Improving robotic impedance control performance employing a cascaded controller based on virtual dynamics model

We propose a cascaded impedance control algorithm based on a virtual dynamics model (VDM) to achieve robust and effective mechanical impedance for a robot interacting with unknown environments. This cascaded controller consists of an internal loop of virtual impedance control based on a VDM and an external loop of impedance reference control. The VDM-based virtual impedance control can achieve the same effect as the conventional admittance control; its intermediate output of force/torque serves as the input for the external loop reference impedance control. Therefore, this cascaded controller shows superior performance by combining the advantages of admittance control and impedance control. We evaluate the controller in multiple-contact experiments on a six-degrees of freedom (6-DOF) industrial robot manipulator. The result shows that under various contact situations such as soft and rigid surfaces and free space, the proposed method can rapidly track the target and effectively maintain stability. In the experiments conducted on the robot in contact with various environments, the proposed control method reduced the steady-state error by more than 20% compared with the conventional admittance control.

Packing size effect on the liquid circulation property in an external-loop packed bubble column

Packing size effects on the fluid dynamics in an external-loop packed bubble column with Raschig rings of three different effective diameters (5, 14 and 41 mm) in the riser were investigated. The overall gas holdup, liquid circulating velocity and gas-liquid mass transfer coefficient were respectively measured by volume expansion method, tracer-response method and dynamic oxygen-absorption technique. CFD simulation with the Euler-Euler two-fluid method was used to predict the liquid circulating velocity by treating the packing as a porous medium. Compared to the empty column, the gas holdup was found to increase with the presence of packing, however, the liquid circulating velocity and gas-liquid mass transfer coefficient may increase or decrease. Specifically, the gas holdup increases with the decrease of packing size, while the liquid circulating velocity is on the contrary, which induces the maximal gas-liquid mass transfer rate at packing diameter of 14 mm.

Control of an Omnidirectional UAV for Transportation and Manipulation Tasks

This paper presents a motion control scheme for a new concept of omnidirectional aerial vehicle for transportation and manipulation tasks. The considered aerial platform is a novel quadrotor with the capability of providing multi-directional thrust by adding an actuated gimbal mechanism in charge of modifying the orientation of the frame on which the four rotors are mounted. The above mechanical design, differently from other omnidirectional unmanned aerial vehicles (UAVs) with tilted propellers, avoids internal forces and energy dissipation due to non-parallel propellers’ axes. The proposed motion controller is based on a hierarchical two-loop scheme. The external loop computes the force to be applied to the vehicle and the reference values for the additional joints, while the inner loop computes the joint torques and the moment to be applied to the multirotor. In order to make the system robust with respect to the external loads, a compensation of contact forces is introduced by exploiting the estimate provided by a momentum based observer. The stability of the motion control scheme is proven via Lyapunov arguments. Finally, two simulation case studies prove the capability of the omnidirectional UAV platform to track a 6-DoFs trajectory both in free motion and during a task involving grasping and transportation of an unknown object.

Preparation of Komagataeibacter xylinus Inoculum for Bacterial Cellulose Biosynthesis Using Magnetically Assisted External-Loop Airlift Bioreactor

The aim of this study was to demonstrate the applicability of a novel magnetically assisted external-loop airlift bioreactor (EL-ALB), equipped with rotating magnetic field (RMF) generators for the preparation of Komagataeibacter xylinus inoculum during three-cycle repeated fed-batch cultures, further used for bacterial cellulose (BC) production. The fermentation carried out in the RMF-assisted EL-ALB allowed to obtain an inoculum of more than 200 × higher cellular density compared to classical methods of inoculum preparation. The inoculum obtained in the RMF-assisted EL-ALB was characterized by a high and stable metabolic activity during repeated batch fermentation process. The application of the RMF-assisted EL-ALB for K. xylinus inoculum production did not induce the formation of cellulose-deficient mutants. It was also confirmed that the ability of K. xylinus to produce BC was at the same level (7.26 g/L of dry mass), regardless of inoculum age. Additionally, the BC obtained from the inoculum produced in the RMF-assisted EL-ALB was characterized by reproducible water-related properties, mechanical strength, nano-fibrillar structure and total crystallinity index. The lack of any negative impact of inoculum preparation method using RMF-assisted EL-ALB on BC properties is of paramount value for its future applications, including use as a biomaterial in tissue engineering, wound healing, and drug delivery, where especially BC liquid capacity, nanostructure, crystallinity, and mechanical properties play essential roles.

