Modeling and Direct Adaptive Robust Control of Flexible Cable-Actuated Systems

Cable-actuated systems provide an effective method for precise motion transmission over various distances in many robotic systems. In general, the use of cables has many potential advantages such as high-speed manipulation, larger payloads, larger range of motion, access to remote locations and applications in hazardous environments. However, cable flexibility inevitably causes vibrations and poses a concern in high-bandwidth, high-precision applications

Enhancing vibration control in cable-tip-mass systems using asymmetric peak detector boundary control

In this study, a boundary controller based on a peak detector system has been designed to reduce vibrations in the cable–tip–mass system. The control procedure is built upon a recent modification of the controller, incorporating a non-symmetric peak detector mechanism to enhance the robustness of the control design. The crucial element lies in the identification of peaks within the boundary input signal, which are then utilized to formulate the control law. Its mathematical representation relies on just two tunable parameters. Numerical experiments have been conducted to assess the performance of this novel approach, demonstrating superior efficacy compared to the boundary damper control, which has been included for comparative purposes"This work has been funded by the Generalitat de Catalunya through the research projects 2021-SGR-01044."Peer ReviewedPostprint (published version

Computational methods to design biophysical experiments for the study of protein dynamics

In recent years, new software and automated instruments have enabled us to imagine autonomous or "self-driving" laboratories of the future. However, ways to design new scientific studies remain unexplored due to challenges such as minimizing associated time, labor, and expense of sample preparation and data acquisition. In the field of protein biophysics, computational simulations such as molecular dynamics and spectroscopy-based experiments such as double electron-electron resonance and Fluorescence resonance energy transfer techniques have emerged as critical experimental tools to capture protein dynamic behavior, a change in protein structure as a function of time which is important for their cellular functions. These techniques can lead to the characterization of key protein conformations and can capture protein motions over a diverse range of timescales. This work addresses the problem of the choice of probe positions in a protein, which residue-pairs should experimentalists choose for spectroscopy experiments. For this purpose, molecular dynamics simulations and Markov state models of protein conformational dynamics are utilized to rank sets of labeled residue-pairs in terms of their ability to capture the conformational dynamics of the protein. The applications of our experimental study design methodology called OptimalProbes on different types of proteins and experimental techniques are examined. In order to utilize this method for a previously uncharacterized protein, atomistic molecular dynamics simulations are performed to study a bacterial di/tri-peptide transporter a typical representative of the Major Facilitator Superfamily of membrane proteins. This was followed by ideal double electron-electron resonance experimental choice predictions based on the simulation data. The predicted choices are superior to the residue-pair choices made by experimentalists which failed to capture the slowest dynamical processes in the conformational ensemble obtained from our long timescale simulations. For molecular dynamics simulations based design of experimental studies to succeed both ensembles need to be comparable. Since this has not been the case for double electron-electron resonance distance distributions and molecular simulations, we explore possible reasons that can lead to mismatches between experiments and simulations in order to reconcile simulated ensembles with experimentally obtained distance traces. This work is one of the first studies towards integrating spectroscopy experiment design into a computational method systematically based on molecular simulations

NASA/DOD Control/Structures Interaction Technology, 1986

Papers presented at the CSI Technology Conference are given. The conference was jointly sponsored by the NASA Office of Aeronautics and Space Technology and the Department of Defense. The conference is the beginning of a series of annual conferences whose purpose is to report to industry, academia, and government agencies the current status of Control/Structures Interaction technology. The conference program was divided into five sessions: (1) Future spacecraft requirements; Technology issues and impact; (2) DOD special topics; (3) Large space systems technology; (4) Control of flexible structures, and (5) Selected NASA research in control structures interaction

The biophysics of bacterial collective motion: Measuring responses to mechanical and genetic cues

Mechanobiology is an emerging field investigating mechanical signals as a necessary component of cellular and developmental regulation. These mechanical signals play a well-established role in the differentiation of animal cells, whereby cells with identical genes specialize their function and create distinct tissues depending on the physical properties of their environment, such as shear stiffness. These differences arise from the cell’s ability to use those incoming signals to inform which genes it expresses and what molecular machinery it builds and activates. Understanding the various missing factors that cause cells with specific genes to express an emergent phenotype is termed the genotype-to-phenotype problem, and mechanical signaling pathways present themselves as a significant piece of this puzzle. Despite the strong evidence for mechanosensing in eukaryotes, the pathways by which prokaryotes respond to mechanical stimuli are still largely unknown. Bacteria are among the simplest and yet most abundant forms of life. Many of their survival strategies depend on multicellular development and the coordinated formation of a colony into functional structures that may also feature cellular differentiation. This dissertation employs bacteria as a model system to investigate multiple biophysical questions of collective motion through novel experimental and analytical techniques. This work addresses the understudied mechanical relationship between a bacterial colony and the substrate it colonizes by asking “what is the effect of substrate stiffness on colony growth?” This is done by measuring bacterial growth on hydrogel substrates that decouple the effects of substrate stiffness from other material properties of the substrate that vary with stiffness. We report a previously unobserved effect in which bacteria colonize stiffer substrates faster than softer substrates, in opposition to previous studies done on agar, where permeability, viscoelasticity, and other material properties vary with stiffness.A second theme of this work probes the genetic inputs to the genotype-to-phenotype problem in multicellular development. The bacterial species Myxococcus xanthus producing macroscopic aggregates called fruiting bodies is used as a model organism for these studies. It has long been conjectured that genes may stand in for each other functionally, allowing for development to be more consistent and stable, but the extent of this redundancy has resisted measurement. We approach the question “how does redundancy among related genes lead to robust collective behavior?” by quantifying developmental phenotype in a large dataset of time lapse microscopy videos that show development in many mutant strains. We observe that when knocking out multiple genes that have a common origin (i.e. homologous genes), the resulting phenotypes differ from wild-type in a similar way. These phenotype clusters also differ from knockouts from other homologous gene families. These distinct phenotypic clusters provide evidence for the existence of networks of redundant genes that are larger than could previously be tested directly. Because of this robustness, the effects of individual gene mutations can be hidden or damped. We thus develop our analytical techniques further to address the question “how can subtle changes in phenotype be measured?” This involves quantifying the breadth of variation observed in wild-type development and creating a statistical technique to distinguish probabilistic distributions of phenotypic outcomes. We present a coherent method of visualizing large phenotypic datasets that include multiple metrics that we use to distinguish small developmental differences from wild-type, giving each mutant strain a phenotypic fingerprint that can be used in future studies on gene annotation and environmental impacts on phenotype

