Continuum Deformation of a Multiple Quadcopter Payload Delivery Team without Inter-Agent Communication

This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances in a 2D motion plane to follow desired motions of three team leaders. The remaining quadcopter followers establish the desired continuum deformation only by knowing leaders positions at desired sample time waypoints without the need for inter-agent communication over the intermediate intervals. Each quadcopter applies a linear-quadratic-Gaussian (LQG) controller to track the desired trajectory given by the continuum deformation in the presence of disturbance and measurement noise. Results of simulated cooperative aerial payload transport in the presence of uncertainty illustrate the application of continuum deformation for coordinated transport through a narrow channel

Electric-field-driven polymer entry into asymmetric nanoscale channels

The electric-field-driven entry process of flexible charged polymers such as single stranded DNA (ssDNA) into asymmetric nanoscale channels such as alpha-hemolysin protein channel is studied theoretically and using molecular dynamics simulations. Dependence of the height of the free-energy barrier on the polymer length, the strength of the applied electric field and the channel entrance geometry is investigated. It is shown that the squeezing effect of the driving field on the polymer and the lateral confinement of the polymer before its entry to the channel crucially affect the barrier height and its dependence on the system parameters. The attempt frequency of the polymer for passing the channel is also discussed. Our theoretical and simulation results support each other and describe related data sets of polymer translocation experiments through the alpha-hemolysin protein channel reasonably well