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The aim of this paper is to give a general and unifying presentation of the dynamic modelling and identification issues of a car. The modelling is based on the modified Denavit and Hartenberg geometric description of a multi-body system, which is commonly used in robotics. The kinematics and dynamic models are automatically calculated using the software package SYMORO+ . The inverse dynamic model is used to identify the dynamic parameters of the car. They are estimated using a weighted least square method. Practical results are given for a 406 Peugeot car.

Studies on methoxylation in the 7H-naphtho[1,2,3-i,j][2,7]naphthyridin-7-one (sampangine) system represented by 3-bromo- and 4-bromosampangine as well as sampangine itself are described. We have found that regioselectivity of nucleophilic substitution in the sampangine system can be directed by reaction conditions. Under kinetic control (lower temperatures) substitution at C-4 is the predominant reaction, regardless of whether 3-bromo or 4-bromosampangine were used. At higher temperatures, when the reaction is thermodynamically controlled, substitution of the bromine atom at C-3 predominates. This is the first reported example of nucleophilic substitution in ring A of the 7H-naphtho[1,2,3-i,j][2,7]naphthyridin-7-one system.

Chimeric mouse-human antigranulocyte monoclonal antibody (ch MAb) against non-specific cross-reacting antigen (NCA-95) was labeled with 99mTc (using a direct method) and 125I (using the chloramine T method), and its binding to human granulocytes and LS-180 colorectal carcinoma cells expressing carcinoembryonic antigen on their surfaces, cross-reactive with anti-NCA-95 chimeric monoclonal antibody, increased in proportion to the number of cells added and reached more than 80% and 90%, respectively. In biodistribution studies, 99mTc and 125I-labeled ch anti-NCA-95 MAb revealed high tumor uptake, and the tumor-to-blood ratio was 2.9 after 24 hours. The tumor-to-normal-organ ratio was also more than 3.0 in all organs except for the tumor-to-kidney ratio. Scintigrams of athymic nude mice confirmed the results of biodistribution studies that showed higher radioactivity in tumor and kidney of the mice administered with 99mTc-labeled ch MAb. A normal volunteer injected with 99mTc-labeled ch anti-NCA-95 antigranulocyte MAb showed clear bone marrow images, and a patient with aplastic anemia revealed irregular uptake in his lumbar spine, suggesting its utility for bone marrow scintigraphy and for the detection of hematological disorders, infections, and bone metastasis.