 nm radiation with efficiencies 15-45 times that of alpha-quartz; interestingly, the SHG response is retained by the protonated derivatives HM(V)M(VI)O(6) . xH(2)O, and their n-alkylamine intercalates as well.

Potassamide induced in situ alkylation of 5,6-dihydroisoquinoline with allyl bromide and Michael acceptors

Potassamide induced in situ alkylation of 4-cyano-3-methoxy-1-methyl-5, 6-dihydroisoquinoline (1a) with allyl bromide gives the 5-allyl- and 5,9-diallyl-5,6-dihydroisoquinolines (1c and 1d), isoquinoline derivative 2 and 4-allyl-1, 2, 3, 4-tetrahydroisoquinolin-3(2H)-one (3a). However, potassamide induced in situ alkylation of In with buten-2-one, mesityl oxide and acrylonitrile results in the formation of only 5-alkylated 5,6-dihydroisoquinoline derivatives 1e-g along with fully aromatised compound 2.

The unusual formation of methyl alpha-(5,6-dimethoxycarbonyl-2,3-dimethoxyazepin-7-ylidene)-alpha-[5-methoxycarbonyl-2,3-dimethoxypyrid-6-yl)acetate during the pyrolysis of ''azido-meta-hemipinate'' - First example of a reaction involving a concomitant ring expansion and ring extrusion

he ortho methoxycarbonyl substituent constitutes a sole exception in the ring closure reactions of ortho substituted aryl azides, as it provides no rate acceleration to this reaction. Pyrolysis of ''azido-meta-hemipinate'', an aryl azide containing such a substituent, led us to the title compound, a new azepinylidenepyridylacetic ester, whose structure has been established unambiguously by a single crystal X-ray diffraction study. This is the first report of a reaction involving both a ring expansion to an azaheptafulvalene and a ring extrusion to a pyridyl ring residue.

Structure of 4,6-Diacetylresorcinol

C10H10O4, M(r) = 194.19, monoclinic, P2(1)/c, a = 7.089 (1), b = 11.361 (1), c = 11.656 (1) angstrom, beta = 100.45 (3)-degrees, V = 922.92 (1) angstrom 3, Z = 4, D(m) = 1.410 (5), D(x) = 1.397 Mg m-3, lambda(Cu K-alpha) = 1.5418 angstrom, mu(Cu K-alpha) = 0.89 mm-1, T = 300 K, F(000) = 408, final R = 0.057 for 1701 observed reflections. The molecule is almost planar, with O(9) and O(12) of the acetyl groups deviating by 0.074 (1) and 0.071 (2) angstrom from the mean plane of the benzene ring. The bond lengths and bond angles of the benzene ring are normal. There are intramolecular hydrogen bonds between O(9) and H(14) and between O(12) and H(13); there are no intermolecular hydrogen bonds. The molecules are packed in layers parallel to the ac plane and are held together essentially by van der Waals interactions.

Structure of 7-ethylamino-6-methyl-4-trifluoromethylcoumarin

C13H12F3NO2, M(r) = 271.2, triclinic, P1BAR, a = 5.029 (2), b = 7.479 (2), c = 17.073 (5) angstrom, alpha = 97.98 (2), beta = 95.54 (3), gamma = 103.62 (3)-degrees, V = 612.4 (4) angstrom 3, Z = 2, D(m) = 1.463, D(x) = 1.471 g cm-3, lambda(Mo K-alpha) = 0.71069 angstrom, mu = 1.23 cm-1, F(000) = 280, T = 298 K, final R value is 0.041 for 2047 observed reflections with \F(omicron)\ greater-than-or-equal-to 6-sigma(\F(omicron)\). The N-C(sp2) bond length is 1.356 (2) angstrom. The N and C atoms of the ethylamino group deviate by < 0.15 angstrom from the plane of the aromatic ring. Short intramolecular contacts, C(3)...F(17) 2.668 (3) angstrom [H(3)...F(17) 2.39 (2) angstrom, C(3)-H(C3)...F(17) 98 (1)-degrees], C(5)...F(18) 3.074 (3) and C(5)...F(19) 3.077 (3) angstrom exist in the structure. The crystal structure is stabilized by intermolecular N-H...O hydrogen bonds with N(12)-H(N12) 0.79 (3), H(N12)...O(11)' 2.36 (3), N(12)...O(11)' (x - 1, y + 1, z) 3.105 (3) angstrom and N(12)-H(N12)...O(11)' 155 (2)-degrees.