Asymptotic stabilization of Euler-Poincaré mechanical systems

Stabilization of mechanical control systems by the method of controlled Lagrangians and matching is used to analyze asymptotic stabilization of systems whose underlying dynamics are governed by the Euler-Poincar´e equations. In particular, we analyze asymptotic stabilization of a satellite

SIMULATED IN-TRANSIT VIBRATION DAMAGE TO FRESH MARKET RASPBERRIES

Agribusiness,

DrugBank: a comprehensive resource for in silico drug discovery and exploration

DrugBank is a unique bioinformatics/cheminformatics resource that combines detailed drug (i.e. chemical) data with comprehensive drug target (i.e. protein) information. The database contains >4100 drug entries including >800 FDA approved small molecule and biotech drugs as well as >3200 experimental drugs. Additionally, >14 000 protein or drug target sequences are linked to these drug entries. Each DrugCard entry contains >80 data fields with half of the information being devoted to drug/chemical data and the other half devoted to drug target or protein data. Many data fields are hyperlinked to other databases (KEGG, PubChem, ChEBI, PDB, Swiss-Prot and GenBank) and a variety of structure viewing applets. The database is fully searchable supporting extensive text, sequence, chemical structure and relational query searches. Potential applications of DrugBank include in silico drug target discovery, drug design, drug docking or screening, drug metabolism prediction, drug interaction prediction and general pharmaceutical education. DrugBank is available at

Nonlinear Control of a Novel Two-Link Pendulum

This paper describes nonlinear control of a two degree of freedom mechanical system which models a bird perched on a branch or cable. The primary contribution is the implementation, in a controlled laboratory experiment, of the recently developed C\ adaptive control approach. This technique, which allows fast adaptation with guaranteed stability margins, has been proposed for use in a variety of more sophisticated applications. Experimental results for this simple mechanical control system provide further motivation to pursue those applications. The system being considered is a variation of Spong's "Acrobot", a classic example of an underactuated mechanical control system. In addition to the ℒ_1 controller, a swing-up controller based on Spong's original work on collocated partial feedback linearization is implemented with switching logic

The equivalence of controlled Lagrangian and controlled Hamiltonian systems

The purpose of this paper is to show that the method of controlled Lagrangians and its Hamiltonian counterpart (based on the notion of passivity) are equivalent under rather general hypotheses. We study the particular case of simple mechanical control systems (where the underlying Lagrangian is kinetic minus potential energy) subject to controls and external forces in some detail. The equivalence makes use of almost Poisson structures (Poisson brackets that may fail to satisfy the Jacobi identity) on the Hamiltonian side, which is the Hamiltonian counterpart of a class of gyroscopic forces on the Lagrangian side

Global Directional Control of a Slender Autonomous Underwater Vehicle

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/77142/1/AIAA-20475-500.pd