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Notes: Abstract. This paper deals with position estimation and path control for Autonomous Guided Vehicles (AGV). To enable a vehicle or a mobile robot in following a continuous "virtual" path without human control, these techniques play an important role. The relationship between the vehicle's motion in 3-dimensional space and the shape of a curved surface is described. In particular, the introduction of a digital terrain model in dead reckoning is considered. Moreover, a possible nonlinear control is developed based on curvilinear path coordinates, and the proof for global stability is given. To achieve general validity, these topics are treated here independently of the cart's special mechanization (the configuration of steered wheels and driven wheels). Simulation studies are presented to illustrate the investigations.

Notes: Abstract For an 80-fold purified preparation of human intestinal diamine oxidase the optimum conditions of incubation, the substrate and the inhibitor specificity were tested. Putrescine was the most favoured substrate butN τ-methylhistamine and 2-methylhistamine were metabolized at optimum conditions with nearly the same velocity. Histamine reached about 50% of the reaction velocity of putrescine. Aminoguanidine and semicarbazide inhibited the human intestinal enzyme like a classical diamine oxidase. However, a distinct inhibition of human intestinal and pea seedling diamine oxidase was observed in presence of β-aminopropionitrile (weak inhibition of the human enzyme, strong inhibition of pea seedling diamine oxidase) and burimamide (strong inhibition of human intestinal enzyme, nearly no influence on pea seedling diamine oxidase). It is proposed to differentiate on the basis of functional considerations diamine oxidases with more histamine detoxicating activities from those being more involved in regulating polyamine levels in growing tissues.

Notes: Abstract In the intestinal mucosa, diamine oxidase (DAO) seems to be involved in a feed-back regulation mechanism for the termination of proliferation. Therefore, we studied the DAO activity in large bowel tumors and in the non-affected mucosa of these patients in comparison with patients having a normal large mucosa. The DAO activity in the tumor tissue itself was diminished by 85% as compared to the surrounding mucosa. Comparing the colonic mucosa of normal and tumor bearing indivaduals, the DAO activity in cancer patients was diminished by 22%, while it was elevated by 64% in patients with polyps (biphasic response of the DAO activity). Histologically proven hyperproliferative mucosal alterations were indicated by a reduced DAO activity with 75% sensitivity and 42% specificity. It remains open whether this limited specificity may indicate a more sensitive reaction of the DAO activity to proliferative mucosal alterations than the histological examinations.

Notes: Abstract A standard procedure for the determination of the diamine oxidase (DAO) activity is described as a modification of the method ofOkuyama andKobyashi [2]. The principle of this method is the assay of14C-Δ 1-pyrroline and its polymers formed by the oxydative deamination of14C-putrescine in the presence of DAO. This assay was shown to possess a high sensitivity and precision. Now its accuracy could be enhanced by the comparison with the NADH test for DAO activity. This kind of a reference method made the direct correlation between cpm/min and deamination rates possible. Thus International Units (mU/sample) could be introduced into the isotope assay: In our test system 1 mU corresponded to 215 cpm/min, this value depending on the specific radioactivity of the substrate solution. The DAO activity from dog's small intestine was investigated with these two methods. The pH-optimum for this enzyme was 7.6, the K m for putrescine as substrate 1×10−4M , the optimum substrate concentration was 1×10−3M . In the small intestine of dogs and rabbits the DAO activity increased from proximal to distal parts, but in human beings the distribution of the enzyme in the gut did not show such a characteristic gradient. In the discussion, the advantages and disadvantages of the two tests for the determination of DAO activity were compared with each other. The isotope assay was the more sensitive and convenient test. But due to its absolute specificity the NADH test was useful as a reference method and for the investigation of the substrate specificity of the DAO in various tissues and body fluids.

Notes: Abstract Some mutagenic hydrazino compounds are also diamine oxidase inhibitors. Therefore, this interrelationship was studied for the intestinal carcinogen azoxymethane.In vitro, azoxymethane was a very weak inhibitor of rat intestinal diamine oxidase activity.In vivo, after subcutaneous injection of a single dose of azoxymethane, diamine oxidase activity was increased in the duodenum but was mainly inhibited in the colon. Intestinal diamine oxidase activity may then be influenced by regulatory processes induced by azoxymethane rather than by a direct effect.

