Abstract: Systems and methods for determining movement of a robot are provided. A computing system of the robot receives information including an initial state of the robot and a goal state of the robot. The computing system determines, using nonlinear optimization, a candidate trajectory for the robot to move from the initial state to the goal state. The computing system determines whether the candidate trajectory is feasible. If the candidate trajectory is feasible, the computing system provides the candidate trajectory to a motion control module of the robot. If the candidate trajectory is not feasible, the computing system determines, using nonlinear optimization, a different candidate trajectory for the robot to move from the initial state to the goal state, the nonlinear optimization using one or more changed parameters.

Abstract: The invention concerns a novel lymphocyte hybridoma and an antibody which may be generated from the hybridoma. The hybridoma and antibody have the internal designation LICR-LON-Fib 75. The origin, method of preparation and uses are discussed. The antibody has particular application in the diagnosis and treatment of cancer of the breast. A particular therapeutic treatment comprises harvesting a sample of bone marrow from a patient, subjecting the patient to treatment adapted to kill cancerous material including that within the bone marrow (possibly including the normal differentiated haemopoietic cells of the marrow), subjecting some or all of the sample to cytotoxic treatment with the antibody (or a toxin conjugate thereof) adapted to kill cancerous cell lines while leaving viable colony-forming units of bone marrow, and reintroducing the treated sample material to the blood stream of the patient.

Abstract: The invention concerns a novel lymphocyte hybridoma and an antibody which may be generated from the hybridoma. The hybridoma and antibody have the internal designation LICR-LON-Fib 75. The origin, method of preparation and uses are discussed. The antibody has particular application in the diagnosis and treatment of cancer of the breast. A particular therapeutic treatment comprises harvesting a sample of bone marrow from a patient, subjecting the patient to treatment adapted to kill cancerous material including that within the bone marrow (possibly including the normal differentiated haemopoietic cells of the marrow), subjecting some or all of the sample to cytotoxic treatment with the antibody (or a toxin conjugate thereof) adapted to kill cancerous cell lines while leaving viable colony-forming units of bone marrow, and reintroducing the treated sample material to the blood stream of the patient.