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5.5.2.2 Qinghaosu Derivatives Containing the Basic Substituent In view of the known basic antimalarial drugs (such as chloroquine, quinine) that are being used as salts for injection, it was proposed that introducing an amino group into the qinghaosu molecule may lead to water-soluble derivatives. Thus, ve types of basic qinghaosu derivatives were synthesized (Structure 5-13).189,193 195 These basic compounds combined with organic acid (such as oxalic acid and maleic acid) to yield the corresponding salts. Generally, they had good watersolubility and stability. Some compounds showed much more activity against P. berghei in mice than artesunate. However, their ef cacies were less than that of artesunate against P. knowlesi in rhesus monkeys.189,195 In addition, more qinghaosu derivatives containing the amino group were also reported (Structure 5-14).196 199

BZFlag does not have direct support for aRts (artsd daemon) or other sound servers. So, sound might not work on your BZFlag client if you have a sound server running. To adjust sound levels, you can run alsamixer. I used the Master and PCM sliders to adjust the sound on my Fedora system.

i (t)2 dt + i (t)dz i (t) 2

998 TABLE AN3-4

Invariants are very useful properties for object localization, whereby a higher number of degrees of freedom usually implies a lower number of invariants. Each manifold can also be parametrized in different ways with different properties concerning linearity or singular con gurations. These parameters are collected into a pose vector, hereafter denoted by p, on which the transformation Tw,o ( p ) depends; without further constraints on the vector p, its dimension is equal to the manifold dimension, that is, the number of degrees of freedom of the object. Representation singularities may arise when the derivatives T p (also called Jacobian matrices) are not full-rank and may cause signi cant trouble during the estimation process. For the purpose of tracking, a singularity-free representation can be obtained by de ning a set of nite and incremental pose parameters, ( p, p ) , respectively, where the p are referred to the previous frame while the p are estimated by the current tracking loop. In fact, if p is a different parametrization with respect to p, it may be de ned in a singularity-free way around p = 0, which is always the case for small frameto-frame motion. An incremental representation also makes it possible to de ne the updating rule for p, that is, the way to compute the new pose, p, from the old one and the increment ( p, p ) . In the literature, we nd primarily the following cases3 (dropping the indices for the sake of simplicity). Additive update: Tadd ( p, p ) = T ( p + p ) Compositional update: Tcomp ( p, p ) = T ( p ) T ( p ) (2.32) (2.31)

It can also give TypeError if an argument other than a string is passed as follows:

Now that you ve got a handle on the different pieces of the architecture, here s how those pieces work together: 1. A request comes in to a Web server. 2. If the requested URL is for a servlet, the Web server sends the request on to the servlet container. 3. The servlet container locates the servlet referenced by the URL. 4. If the servlet has not been initialized, the container executes the servlet s init() method. It does this only once during a servlet s lifetime in the container. This allows the servlet to generate dynamic content without repeating the initialization process. 5. The container executes the service() method of servlet. In most servlets (based on the HttpServlet class), the service method will then call the doGet() or doPost() method on the HttpServlet. 6. The servlet does whatever application processing it needs to do to generate the response. This may include connecting to databases or invoking Enterprise Java Beans for example. A servlet must implement the javax.servlet.Servlet interface. The container calls the methods defined in this interface to manage the servlet s life cycle. The init() and service() methods mentioned previously are two of the methods defined by the servlet interface.