Improved electromechanical master-slave manipulator

Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave

Model-based object recognition from a complex binary imagery using genetic algorithm

This paper describes a technique for model-based object recognition in a noisy and cluttered environment, by extending the work presented in an earlier study by the authors. In order to accurately model small irregularly shaped objects, the model and the image are represented by their binary edge maps, rather then approximating them with straight line segments. The problem is then formulated as that of finding the best describing match between a hypothesized object and the image. A special form of template matching is used to deal with the noisy environment, where the templates are generated on-line by a Genetic Algorithm. For experiments, two complex test images have been considered and the results when compared with standard techniques indicate the scope for further research in this direction

Molecular modeling and imaging of initial stages of cellulose fibril assembly: Evidence for a disordered intermediate stage

International audienceThe remarkable mechanical strength of cellulose reflects the arrangement of multiple β-1,4-linked glucan chains in a para-crystalline fibril. During plant cellulose biosynthesis, a multimeric cellulose synthesis complex (CSC) moves within the plane of the plasma membrane as many glucan chains are synthesized from the same end and in close proximity. Many questions remain about the mechanism of cellulose fibril assembly, for example must multiple catalytic subunits within one CSC polymerize cellulose at the same rate? How does the cellulose fibril bend to align horizontally with the cell wall? Here we used mathematical modeling to investigate the interactions between glucan chains immediately after extrusion on the plasma membrane surface. Molecular dynamics simulations on groups of six glucans, each originating from a position approximating its extrusion site, revealed initial formation of an uncrystallized aggregate of chains from which a protofibril arose spontaneously through a ratchet mechanism involving hydrogen bonds and van der Waals interactions between glucose monomers. Consistent with the predictions from the model, freeze-fracture transmission electron microscopy using improved methods revealed a hemispherical accumulation of material at points of origination of apparent cellulose fibrils on the external surface of the plasma membrane where rosette-type CSCs were also observed. Together the data support the possibility that a zone of uncrystallized chains on the plasma membrane surface buffers the predicted variable rates of cellulose polymerization from multiple catalytic subunits within the CSC and acts as a flexible hinge allowing the horizontal alignment of the crystalline cellulose fibrils relative to the cell wall