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Two prostaglandin synthetase inhibitory anacardic acids were isolated from O. mucronata. The structures of these inhibitors were established by spectroscopic means. Efficient syntheses of these two via directive metallation were reported.

An automatic car body inspection system has been developed whih provides greatly improved quality control of car body inspection. The system, consisting of a host computer and six high repeatability robots equipped with optical and visual sensors, operated each robot as a measuring instrument. Major development efforts have been concentrated on the software to enable precise positioning of each robot at the specified position independently of the circumstances by correcting the machine parameters which control the robot motion. By computer controlling each robot and correcting the relative position between a car body and the robots, this system can readily correct the mechanical assembly errors and realize high accuracy of the on-line body inspection.