On structural instability of normal forms of affine control systems subject to static state feedback

AbstractSmooth affine control systems acted on by the feedback group are dealt with, from the viewpoint of the existence of structurally stable normal forms. Detailed analysis of the action of the approximate feedback group of order 1 has revealed that in most cases an obstacle to structural stability appears just in the action of this group

Towards constrained motion planning of mobile manipulators

Abstract-This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints are included into an extended kinematics model using a smooth approximation of the plus function, the model is then regularized against singularities, and the resulting imbalance in error equations is handled as a perturbation of an exponentially stable linear dynamic system. The operation of the constrained motion planning algorithm is illustrated by a motion planning problem of a mobile manipulator with bounds imposed on a platform variable. Performance of the algorithm is tested by computer simulations

Structure-property relationship of a complex photoluminescent arylacetylide-gold(I) compound. I: a pressure-induced phase transformation caught in the act.

A pressure-induced triclinic-to-monoclinic phase transition has been caught `in the act over a wider series of high-pressure synchrotron diffraction experiments conducted on a large, photoluminescent organo-gold(I) compound. Here, we describe the mechanism of this single-crystal-to-single-crystal phase transition, the onset of which occurs at ∼0.6 GPa, and we report a high-quality structure of the new monoclinic phase, refined using aspherical atomic scattering factors. Our case illustrates how conducting a fast series of diffraction experiments, enabled by modern equipment at synchrotron facilities, can lead to overestimation of the actual pressure of a phase transition due to slow transformation kinetics

IK-FA, a new heuristic inverse kinematics solver using firefly algorithm

In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of joint-positions allowing a specific point of the system to achieve a target position. In IK-FA, the Fireflies positions are assumed to be a possible solution for joints elementary motions. For a robotic system with a known forward kinematic model, IK-Fireflies, is used to generate iteratively a set of joint motions, then the forward kinematic model of the system is used to compute the relative Cartesian positions of a specific end-segment, and to compare it to the needed target position. This is a heuristic approach for solving inverse kinematics without computing the inverse model. IK-FA tends to minimize the distance to a target position, the fitness function could be established as the distance between the obtained forward positions and the desired one, it is subject to minimization. In this paper IK-FA is tested over a 3 links articulated planar system, the evaluation is based on statistical analysis of the convergence and the solution quality for 100 tests. The impact of key FA parameters is also investigated with a focus on the impact of the number of fireflies, the impact of the maximum iteration number and also the impact of (a, ß, ¿, d) parameters. For a given set of valuable parameters, the heuristic converges to a static fitness value within a fix maximum number of iterations. IK-FA has a fair convergence time, for the tested configuration, the average was about 2.3394 × 10-3 seconds with a position error fitness around 3.116 × 10-8 for 100 tests. The algorithm showed also evidence of robustness over the target position, since for all conducted tests with a random target position IK-FA achieved a solution with a position error lower or equal to 5.4722 × 10-9.Peer ReviewedPostprint (author's final draft

On local linearization of control systems

We consider the problem of topological linearization of smooth (C infinity or real analytic) control systems, i.e. of their local equivalence to a linear controllable system via point-wise transformations on the state and the control (static feedback transformations) that are topological but not necessarily differentiable. We prove that local topological linearization implies local smooth linearization, at generic points. At arbitrary points, it implies local conjugation to a linear system via a homeomorphism that induces a smooth diffeomorphism on the state variables, and, except at "strongly" singular points, this homeomorphism can be chosen to be a smooth mapping (the inverse map needs not be smooth). Deciding whether the same is true at "strongly" singular points is tantamount to solve an intriguing open question in differential topology

Metal-Dependent Cytotoxic and Kinesin Spindle Protein Inhibitory Activity of Ru, Os, Rh, and Ir Half-Sandwich Complexes of Ispinesib-Derived Ligands

Ispinesib is a potent inhibitor of kinesin spindle protein (KSP), which has been identified as a promising target for antimitotic anticancer drugs. Herein, we report the synthesis of half-sandwich complexes of Ru, Os, Rh, and Ir bearing the ispinesib-derived N,N-bidentate ligands (R)- and (S)-2-(1-amino-2-methylpropyl)-3-benzyl-7-chloroquinazolin-4(3H)-one and studies on their chemical and biological properties. Using the enantiomerically pure (R)- and (S)-forms of the ligand, depending on the organometallic moiety, either the SM,R or RM,S diastereomers, respectively, were observed in the molecular structures of the Ru- and Os(cym) (cym = η6-p-cymene) compounds, whereas the RM,R or SM,S diastereomers were found for the Rh- and Ir(Cp*) (Cp* = η5-pentamethylcyclopentadienyl) derivatives. However, density functional theory (DFT) calculations suggest that the energy difference between the diastereomers is very small, and therefore a mixture of both will be present in solution. The organometallics exhibited varying antiproliferative activity in a series of human cancer cell lines, with the complexes featuring the (R)-enantiomer of the ligand being more potent than the (S)-configured counterparts. Notably, the Rh and Ir complexes demonstrated high KSP inhibitory activity, even at 1 nM concentration, which was independent of the chirality of the ligand, whereas the Ru and especially the Os derivatives were much less active