On Controlling Aircraft Formations

We describe a framework for controlling a group of unmanned aerial vehicles (UAVs) flying in close formation. We first present a nonlinear dynamical model which includes the induced rolling moment by the lead aircraft on the wing of the following aircraft. Then, we outline two methods for trajectory generation of the leading aircraft, based on interpolation techniques on the Euclidean group, SE(3). Two formation controllers that allow each aircraft to maintain its position and orientation with respect to neighboring UAVs are derived using input-output feedback linearization. Numerical simulations illustrate the application of these ideas and demonstrate the validity of the proposed framework

Epistatic Interactions in the Arabinose Cis-Regulatory Element

Changes in gene expression are an important mode of evolution; however, the proximate mechanism of these changes is poorly understood. In particular, little is known about the effects of mutations within cis binding sites for transcription factors, or the nature of epistatic interactions between these mutations. Here, we tested the effects of single and double mutants in two cis binding sites involved in the transcriptional regulation of the Escherichia coli araBAD operon, a component of arabinose metabolism, using a synthetic system. This system decouples transcriptional control from any posttranslational effects on fitness, allowing a precise estimate of the effect of single and double mutations, and hence epistasis, on gene expression. We found that epistatic interactions between mutations in the araBAD cis-regulatory element are common, and that the predominant form of epistasis is negative. The magnitude of the interactions depended on whether the mutations are located in the same or in different operator sites. Importantly, these epistatic interactions were dependent on the presence of arabinose, a native inducer of the araBAD operon in vivo, with some interactions changing in sign (e.g., from negative to positive) in its presence. This study thus reveals that mutations in even relatively simple cis-regulatory elements interact in complex ways such that selection on the level of gene expression in one environment might perturb regulation in the other environment in an unpredictable and uncorrelated manner

Al based alloys containing amorphous and nanostructured phases

Nanostructured or partially amorphous Al-based alloys are attractive candidates for advanced high-strength lightweight materials. The strength of such materials is often 2 - 3 times higher than the strength of commercial crystalline alloys. Further property improvements are achievable by designing multi-phase composite materials with optimized length scale and intrinsic properties of the constituent phases. Such alloys can be prepared by quenching from the melt or by powder metallurgy using mechanical attrition techniques. This paper focuses on mechanically attrited Al-based powders containing amorphous or nano-crystalline phases, Al-based MMCs containing metallic glass reinforcement and on their consolidation into bulk specimens. Selected examples of mechanical deformation behavior are presented, revealing that the properties can be tuned within a wide range of strength and ductility as a function of size and volume fraction of the different phases

Chiral field theories from conifolds

We discuss the geometric engineering and large n transition for an N=1 U(n) chiral gauge theory with one adjoint, one conjugate symmetric, one antisymmetric and eight fundamental chiral multiplets. Our IIB realization involves an orientifold of a non-compact Calabi-Yau A_2 fibration, together with D5-branes wrapping the exceptional curves of its resolution as well as the orientifold fixed locus. We give a detailed discussion of this background and of its relation to the Hanany-Witten realization of the same theory. In particular, we argue that the T-duality relating the two constructions maps the Z_2 orientifold of the Hanany-Witten realization into a Z_4 orientifold in type IIB. We also discuss the related engineering of theories with SO/Sp gauge groups and symmetric or antisymmetric matter.Comment: 34 pages, 8 figures, v2: References added, minor correction

Allele frequencies of variants in Ultra Conserved Elements identify selective pressure on transcription factor binding

Ultra-conserved genes or elements (UCGs/UCEs) in the human genome are extreme examples of conservation. We characterized natural variations in 2884 UCEs and UCGs in two distinct populations ; Singaporean Chinese (n=280) and Italian (n=501) by using a pooled sample, targeted capture, sequencing approach. We identify, with high confidence, in these regions the abundance of rare SNVs (MAF<0.5%) of which 75% is not present in dbSNP137. UCEs association studies for complex human traits can use this information to model expected background variation and thus necessary power for association studies. By combining our data with 1000 Genome Project data, we show in three independent datasets that prevalent UCE variants (MAF>5%) are more often found in relatively less-conserved nucleotides within UCEs, compared to rare variants. Moreover, prevalent variants are less likely to overlap transcription factor binding site. Using SNPfold we found no significant influence of RNA secondary structure on UCE conservation. All together, these results suggest UCEs are not under selective pressure as a stretch of DNA but are under differential evolutionary pressure on the single nucleotide level