Technology for large space systems: A bibliography with indexes (supplement 20)

This bibliography lists 694 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July, 1988 and December, 1988. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

Space Station Systems: a Bibliography with Indexes (Supplement 8)

This bibliography lists 950 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to researchers, designers and managers engaged in Space Station technology development and mission design. Coverage includes documents that define major systems and subsystems related to structures and dynamic control, electronics and power supplies, propulsion, and payload integration. In addition, orbital construction methods, servicing and support requirements, procedures and operations, and missions for the current and future Space Station are included

Computational Approaches to Simulation and Analysis of Large Conformational Transitions in Proteins

abstract: In a typical living cell, millions to billions of proteins—nanomachines that fluctuate and cycle among many conformational states—convert available free energy into mechanochemical work. A fundamental goal of biophysics is to ascertain how 3D protein structures encode specific functions, such as catalyzing chemical reactions or transporting nutrients into a cell. Protein dynamics span femtosecond timescales (i.e., covalent bond oscillations) to large conformational transition timescales in, and beyond, the millisecond regime (e.g., glucose transport across a phospholipid bilayer). Actual transition events are fast but rare, occurring orders of magnitude faster than typical metastable equilibrium waiting times. Equilibrium molecular dynamics (EqMD) can capture atomistic detail and solute-solvent interactions, but even microseconds of sampling attainable nowadays still falls orders of magnitude short of transition timescales, especially for large systems, rendering observations of such "rare events" difficult or effectively impossible. Advanced path-sampling methods exploit reduced physical models or biasing to produce plausible transitions while balancing accuracy and efficiency, but quantifying their accuracy relative to other numerical and experimental data has been challenging. Indeed, new horizons in elucidating protein function necessitate that present methodologies be revised to more seamlessly and quantitatively integrate a spectrum of methods, both numerical and experimental. In this dissertation, experimental and computational methods are put into perspective using the enzyme adenylate kinase (AdK) as an illustrative example. We introduce Path Similarity Analysis (PSA)—an integrative computational framework developed to quantify transition path similarity. PSA not only reliably distinguished AdK transitions by the originating method, but also traced pathway differences between two methods back to charge-charge interactions (neglected by the stereochemical model, but not the all-atom force field) in several conserved salt bridges. Cryo-electron microscopy maps of the transporter Bor1p are directly incorporated into EqMD simulations using MD flexible fitting to produce viable structural models and infer a plausible transport mechanism. Conforming to the theme of integration, a short compendium of an exploratory project—developing a hybrid atomistic-continuum method—is presented, including initial results and a novel fluctuating hydrodynamics model and corresponding numerical code.Dissertation/ThesisDoctoral Dissertation Physics 201

ON ITERATIVE LEARNING CONTROL FOR SOLVING NEW CONTROL PROBLEMS

Ph.DDOCTOR OF PHILOSOPH

Designing sound : procedural audio research based on the book by Andy Farnell

In procedural media, data normally acquired by measuring something, commonly described as sampling, is replaced by a set of computational rules (procedure) that defines the typical structure and/or behaviour of that thing. Here, a general approach to sound as a definable process, rather than a recording, is developed. By analysis of their physical and perceptual qualities, natural objects or processes that produce sound are modelled by digital Sounding Objects for use in arts and entertainments. This Thesis discusses different aspects of Procedural Audio introducing several new approaches and solutions to this emerging field of Sound Design.Em Media Procedimental, os dados os dados normalmente adquiridos através da medição de algo habitualmente designado como amostragem, são substituídos por um conjunto de regras computacionais (procedimento) que definem a estrutura típica, ou comportamento, desse elemento. Neste caso é desenvolvida uma abordagem ao som definível como um procedimento em vez de uma gravação. Através da análise das suas características físicas e perceptuais , objetos naturais ou processos que produzem som, são modelados como objetos sonoros digitais para utilização nas Artes e Entretenimento. Nesta Tese são discutidos diferentes aspectos de Áudio Procedimental, sendo introduzidas várias novas abordagens e soluções para o campo emergente do Design Sonoro