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xylosus strain AS27) has been reported, whereas in the study by Drosinos et al. (2007), seven Staphylococcus sp. strains hydrolyzed the sarcoplasmic protein fraction by the same mode and only one St. xylosus strain LQC 5401 by a different mode. As far as the myo brillar protein fraction was concerned, Mauriello et al. (2002) reported that strains ES2 and BS5 resulted in a complete decomposition of myosin and actin, and the appearance of bands at about 100 and 25 kDa. On the other hand, Drosinos et al. (2007) reported that all 53 Staphylococcus sp. strains found to be proteolytic were able to completely hydrolyze the myo brillar fraction to polypeptides with molecular weight less than 12 kDa. Lipolysis in fermented sausages has been attributed partly to the microbiota and partly to tissue lipases. It has been estimated that muscle lipases contribute at 60% 80%, with the rest being due to microbial ones (Molly et al. 1996, 1997). Several authors have studied the lipolytic activities of both lactic acid bacteria and staphylococci in pork fat. In general, lactic acid bacteria hydrolyze

where b is the length of the shortest side, u is the size of the smallest angle, and dmin is a predetermined constant based on average measurement error The idea is that the points of a robust quad can be placed correctly with respect to each other (ie, without ips ) Moore et al demonstrate that the probability of a robust quadrilateral experiencing internal ips given zero mean Gaussian measurement error can be bounded by setting dmin appropriately In effect, dmin lters out quads that have too much positional ambiguity to be localized with con dence The appropriate level of ltering is based on the amount of uncertainty s2 in the distance measurements Once an initial robust quad is chosen, any node that connects to three of the four points in the initial quad can be added using simple multilateration (Subsection 953).

This preserves the probabilistic guarantees provided by the initial robust quad, since the new node forms a new robust quad with the points from the original By induction, any number of nodes can be added to the local map, as long as each node has a range to three members of the map These local maps (which Moore et al call clusters ) are now ready to be stitched together Optionally, an optimization pass such as those in Section 96 can be used to re ne the local maps rst Ji and Zha [30] use MDS to form local maps We discussed MDS with MDS MAP in Subsection 942, and cover the mathematics of MDS in Appendix C Ji and Zha use an iterative variant of MDS to compensate for missing internode distances.

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This iterative variant turns out to be intimately related to standard iterative least-square algorithms, though it is somewhat more sophisticated Ji and Zha focus on RSSI for range data Once again, subregions are de ned to be one-hop neighborhoods The stitching phase (step 3 in previous algorithm), uses coordinate system registration (described in Appendix B) in a peer-to-peer fashion to shift all the local maps into a single coordinate system One way of performing this stitching is now described: Step 1 Let the node responsible for each local map choose an integer coordinate system ID at random Step 2 Each node communicates with its neighbors; each pair performs the following steps: Step 2a If both have the same ID, then do nothing further Step 2b.

If they have different IDs, then register the map of the node with the lower ID with the map of the node with the higher ID Afterward, both nodes keep the higher ID as their own Step 3 Repeat step 2 until all nodes have the same ID; now all nodes have a coordinate assignment in a global coordinate system Limited work has been done on the mathematical properties of this scheme Moore et al prove the probability of their algorithm constructing correct local maps and prove error lower bounds on the local map positions Meertens and Fitzpatrick [28] devote some discussion to the topic of error propagation caused by local map stitching They point out that registering local maps iteratively can.

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