Stability of radio loops covering navigation systems and communication systems

The development of the concept of E-navigation in modern shipping makes it necessary to create very reliable lines for the transmission of information packets and the interchange of data via radio networks to a huge number of consumers, practically all over the world. With such a scale, radio communication must be extremely reliable and stable, which is provided by the planetary system of satellite communication channels. The study proposes a method of signal loops of satellite communication systems for diagnosing the quality of the radio path, which will allow quickly localizing the external causes of the deterioration of the linear stability of communication in the absence of deep diagnostics during the daily operation of radio transmitting equipment. The organization of an external loop will make it possible to make a more accurate spatial adjustment of the antenna system to the zone of stable traffic with an increase in the steepness of the guidance system characteristics according to its own signal returned from the loop from the satellite. The external loop allows for more precise tuning of the antenna system of the stations, relative to the “steepness” of your own signal and to localize the external causes of signal deterioration by applying the method of signal loops.

Programmable Polymorphism of a Virus-Like Particle

Virus-like particles (VLPs) have significant potential as both artificial vaccines and drug delivery systems. The ability to control their size has wide ranging utility, but achieving such controlled polymorphism using a single protein subunit is challenging as it requires altering VLP geometry. Here we achieve size control of MS2 bacteriophage VLPs via insertion of amino acid sequences in an external loop to shift its morphology to significantly larger forms. The resulting VLP size and geometry is controlled by altering the length and type of the insert used. Cryo-EM structures of the new VLPs, in combination with a kinetic model of their assembly, show that the abundance of wild type (T=3), T=4, D3 and D5 symmetrical VLPs can be controlled in this way. We propose a mechanism whereby the insert leads to a change in the dynamic behavior of the capsid protein dimer, affecting the interconversion between the symmetric and asymmetric conformers and thus determining VLP size and morphology.

The Role of Substrate Mediated Allostery in the Catalytic Competency of the Bacterial Oligosaccharyltransferase PglB

The oligosaccharyltransferase of Campylobacter lari (PglB) catalyzes the glycosylation of asparagine in the consensus sequence N-X-S/T, where X is any residue except proline. Molecular dynamics simulations of PglB bound to two different substrates were used to characterize the differences in the structure and dynamics of the substrate-enzyme complexes that can explain the higher catalytic efficiency observed for substrates containing threonine at the +2 position rather than serine. We observed that a threonine-containing substrate is more tightly bound than a serine-containing substrate. Because serine lacks a methyl group relative to threonine, the serine-containing peptide cannot stably form simultaneous van der Waals interactions with T316 and I572 as the threonine-containing substrate can. As a result, the peptide-PglB interaction is destabilized and the allosteric communication between the periplasmic domain and external loop EL5 is disrupted. These changes ultimately lead to the reorientation of the periplasmic domain relative to the transmembrane domain such that the two domains are further apart compared to PglB bound to the threonine-containing peptide. The crystal structure of PglB bound to the peptide and a lipid-linked oligosaccharide analog shows a pronounced closing of the periplasmic domain over the transmembrane domain in comparison to structures of PglB with peptide only, indicating that a closed conformation of the domains is needed for catalysis. The results of our studies suggest that lower enzymatic activity observed for serine versus threonine results from a combination of less stable binding and structural changes in PglB that influence the ability to form a catalytically competent state. This study illustrates a mechanism for substrate specificity via modulation of dynamic allosteric pathways.

Implementation on the dSPACE 1104 of VOC-SVM based anti-windup PI Controller of a three-phase PWM rectifier

<p><span>The study made in this paper concerns the use of the voltage-oriented control (VOC) of three-phase pulse width modulation (PWM) rectifier with constant switching frequency. This control method, called voltage-oriented controlwith space vector modulation (VOC-SVM). The proposed control scheme has been founded on the transformation between stationary (α-β) and and synchronously rotating (d-q) coordinate system, it is based on two cascaded control loops so that a fast inner loop controls the grid current and an external loop DC-link voltage, while the DC-bus voltage is maintained at the desired level and ansured the unity power factor operation. So, the stable state performance and robustness against the load’s disturbance of PWM rectifiers are boths improved. The proposed scheme has been implemented and simulated in MATLAB/Simulink environment. The control system of the VOC-SVM strategy has been built based on dSPACE system with DS1104 controller board. The results obtained show the validity of the model and its control method. Compared with the conventional SPWM method, the VOC-SVM ensures high performance and fast transient response.</span></p>