Kinematics and Workspace Analysis of Protein Based Nano-Motors

2004 ◽  
Author(s):  
G. Sharma ◽  
M. Badescu ◽  
A. Dubey ◽  
C. Mavroidis ◽  
T. Sessa ◽  
...  
Keyword(s):  
Carbon Nanotubes ◽  
Conformational Change ◽  
Viral Protein ◽  
Inverse Kinematic ◽  
Viral Envelope ◽  
Linear Actuator ◽  
Computational Tools ◽  
Workspace Analysis ◽  
Kinematic Models ◽  
Biomolecular Motor

Kinematic and workspace analyses are performed to predict the performance of a new nanoscale biomolecular motor: The Viral Protein Linear (VPL) Motor. The motor is based on a conformational change observed in a family of viral envelope proteins when subjected to a changing pH environment. The conformational change produces a motion of about 10 nm, making the VPL a basic linear actuator, which can be further interfaced with other organic/inorganic nanoscale components such as DNA actuators and carbon nanotubes. This paper presents the principle of operation of the VPL motor and the development of direct and inverse kinematic models for workspace analysis. Preliminary results obtained from the developed computational tools are presented.

Modeling and Workspace Analysis of Collaborative Advanced Fiber Placement Machine

2014 ◽  
Author(s):  
Xiaoming Zhang ◽  
Wen-Fang Xie ◽  
Suong V. Hoa
Keyword(s):  
Trajectory Planning ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Productive Efficiency ◽  
Fiber Placement ◽  
Collaborative Modeling ◽  
Workspace Analysis ◽  
Complex Shapes ◽  
Kinematic Models ◽  
Placement Machine

The Advanced Fiber Placement (AFP) machines have brought significant improvement on the manufacturing of composite. However, the current AFP machines are not capable of handling some applications with more complex shapes. This paper presents a collaborative AFP machine which consists of a 6-RSS parallel platform, a 6-DOF manipulator and a spindle mounted on the platform to hold the mandrel. The collaborative modeling is built and simulated in SimMechanics/Matlab. The inverse kinematic models are established for trajectory planning. In addition, the workspaces of both parallel robot and collaborative AFP machine are analyzed using geometrical method and programmed in Solidworks. A simulation example for the manufacturing of a hemisphere is provided. The result shows that the collaborative AFP machine could enlarge the manufacture workspace, simplify the trajectory planning and enhance the productive efficiency.

scholarly journals Immunocytochemical Colocalization of Specific Immunoglobulin A with Sendai Virus Protein in Infected Polarized Epithelium

1998 ◽  
Vol 188 (7) ◽  
pp. 1223-1229 ◽  
Author(s):  
Hisashi Fujioka ◽  
Steven N. Emancipator ◽  
Masamichi Aikawa ◽  
Dennis S. Huang ◽  
Frank Blatnik ◽  
...  
Keyword(s):  
Viral Replication ◽  
Viral Protein ◽  
Vaccine Development ◽  
Sendai Virus ◽  
Immunoglobulin A ◽  
Viral Envelope ◽  
Virus Protein ◽  
Subcellular Compartment ◽  
Viral Vaccine ◽  
Polarized Epithelium

Immunoglobulin (Ig)A provides the initial immune barrier to viruses at mucosal surfaces. Specific IgA interrupts viral replication in polarized epithelium during receptor-mediated transport, probably by binding to newly synthesized viral proteins. Here, we demonstrate by immunoelectron microscopy that specific IgA monoclonal antibodies (mAbs) accumulate within Sendai virus–infected polarized cell monolayers and colocalize with the hemagglutinin– neuraminidase (HN) viral protein in a novel intracellular structure. Neither IgG specific for HN nor irrelevant IgA mAbs colocalize with viral protein. Treatment of cultures with viral-specific IgA but not with viral-specific IgG or irrelevant IgA decreases viral titers. These observations provide definitive ultrastructural evidence of a subcellular compartment in which specific IgA and viral envelope proteins interact, further strengthening our hypothesis of intracellular neutralization of virus by specific IgA antibodies. Our results have important implications for intracellular protein trafficking, viral replication, and viral vaccine development.

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 2136-2142 ◽  
Author(s):  
Rui Fan ◽  
Huan Liu ◽  
Dan Wang
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Search Method ◽  
Architecture Design ◽  
Original Volume ◽  
Workspace Analysis ◽  
The Relationship

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

scholarly journals SARS-CoV-2 envelope-protein corruption of homeostatic signaling mechanisms in mammalian cells

2021 ◽  
Author(s):  
Tobias Schulze ◽  
Andreas Hartel ◽  
Sebastian Hoeler ◽  
Clara Hemming ◽  
Robert Lehn ◽  
...  
Keyword(s):  
Envelope Protein ◽  
Viral Protein ◽  
Mammalian Cells ◽  
Fluorescent Protein ◽  
Ion Selectivity ◽  
Cellular Protein ◽  
Viral Envelope ◽  
Host Cells ◽  
Viral Envelope Protein ◽  
Cell Protection

