Design of Pseudoinverse Method for Robotic Arm

Pseudoinverse method for control end-effector movement of a robotic arm is presented in this paper. For that task we used the robotic arm DOBOT. We made simulation model in Matlab environment and SimMechanics toolbox. We described the pseudoinverse method and problem-solving of pseudoinverse for non-square matrices. In the near future we will make implementation of this method to the control end-effector movement of a robotic arm and therefore we created a simulation to how many digits we will need for correct calculating of goniometric functions in DS

Design of goniophotometer with the automated measuring system

Vega- 1/0063/21This paper deals with the design of a goniophotometer which is a device used for measuring the light distribution of luminaire. Light distribution is measured in the way that luminaire changes its position, respectively angle towards to luxmeter which measures light intensity in defined angle. The proposed automated system is used for the control of two motors which are used for positioning the luminaire. The proposed system is used also for automated measuring of luminous intensity at defined angles which can be defined by the user. This can speed up measurement significantly because, if the luminaire is symmetrical so only half of the measurement samples are necessary. The next advantage of the proposed system is that all results of measurements are saved in EULUMDAT which except for values of luminous intensity contains parameters of luminaire and parameters of measurement. Files in this format can be processed directly in some special software for lighting design

Resolver interface comparison

For control of BLDC motor EMRAX 228 with a peak power of 109 kW, it is necessary to know the exact position in time. This electric motor is used as a drive unit for an electric quad bike manufactured at the Department of Mechatronics and Electronics. In this article we will analyze the position sensing of a BLDC motor with an implemented resolver without an external resolver sensor and with a comparison of two types of resolver sensors PGA411-Q1 and AD2S1210

Design of goniophotometer with the automated measuring system

Vega- 1/0063/21This paper deals with the design of a goniophotometer which is a device used for measuring the light distribution of luminaire. Light distribution is measured in the way that luminaire changes its position, respectively angle towards to luxmeter which measures light intensity in defined angle. The proposed automated system is used for the control of two motors which are used for positioning the luminaire. The proposed system is used also for automated measuring of luminous intensity at defined angles which can be defined by the user. This can speed up measurement significantly because, if the luminaire is symmetrical so only half of the measurement samples are necessary. The next advantage of the proposed system is that all results of measurements are saved in EULUMDAT which except for values of luminous intensity contains parameters of luminaire and parameters of measurement. Files in this format can be processed directly in some special software for lighting design

Resolver interface comparison

For control of BLDC motor EMRAX 228 with a peak power of 109 kW, it is necessary to know the exact position in time. This electric motor is used as a drive unit for an electric quad bike manufactured at the Department of Mechatronics and Electronics. In this article we will analyze the position sensing of a BLDC motor with an implemented resolver without an external resolver sensor and with a comparison of two types of resolver sensors PGA411-Q1 and AD2S1210

data-archive

Gland volumes, MALDI-TOF profiles, and SDS-PAGE relative intensitie

Data from: Venom gland size and venom complexity – essential trophic adaptations of venomous predators: a case study using spiders

Specialised predators possess variety of adaptations. In the venomous predators this may include size of the venom gland and venom composition. It is expected that due to different foraging strategies predators with a wide trophic niche (generalists) should possess larger venom glands that contain more diversified components than species with a narrow niche (specialists). We focused on spiders, as the most diversified group of venomous predators, in which a wide variety of trophic strategies has evolved. We conducted a comparative analysis using 40 spider species, in which we measured the size of their venom gland and its complexity using proteome profiling methods. The species were classified into three trophic groups: generalists, facultative specialists, and obligatory specialists. We found that the venom glands of generalists are larger than those of obligatory specialists, which is presumably due to more frequent prey capture by the former. The complexity of venom, of peptides (2-15 kDa) and proteins (15-250 kDa), was more diverse in generalists than in specialists. Multivariate analysis of venom revealed significant differences among the three trophic categories only in the complexity of peptides. Our study thus shows that venom gland size and its content have taken different pathways during the evolution of trophic strategies in spiders. Generalists evolved larger venom glands with more complex composition, whereas obligatory specialists possess smaller glands with less diverse chemical structures, presumably containing prey-specific toxins

Acinetobacter seifertii sp nov., a member of the Acinetobacter calcoaceticus-Acinetobacter baumannii complex isolated from human clinical specimens

This study aimed to define the taxonomic status of a phenetically distinct group of 16 strains that corresponds to Acinetobacter genonnic species 'close to 13TU', a provisional genomic species of the Acinetobacter calcoaceticus-Acinetobacter baumannii (ACB) complex recognized by Gerner-Smidt and Tjernberg in 1993. These strains have been isolated in different countries since the early 1990s and were mostly recovered from human clinical specimens. They were compared with 45 reference strains representing the known taxa of the ACB complex using taxonomic methods relevant to the genus Acinetobacter. Based on sequence analysis of the concatenated partial sequences (2976 bp) of seven housekeeping genes, the 16 strains formed a tight and well-supported cluster (intracluster sequence identity of >= 98.4 %) that was clearly separated from the other members of the ACB complex (<= 94.7%). The species status of the group was supported by average nucleotide identity values of <= 91.7 % between the whole genome sequence of representative strain NIPH 973(T) (NCBI accession no. AP0000000000) and those of the other species. In addition, whole-cell matrix-assisted laser desorption ionization-time-of-flight (MALDI-TOF) MS analyses indicated the distinctness of the group at the protein level. Metabolic and physiological tests revealed several typical features of the group, although they did not allow its reliable differentiation from the other members of the ACB complex. We conclude that the 16 strains represent a distinct novel species, for which we propose the name Acinetobacter seifertii sp. nov. The type strain is NIPH 973(T) (=CIP 110471(T)=CCUG 34785(T)=CCM 8535(T))

Colicin Z, a structurally and functionally novel colicin type that selectively kills enteroinvasive Escherichia coli and Shigella strains

Colicin production in Escherichia coli (E. coli) strains represents an important trait with regard to microbial survival and competition in the complex intestinal environment. A novel colicin type, colicin Z (26.3 kDa), was described as a product of an original producer, extraintestinal E. coli B1356 strain, isolated from the anorectal abscess of a 17 years-old man. The 4,007 bp plasmid (pColZ) was completely sequenced and colicin Z activity (cza) and colicin Z immunity (czi) genes were identified. The cza and czi genes are transcribed in opposite directions and encode for 237 and 151 amino acid-long proteins, respectively. Colicin Z shows a narrow inhibitory spectrum, being active only against enteroinvasive E. coli (EIEC) and Shigella strains via CjrC receptor recognition and CjrB- and ExbB-, ExbD-mediated colicin translocation. All tested EIEC and Shigella strains isolated between the years 1958–2010 were sensitive to colicin Z. The lethal effect of colicin Z was found to be directed against cell wall peptidoglycan (PG) resulting in PG degradation, as revealed by experiments with Remazol Brilliant Blue-stained purified peptidoglycans and with MALDI-TOF MS analyses of treated PG. Colicin Z represents a new class of colicins that is structurally and functionally distinct from previously studied colicin types