Abstract: A current limiter for protecting a motor from overheating. An algorithm is disclosed for dynamically limiting the motor current, such as motors used in robotics. The algorithm uses a thermal model of the motor, which provides a real-time estimate of a coil temperature using instantaneous power consumption of the motor and a thermocouple measurement from the motor's printed circuit board. There are multiple potential outputs from the current limiter algorithm, such as the maximum power that can be consumed without overheating the coils, and an estimate of how long the motor could deliver a specified high torque before overheating.

Abstract: The present invention relates to an immunoassay for simultaneously measuring the presence of antibodies to a plurlity of HPV types that utilizes particle-based flow cytometric analysis. The presence and/or titre of neutralizing antibodies in a test sample are determined in a competitive format, where known, type-specific, fluorescently labeled neutralizing monoclonal antibodies compete with antibodies within a test sample for binding to conformationally sensitive, neutralizing epitopes on specific HPV-VLPs. The invention also provides a microsphere complex comprising a microsphere coupled to an HPV VLP.