Notes: Abstract We have suggested previously that the histamine-diamine oxidase system is involved in cell proliferation. Therefore, the diamine oxidase activity and the histamine content were studied during mucosal proliferation induced by 70% resection of the small intestine of the rat with and without aminoguanidine (AG), a specific inhibitor of diamine oxidase (DAO). The DAO activity underwent a marked alteration during the period of mucosal proliferation, probably as an expression of an antiproliferative regulation mechanism. The histamine content decreased in the proliferating mucosa. No influence of AG on mucosal proliferation could be found, which might be due to a compensatory activity of the interconversion pathway.

Notes: Abstract Histamine concentrations in canine whole blood and plasma were determined under several pharmacological, pathophysiological, and clinical conditions, using fluorometric methods. The specificity of the assay for whole-blood histamine was investigated by comparing 3 purification procedures for the isolation of histamine from whole blood including butanol extraction (Shore), ion-exchange chromatography on Dowex 50 W-X 8, and the combination of these 2 methods (Lorenz). Histamine in whole blood was identified in analytical and preparative samples by fluorescence spectra, thin-layer chromatography, degradation by diamine oxidase from pig kidney and inactivation by histamine methyltransferase from guinea-pig brain as well as by biological tests on the isolated guinea-pig ileum. Since butanol extraction resulted in significantly higher ‘histamine’ values than the other two purification procedures, ion-exchange chromatography on Dowex 50 was recommended as the method of choice for the specific determination of histamine in dog's whole blood. Normal values of histamine concentrations in canine plasma were tentatively estimated. They depended on the time between pretreatment of the animals (anaesthesia, operation) and the collection of blood and showed an approximately logarithmic normal distribution. The median, the lower/upper quartiles and the range of the plasma histamine levels obtained 30 minutes after the end of pretreatment were 0.2, 0–0.4 and 0–1.2 ng/ml, respectively. Nearly 50% of the values were zero (below 0.1 ng according to the sensitivity of the method), only 1% of them exceeded slightly 1 ng/ml. Thus histamine release by drugs or by other medical treatments was only stated, when plasma histamine levels exceeded 1 ng/ml and decreased in a way to give an elimination curve of approximately first-order kinetics (Bateman function). Histamine concentrations in dog's whole blood showed approximately a logarithmic normal distribution. The median, lower/upper quartiles and range were 47, 34/75 and 13–209 ng/ml respectively. The histamine levels in the whole blood of four circulatory regions did not show any significant differences. The plasma histamine concentrations in the portal vein were slightly higher than in the hepatic veins. The injection of exogenous histamine and the concomitant determination of plasma and whole-blood histamine levels in four circulatory regions showed that the plasma histamine determination was the more sensitive method for measuring histamine elimination curves than the whole-blood histamine assay. The elimination of exogenous histamine administered intravenously was influenced by several drugs including inhibitors of histamine inactivation and histamine receptor antagonists. Aminoguanidine and the H2-receptor antagonist burimamide slowed down the disappearance of histamine from the plasma, the H1-receptor antagonist dimethpyrindene enhanced it, but amodiaquine had no significant effects. Dimethpyrindene and burimamide were capable of releasing histamine in dogs, in some cases to a considerable extent. The plasma substitute Haemaccel®, a chemically modified gelatin, released histamine in dogs. Using batch 3000, from 27 animals investigated, 15 animals showed elevated plasma histamine levels and a hypotensive blood pressure response, whereas in 12 of the dogs it did not show an effect on these parameters. The plasma histamine levels at the time of maximum hypotension showed an approximately logarithmic normal distribution. This frequency distribution in combination with the varying incidence of anaphylactoid reactions depending on the batches used seemed very important for the interpretation of clinical reactions to Haemaccel in human test persons and patients. By histamine determinations in plasma and whole blood of several circulatory regions and in various tissues before and after infusion of Haemaccel it could be demonstrated that the sites of histamine release by Haemaccel in dogs were especially the skin of the upper hemisphere of the body and the liver, whereas the gastro-intestinal tract took up histamine from the circulation. These numerous results under various experimental conditions may be considered as an evidence for the high quality and reliability of the method to study histamine release in the whole animal or in human subjects by evaluating histamine elimination curves in plasma.