Search results for "CONSTANT"
showing 10 items of 1718 documents
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching
2021
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid robot formulation to a stable representation of three dimensional motions of soft robots, under Piecewise Constant Curvature hypothesis. In turn, the equivalence between soft-bodied and rigid robots permits to derive effective adaptive controllers for soft-bodied robots, achieving perfect posture regulation under considerable errors in the knowledge of …
State Observer with Round-Robin Aperiodic Sampled Measurements with Jitter
2021
International audience; A sampled-data observer is proposed for linear continuous-time systems whose outputs are sequentially sampled via non-uniform sampling intervals repeating a prescribed Round-Robin sequence. With constant sampling intervals (jitter-free case) we provide constructive necessary and sufficient conditions for the design of an asymptotic continuous-discrete observer whose estimation error is input-to-state stable (ISS) from process disturbances and measurement noise. We use a time-varying gain depending on the elapsed time since the last measurement. With non-constant sampling intervals (jitter-tolerant case), our design conditions are only sufficient. A suspension system …
Las huellas de la interdisciplinariedad en la trayectoria de Enric Mestre. ?Intercambios e investigaciones cruzadas entre las esculturas cerámicas y …
2020
La destacada actividad artística de Enric Mestre (Alboraya / Valencia, 1936) solo pude abordarse, en su compleja diversidad y riqueza, si se mantiene, como eje metodológico básico de su estudio crítico, el abierto enfoque de su sistemática interdisciplinariedad. Los diálogos e intercambios entre la escultura cerámica, la arquitectura, la pintura, el dibujo y los murales conforman precisamente el ámbito plural de su constante quehacer artístico. Especialmente la investigación se centra en las esculturas cerámicas y en las pinturas geométricas, que constituyen los dos dilatados campos de su creación plástica, cultivados asiduamente, a lo largo del último medio siglo
Gray code for derangements
2004
AbstractWe give a Gray code and constant average time generating algorithm for derangements, i.e., permutations with no fixed points. In our Gray code, each derangement is transformed into its successor either via one or two transpositions or a rotation of three elements. We generalize these results to permutations with number of fixed points bounded between two constants.
Seismic behavior of structures equipped with variable friction dissipative (VFD) systems
2021
Usually, to mitigate the stresses in framed structures, different strategies are used. Among them, base isolation, viscous/friction/metallic yielding dampers and tuned mass dumpers have been widely investigated. Fluid Viscous Dampers (FVD) probably result the most diffused for the simplicity in the applications. However, these type of dampers request limited interstorey drifts to avoid dangerous effects. Further, they have an elevate cost. On the contrary, friction dampers are not so expensive but request high interstorey drifts to give a significant contribute in the dissipation of energy during an earthquake. In this paper an approach for the energy dissipation by friction, modified with …
Identification and Characterization of a Single High-Affinity Fatty Acid Binding Site in Human Serum Albumin.
2017
A single high-affinity fatty acid binding site in the important human transport protein serum albumin (HSA) is identified and characterized using an NBD (7-nitrobenz-2-oxa-1,3-diazol-4-yl)-C12 fatty acid. This ligand exhibits a 1:1 binding stoichiometry in its HSA complex with high site-specificity. The complex dissociation constant is determined by titration experiments as well as radioactive equilibrium dialysis. Competition experiments with the known HSA-binding drugs warfarin and ibuprofen confirm the new binding site to be different from Sudlow-sites I and II. These binding studies are extended to other albumin binders and fatty acid derivatives. Furthermore an X-ray crystal structure …
Aza-macrocyclic triphenylamine ligands for G-quadruplex recognition
2018
A new series of triphenylamine-based ligands with one (TPA1PY), two (TPA2PY) or three pendant aza-macrocycle(s) (TPA3PY) has been synthesised and studied by means of pH-metric titrations, UV/Vis spectroscopy and fluorescence experiments. The affinity of these ligands for G-quadruplex (G4) DNA and the selectivity they show for G4s over duplex DNA were investigated by Forster resonance energy transfer (FRET) melting assays, fluorimetric titrations and circular dichroism spectroscopy. Interestingly, the interactions of the bi- and especially the tri-branched ligands with G4s lead to a very intense redshifted fluorescence emission band that may be associated with intermolecular aggregation betw…
Discovering Differential Equations from Earth Observation Data
2020
Modeling and understanding the Earth system is a constant and challenging scientific endeavour. When a clear mechanistic model is unavailable, complex or uncertain, learning from data can be an alternative. While machine learning has provided excellent methods for detection and retrieval, understanding the governing equations of the system from observational data seems an elusive problem. In this paper we introduce sparse regression to uncover a set of governing equations in the form of a system of ordinary differential equations (ODEs). The presented method is used to explicitly describe variable relations by identifying the most expressive and simplest ODEs explaining data to model releva…
Numerical Treatment of the Filament-Based Lamellipodium Model (FBLM)
2017
We describe in this work the numerical treatment of the Filament-Based Lamellipodium Model (FBLM). This model is a two-phase two-dimensional continuum model, describing the dynamics of two interacting families of locally parallel F-actin filaments. It includes, among others, the bending stiffness of the filaments, adhesion to the substrate, and the cross-links connecting the two families. The numerical method proposed is a Finite Element Method (FEM) developed specifically for the needs of this problem. It is comprised of composite Lagrange–Hermite two-dimensional elements defined over a two-dimensional space. We present some elements of the FEM and emphasize in the numerical treatment of t…
The dimer-monomer equilibrium of SARS-CoV-2 main protease is affected by small molecule inhibitors
2021
AbstractThe maturation of coronavirus SARS-CoV-2, which is the etiological agent at the origin of the COVID-19 pandemic, requires a main protease Mpro to cleave the virus-encoded polyproteins. Despite a wealth of experimental information already available, there is wide disagreement about the Mpro monomer-dimer equilibrium dissociation constant. Since the functional unit of Mpro is a homodimer, the detailed knowledge of the thermodynamics of this equilibrium is a key piece of information for possible therapeutic intervention, with small molecules interfering with dimerization being potential broad-spectrum antiviral drug leads. In the present study, we exploit Small Angle X-ray Scattering (…