METHOD FOR OVERCOMING THE DEAD ENDS DURING MOVEMENTS TO THE TARGET POINT ALONG AN ARBITRARY TRAJECTORY OF THE OUTPUT LINK CENTER

2019 ◽  
pp. 3-9
Author(s):  
F. N. Pritykin ◽  
V. I. Nebritov
Keyword(s):  
Target Point ◽  
Virtual Level ◽  
Output Link ◽  
Positioning Accuracy ◽  
Automated Method ◽  
Dead End ◽  
The Dead ◽  
The Given ◽  
Geometrical Dimensions ◽  
Arbitrary Trajectory

The article proposed a method for overcoming the dead ends that arising during movements of the android robot's hand in an organized space along the velocity vector. In a dead end situation, the algorithm cannot calculate next configuration, which will allow the center of output link to be shifted at a given speed and positioning accuracy to the next point of the trajectory. The proposed method is based on the calculation of the permissible positioning accuracy of the center of the output link in order to change the position of the arm configuration relative to the forbidden zones with deviations from the specified path. The positioning accuracy in this case will depend on the width of the corridor in which the center of the output link can move freely, as well as on the distance between the center of the output link and the boundaries of the corridor. An algorithm is proposed using this method and the implementation of a test example confirming the verification of the performance of this algorithm is presented. The developed algorithm for the synthesis of movement along an arbitrary trajectory of the center of the output link allows one to determine the reachability of target points with the use of an automated method at the virtual level in the presence of forbidden zones. In this case, the given geometrical dimensions of the forbidden zones and objects of manipulation are taken into account. This algorithm can be used in the development of intelligent control systems for autonomously functioning robots that move objects of manipulation without the participation of a human operator.

scholarly journals Metalloregulator CueR biases RNA polymerase’s kinetic sampling of dead-end or open complex to repress or activate transcription

2015 ◽  
Vol 112 (44) ◽  
pp. 13467-13472 ◽  
Author(s):  
Danya J. Martell ◽  
Chandra P. Joshi ◽  
Ahmed Gaballa ◽  
Ace George Santiago ◽  
Tai-Yen Chen ◽  
...  
Keyword(s):  
Single Molecule ◽  
Transcription Initiation ◽  
Structural Changes ◽  
Dynamic Equilibrium ◽  
Specific Binding ◽  
Binding Mode ◽  
Biased Sampling ◽  
Single Molecule Fret ◽  
Dead End ◽  
The Dead

Metalloregulators respond to metal ions to regulate transcription of metal homeostasis genes. MerR-family metalloregulators act on σ70-dependent suboptimal promoters and operate via a unique DNA distortion mechanism in which both the apo and holo forms of the regulators bind tightly to their operator sequence, distorting DNA structure and leading to transcription repression or activation, respectively. It remains unclear how these metalloregulator−DNA interactions are coupled dynamically to RNA polymerase (RNAP) interactions with DNA for transcription regulation. Using single-molecule FRET, we study how the copper efflux regulator (CueR)—a Cu+-responsive MerR-family metalloregulator—modulates RNAP interactions with CueR’s cognate suboptimal promoter PcopA, and how RNAP affects CueR−PcopAinteractions. We find that RNAP can form two noninterconverting complexes at PcopAin the absence of nucleotides: a dead-end complex and an open complex, constituting a branched interaction pathway that is distinct from the linear pathway prevalent for transcription initiation at optimal promoters. Capitalizing on this branched pathway, CueR operates via a “biased sampling” instead of “dynamic equilibrium shifting” mechanism in regulating transcription initiation; it modulates RNAP’s binding–unbinding kinetics, without allowing interconversions between the dead-end and open complexes. Instead, the apo-repressor form reinforces the dominance of the dead-end complex to repress transcription, and the holo-activator form shifts the interactions toward the open complex to activate transcription. RNAP, in turn, locks CueR binding at PcopAinto its specific binding mode, likely helping amplify the differences between apo- and holo-CueR in imposing DNA structural changes. Therefore, RNAP and CueR work synergistically in regulating transcription.

