Abstract: The present invention generally relates to articles comprising microstructures and methods for forming microstructures. The microstructures may be mechanically coupled to impart complex three dimensional shapes. For example, one or more microstructures may be grown on a substrate at different average growth rates, resulting in curved microstructures.

Abstract: The present invention relates to the formation and processing of nanostructures including nanotubes. Some embodiments provide processes for nanostructure growth using relatively mild conditions (e.g., low temperatures). In some cases, methods of the invention may improve the efficiency (e.g., catalyst efficiency) of nanostructure formation and may reduce the production of undesired byproducts during nanostructure formation, including volatile organic compounds and/or polycylic aromatic hydrocarbons. Such methods can both reduce the costs associated with nanostructure formation, as well as reduce the harmful effects of nanostructure fabrication on environmental and public health and safety.

Abstract: The present invention relates to the formation and processing of nanostructures including nanotubes. Some embodiments provide processes for nanostructure growth using relatively mild conditions (e.g., low temperatures). In some cases, methods of the invention may improve the efficiency (e.g., catalyst efficiency) of nanostructure formation and may reduce the production of undesired byproducts during nanostructure formation, including volatile organic compounds and/or polycylic aromatic hydrocarbons. Such methods can both reduce the costs associated with nanostructure formation, as well as reduce the harmful effects of nanostructure fabrication on environmental and public health and safety.

Abstract: Less toxic agents for reversal of heparin or low molecular weight heparin anticoagulation which are synthetic protamine-like polycationic peptides having a total cationic charge which is less than that of n-protamine. In preferred embodiments, arginine residues of n-protamine are replaced with lysine residues for ease of manufacture. Selective positively charged arginine residues have been replaced with an uncharged amino acid residue or its analog, such as glycine or glutamine, in order to reduce the total cationic charge on the polycationic peptide to the range of about [+14] to [+18], preferably [+16] to [+18]. In specific embodiments, there are sequences of 29 and 32 amino acid residues wherein 4 to 5 clusters of 2 to 4 positively charged amino acids are separated by 2 to 6 neutral amino acids. The C-terminus and the N-terminus can be modified to mitigate against in vivo degradation by carboxypeptidases and aminopeptidases. Another modification, specifically use of .alpha.

Abstract: A system for compensating for the effects of friction and other forces reting from repeatable disturbances in a servo system or a numerically controlled machine employs a software-based mathematical model which has certain parameters associated therewith. The parameters are calibrated for the specific characteristics of the system using either off-line or on-line methods, and include dynamic correction for continuous correction, as would be required to compensate for forces which disturb a desired motion. The compensation model is implemented in two stages: (i) building a calibrated mathematical model that describes a repeatable disturbance force, such as friction, and (ii) using the model in real time to compensate for the disturbance force. The model provides a compensation signal which is combined with the original controller signal to yield a compensated control signal. The compensation may be in the form of a position offset.