Abstract: Torque control capability is provided to a position controlled robot by calculating joint position inputs from transformation of the desired joint torques. This is based on calculating the transfer function 1/E(s), which relates the desired joint torque to joint position. Here E(s) is a servo transfer function D(s) or an effective servo transfer function D*(s). The use of an effective servo transfer function D*s) is helpful in cases where joint nonlinearities are significant. The effective servo transfer function D*(s) is defined with respect to an ideal joint transfer function G*(s)=1/(Ieffs2+beffs), where Ieff is an effective moment of inertia and beff is an effective damping coefficient.

Abstract: Combinations of diterpenoid triepoxides and anti-proliferative agents are used in a combination therapy to treat hyperproliferative disorders. Anti-proliferative agents of interest include agents active in killing tumor cells, as well as immunosuppressants, and a variety of other agents that reduce cellular proliferation in targeted tissues. Synergistic combinations provide for comparable or improved therapeutic effects, while lowering adverse side effects.