scholarly journals Force- and Vision-Based Detection of Contact State Transitions

2000 ◽  
pp. 111-134 ◽  
Author(s):  
F. Abegg ◽  
A. Remde ◽  
D. Henrich
Keyword(s):  
State Transitions ◽  
Contact State

The Discrete Event Modeling and Trajectory Planning of Robotic Assembly Tasks

1995 ◽  
Vol 117 (3) ◽  
pp. 394-400 ◽  
Author(s):  
B. J. McCarragher ◽  
H. Asada
Keyword(s):  
Petri Net ◽  
Trajectory Planning ◽  
Discrete Event ◽  
Robotic Assembly ◽  
Mathematical Representation ◽  
State Transitions ◽  
Contact State ◽  
Event Modeling ◽  
Analysis And Synthesis ◽  
Event Dynamic

A new approach to process modeling, task synthesis, and trajectory planning for robotic assembly is presented. Assembly is modeled as a discrete event dynamic system incorporating both discrete and continuous aspects of the process. The discrete event nature of assembly due to contact state transitions is modeled using Petri nets. The Petri net modeling enables a compact graphical description of causal contact state transitions and provides a coherent mathematical representation of both the discrete and continuous dynamics. In contrast to the traditional contact state network, the Petri net modeling also incorporates causality. Using discrete event modeling, an efficient assembly strategy is found. A discrete event trajectory is determined using dynamic programming to minimize the path length and the uncertainty during assembly. Lastly, an optimal event trajectory is calculated to demonstrate the method. This paper lays the foundation of discrete event modeling for robotic assembly. An new avenue for the analysis and synthesis of significant aspects of the assembly process is opened.

Macroorganisation and flexibility of thylakoid membranes

2019 ◽  
Vol 476 (20) ◽  
pp. 2981-3018 ◽  
Author(s):  
Petar H. Lambrev ◽  
Parveen Akhtar
Keyword(s):  
Light Harvesting ◽  
Current Knowledge ◽  
Three Dimensional ◽  
Photosynthetic Apparatus ◽  
Dynamic Responses ◽  
State Transitions ◽  
Photochemical Quenching ◽  
Light Harvesting Complex ◽  
Complex Ii ◽  
Light Harvesting Complex Ii

Abstract The light reactions of photosynthesis are hosted and regulated by the chloroplast thylakoid membrane (TM) — the central structural component of the photosynthetic apparatus of plants and algae. The two-dimensional and three-dimensional arrangement of the lipid–protein assemblies, aka macroorganisation, and its dynamic responses to the fluctuating physiological environment, aka flexibility, are the subject of this review. An emphasis is given on the information obtainable by spectroscopic approaches, especially circular dichroism (CD). We briefly summarise the current knowledge of the composition and three-dimensional architecture of the granal TMs in plants and the supramolecular organisation of Photosystem II and light-harvesting complex II therein. We next acquaint the non-specialist reader with the fundamentals of CD spectroscopy, recent advances such as anisotropic CD, and applications for studying the structure and macroorganisation of photosynthetic complexes and membranes. Special attention is given to the structural and functional flexibility of light-harvesting complex II in vitro as revealed by CD and fluorescence spectroscopy. We give an account of the dynamic changes in membrane macroorganisation associated with the light-adaptation of the photosynthetic apparatus and the regulation of the excitation energy flow by state transitions and non-photochemical quenching.

Hysteresis in spectral state transitions – a challenge for theoretical modeling

2005 ◽  
Vol 432 (1) ◽  
pp. 181-187 ◽  
Author(s):  
E. Meyer-Hofmeister ◽  
B. F. Liu ◽  
F. Meyer
Keyword(s):  
Theoretical Modeling ◽  
State Transitions ◽  
Spectral State
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