During a SARS-CoV2 infection, host cells produce large amounts of the viral envelope protein (Ep-CoV2). Ep-CoV2 is partially inserted into the membrane of nascent viral particles and into cellular membranes. To mimic the pathophysiological impact of the cellular protein fraction, Ep-CoV2 was overexpressed in mammalian cells and effects on key signaling parameters were monitored. By tagging with green fluorescent protein (GFP), we found that Ep-CoV2 protein is mostly present in the endoplasmic reticulum with additional trace amounts in the plasma membrane. We observed that wild-type Ep-CoV2 and, to a lesser extent, its mutants (N15A, V25F) corrupted some of the most important homeostatic mechanisms in cells. The same was observed with isolated transmembrane domains of the protein. The Ep-CoV2-evoked elevation of intracellular Ca2+ and pH as well as the induced membrane depolarization produced by the presence of the protein interfere with major signal transduction cascades in host cells. These functions of Ep-CoV2, which likely contribute to the pathogenesis of the viral protein, result from the ion-channel activity of the viral protein. Two independent assays, a functional reconstitution of Ep-CoV2 protein in artificial membranes and a rescue of K+-deficient yeast mutants, confirm that Ep-CoV2 generates a cation-conducting channel with a low unitary conductance and a complex ion selectivity. The data presented here suggest that specific channel function inhibitors of Ep-CoV2 can provide cell protection and virostatic effects.

scholarly journals Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Chong Wang ◽  
Dongxue Liu ◽  
Qun Sun ◽  
Tong Wang
Keyword(s):  
Inverse Kinematics ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Open Architecture ◽  
Model Parameters ◽  
Structural Variations ◽  
Robot Controller ◽  
Kinematic Models ◽  
Kinematic Studies

This paper presents a kinematic analysis for an open architecture 6R robot controller, which is designed to control robots made by domestic manufactures with structural variations. Usually, robot kinematic studies are often introduced for specific robot types, and therefore, difficult to apply the kinematic model from one to another robot. This study incorporates most of the robot structural variations in one model so that it is convenient to switch robot types by modifying model parameters. By combining an adequate set of parameters, the kinematic models, especially the inverse kinematics, are derived. The kinematic models are proved to be suitable for many classic industrial robot types, such as Puma560, ABB IRB120/1600, KAWASAKI RS003N/RS010N, FANUC M6iB/M10iA, and therefore be applicable to those with similar structures. The analysis and derivation of the forward and inverse kinematic models are presented, and the results are proven to be accurate.

Kinematic analysis of overconstrained manipulators with partial subspaces using decomposition method

Robotica ◽  
2021 ◽  
pp. 1-16
Author(s):  
Özgün Selvi
Keyword(s):  
Kinematic Analysis ◽  
Decomposition Method ◽  
Degrees Of Freedom ◽  
Additional Data ◽  
Parallel Manipulators ◽  
Inverse Kinematic ◽  
Velocity Analysis ◽  
Workspace Analysis ◽  
Inverse Kinematic Analysis ◽  
Inverse Velocity

SUMMARY Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.

Static Characteristic Analysis of a 3-DOF Micropositioning Table for Grinding

2007 ◽  
Vol 339 ◽  
pp. 177-182 ◽  
Author(s):  
Yan Ling Tian ◽  
Da Wei Zhang ◽  
Bing Yan
Keyword(s):  
Experimental Tests ◽  
Inverse Kinematic ◽  
Static Characteristic ◽  
Machining Accuracy ◽  
Static Characteristics ◽  
Characteristic Analysis ◽  
Orientation Space ◽  
Auxiliary Table ◽  
Kinematic Models ◽  
Grinding Machine

In order to improve the machining accuracy of the precision surface grinding machine, a 3-DOF micropositioning table is used as an auxiliary table to form the dual infeed system with nanometer level positioning accuracy. This paper mainly deals with the static characteristics of the micropositioning table. The direct and inverse kinematic models are obtained under different orientation descriptions, and the inherent relationship between different orientation descriptions is investigated. By use of Eular angle description, the reachable orientation space of the micro-positioning table is obtained. The theoretical static stiffness on the top surface of the table is also given, and the experimental tests are carried out to verify the established models.

scholarly journals Development of interface for kinematic analysis of a delta-type parallel robot

2021 ◽  
pp. 18-27
Author(s):  
Martín Eduardo Rodríguez-Franco ◽  
Ricardo Jara-Ruiz ◽  
Yadira Fabiola López-Álvarez ◽  
Juan Carlos García-Rodríguez
Keyword(s):  
Kinematic Analysis ◽  
Data Entry ◽  
Implementation Process ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
End Effector ◽  
Delta Type ◽  
Kinematic Models ◽  
User Friendly ◽  
Average Position

The development and implementation process of a computer interface for the kinematic analysis of a parallel robot, in delta configuration, and its application to a previously formed prototype are exposed. Being identified the associated equations, and deduced the respective geometric parameters. On the other hand, the synthesis of the direct and inverse kinematic models, with the Matlab software, guarantees the calculation of a specific Cartesian position, in the end effector of the robot used, once certain joint values have been assigned to it, or vice versa. Finally, a user-friendly graphical interface is created, whose functions are: data entry, resolution of the models described, issuance of the corresponding results, representation of the robot used and its physical manipulation. The results obtained in the real location of the end effector with respect to the values deduced by the interface, are competitive for both models analyzed, even though the prototype used operates by means of servomotors. An average position error of 0.083 cm per axis and overall of 0.006 cm is observed during the tests developed.

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