Effect of Disruption Methods on the Dead-End Microfiltration Behavior of Yeast Suspension

2010 ◽  
Vol 45 (8) ◽  
pp. 1042-1050 ◽  
Author(s):  
Dan Liu ◽  
Raphaëlle Savoire ◽  
Eugène Vorobiev ◽  
Jean-Louis Lanoisellé
Keyword(s):  
Yeast Suspension ◽  
Dead End ◽  
The Dead

scholarly journals NEUROSPORAAND THE DEAD-END HYPOTHESIS: GENOMIC CONSEQUENCES OF SELFING IN THE MODEL GENUS

Evolution ◽  
2013 ◽  
Vol 67 (12) ◽  
pp. 3600-3616 ◽  
Author(s):  
Anastasia Gioti ◽  
Jason E. Stajich ◽  
Hanna Johannesson
Keyword(s):  
Dead End ◽  
The Dead

scholarly journals REAL PRODUCT SIZE ACCOUNTING PROBLEM AT WAVE DEFORMATION HARDENING

2020 ◽  
Vol 2020 (1) ◽  
pp. 4-10
Author(s):  
Andrey Kirichek ◽  
Sergey Barinov ◽  
Aleksandr Yashin ◽  
Aleksey Zaycev ◽  
Aleksandr Konstantinov
Keyword(s):  
Deformation Pattern ◽  
Product Size ◽  
Wave Deformation ◽  
Processing Modes ◽  
Deformation Hardening ◽  
Different Shapes ◽  
The One ◽  
The Impact ◽  
The Given ◽  
Geometrical Dimensions

The article raises the problem of the need to take into account real dimensions when they are strengthened by wave deformation. The fact is that in carrying out initial calculations the overall dimensions of the models under study are quite often neglected. On the one hand, this makes it possible to significantly simplify the calculation of the flat model, and on the other - to exclude consideration of the influence of geometric dimensions of the sample on the process to be followed. This is especially relevant in the study of shock systems in which wave processes lie. The effect of the final samples on the hardening process should not be excluded. This is because the elastic-stic deformation pattern has its own features. Hardening is carried out due to transmission of energy in the form of deformation wave, which is transformed on all gras with variable acoustic rigidity, including on boundaries, which are final dimensions of the analysed sample. Preliminary studies have developed a significant effect on the process of wave deformation hardening of geometrical dimensions of the material to be treated, since at equal volumes of strengthened materials and processing modes different distribution of microassay in the surface layer is observed. The established algorithm of further research of the given direction will allow not only to reveal the regularities of through strengthening of samples of different shapes and sizes, but also to establish the possibility of contactless de-formation strengthening of the sides of the sample opposite to the impact of the HRD, which have a complex profile shape, as well as the possibility of contactless deformation strengthening of internal hard-to-reach surfaces.

A New Short–Cut Design Method for Ultrafiltration and Hyperfiltration Cross–Flow Hollow Fiber Membrane Modules

2012 ◽  
Author(s):  
Wan Ramli Wan Daud
Keyword(s):  
Hollow Fiber ◽  
Driving Force ◽  
Hollow Fiber Membrane ◽  
Cross Flow ◽  
Extinction Curve ◽  
Membrane Area ◽  
Transfer Unit ◽  
Dead End ◽  
The Dead ◽  
The Difference

Although ultrafiltration and hyperfiltration have replaced many liquid phase separation equipment, both are still considered as “non–unit operation” processes because the sizing of both equipments could not be calculated using either the equilibrium stage, or the rate–based methods. Previous design methods using the dead–end and complete–mixing models are unsatisfactory because the dead–end model tends to underestimate the membrane area, due to the use of the feed concentration in the driving force, while the complete–mixing model tends to overestimate the membrane area, due to the use of a more concentrated rejection concentration in the driving force. In this paper, cross–flow models for both ultrafiltration and hyperfiltration are developed by considering mass balance at a differential element of the cross–flow module, and then integrating the expression over the whole module to get the module length. Since the modeling is rated–based, the length of both modules could be expressed as the product of the height of a transfer unit (HTU), and the number of transfer unit (NTU). The solution of the integral representing the NTU of ultrafiltration is found to be the difference between two exponential integrals (Ei(x)) while that representing the NTU of hyperfiltration is found to be the difference between two hypergeometric functions. The poles of both solutions represent the flux extinction curves of ultrafiltration and hyperfiltration. The NTU for ultrafiltration is found to depend on three parameters: the rejection R, the recovery S, and the dimensionless gel concentration Cg. For any given Cg and R, the recovery, S, is limited by the corresponding flux extinction curve. The NTU for hyperfiltration is found to depend on four parameters: the rejection R, the recovery S, the polarization β, and the dimensionless applied pressure difference ψ. For any given ψ and R, the recovery, S, is limited by the corresponding flux extinction curve. The NTU for both ultrafiltration and hyperfiltration is found to be generally small and less than unity but increases rapidly to infinity near the poles due to flux extinction. Polarization is found to increase the NTU and hence the length and membrane area of the hollow fiber module for hyperfiltration. Key words: Ultrafiltration; hyperfiltration; reverse osmosis; hollow fiber module design; crossflow model; number of transfer unit; height of a transfer unit

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