This paper presents idea flow, development and construction of an anthropomorphic hand which is intended to be used mainly in prosthetics. Fundamental results of simulations and optimization of grasp are shown. The prototype has been manufactured and the principal functionality of finger mechanism (drive three axes by one string) has been tested. A new mechanical principle has been developed which is based again on an idea of using less actuators then joints with keeping adaptability and functionality of the mechanism. and Obsahuje seznam literatury
The influence of a cytokinin, 6-benzylaminopurine (BAP), on chloroplast structure was studied using biochemical methods and electron microscopy. The average degree of thylakoid stacking was determined by digitonin fractionation and differential centrifugation of chloroplasts from tobacco plantlets after treatment with different concentrations of BAP in agar medium during cultivation in viíro. An elevated concentration of BAP in the medium induced an increase in grana stacking. This was in accordance with the lowering of the chlorophyll a/b ratio in these chloroplasts. The relative amoímt of proteins and carotenoids increased in both stromal and (to a lesser extent) granal chloroplast thylakoid fractions with the BAP concentration. The electron microscopic studies revealed nearly the same volume density of thylakoid membranes within chloroplasts of BAP treated plantlets and control ones. In the BAP treated plantlets the chloroplasts were smaller and had a profound accumulation of starch inclusions and a more flattened shape than the chloroplasts of control plantlets. The volume density of plastoglobuli in chloroplasts did not decrease under the influence of BAP,
After a S-d cultivatíon in Solutions of different concentrations of lead and copper, structiiral changes were established in the photosynthetic apparatus of Elodea canadensis Rich. Lead and low concentrations of copper (0.03, 0.06 and 0.25 g m’^) did not induce large structural transformations in the protoplast. Some of the changes were specific for the species; vacuolization of the cytoplasm, instability of the tonoplast, increased activity of the dictyosomes, abnormally active division of the mitochondria, and number of chloroplasts and mitochondria in definite cell zones. High concentrations of copper (0.5, 1 and 1.5 g m*^) induced within 5 d a generál destruction of the protoplast. The concentration of 0.5 g(Cu^0 threshold concentration for survival of this species. High quantities of both metals were accumulated in the treated plants.