scholarly journals Research on Active Control of Rotating Motion and Vibration of Flexible Manipulator

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Qingpeng Han ◽  
Wenwen Dong ◽  
Bin Wu ◽  
Xinhang Shen ◽  
Meilin Zhang ◽  
...  
Keyword(s):  
Control Strategy ◽  
Piezoelectric Actuators ◽  
Flexible Manipulator ◽  
Joint Control ◽  
Command Line ◽  
Control Torque ◽  
Pd Control ◽  
Lagrange Principle ◽  
Lyapunov Approach ◽  
Command Line Tool

In this study, PZT (piezoelectric) actuators and PD control (PDs’ command line tool) method is selected to control the vibration of the flexible manipulator. The dynamic equations of the flexible manipulator system are established based on Lagrange principle. The control strategy of PZT actuators and joint control torque are designed. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applies to segmented PZT actuators. By comparison, only PD feedback control is also considered to control the flexible manipulator. The numerical simulations prove that the method of the designed PZT actuators’ control strategy and PD control is effective to compress the vibration of the flexible manipulator.

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Alview: Portable Software for Viewing Sequence Reads in BAM Formatted Files

2015 ◽  
Vol 14 ◽  
pp. CIN.S26470 ◽  
Author(s):  
Richard P. Finney ◽  
Qing-Rong Chen ◽  
Cu V. Nguyen ◽  
Chih Hao Hsu ◽  
Chunhua Yan ◽  
...  
Keyword(s):  
Graphical User Interface ◽  
Reference Genome ◽  
Source Code ◽  
Software Tool ◽  
Command Line ◽  
Sequencing Data ◽  
Genome Data ◽  
Command Line Tool ◽  
Portable Software ◽  
Microsoft Windows

The name Alview is a contraction of the term Alignment Viewer. Alview is a compiled to native architecture software tool for visualizing the alignment of sequencing data. Inputs are files of short-read sequences aligned to a reference genome in the SAM/BAM format and files containing reference genome data. Outputs are visualizations of these aligned short reads. Alview is written in portable C with optional graphical user interface (GUI) code written in C, C++, and Objective-C. The application can run in three different ways: as a web server, as a command line tool, or as a native, GUI program. Alview is compatible with Microsoft Windows, Linux, and Apple OS X. It is available as a web demo at https://cgwb.nci.nih.gov/cgi-bin/alview . The source code and Windows/Mac/Linux executables are available via https://github.com/NCIP/alview .

scholarly journals FAN-C: A Feature-rich Framework for the Analysis and Visualisation of C data

2020 ◽  
Author(s):  
Kai Kruse ◽  
Clemens B. Hug ◽  
Juan M. Vaquerizas
Keyword(s):  
High Throughput ◽  
Matrix Analysis ◽  
Set Covering ◽  
Command Line ◽  
Chromosome Conformation ◽  
C Storage ◽  
Data Formats ◽  
Analysis Tools ◽  
Command Line Tool ◽  
Broad Feature

Chromosome conformation capture data, particularly from high-throughput approaches such as Hi-C and its derivatives, are typically very complex to analyse. Existing analysis tools are often single-purpose, or limited in compatibility to a small number of data formats, frequently making Hi-C analyses tedious and time-consuming. Here, we present FAN-C, an easy-to-use command-line tool and powerful Python API with a broad feature set covering matrix generation, analysis, and visualisation for C-like data (https://github.com/vaquerizaslab/fanc). Due to its comprehensiveness and compatibility with the most prevalent Hi-C storage formats, FAN-C can be used in combination with a large number of existing analysis tools, thus greatly simplifying Hi-C matrix analysis.

scholarly journals ScaffoldGraph: an open-source library for the generation and analysis of molecular scaffold networks and scaffold trees

2020 ◽  
Vol 36 (12) ◽  
pp. 3930-3931 ◽  
Author(s):  
Oliver B Scott ◽  
A W Edith Chan
Keyword(s):  
Open Source ◽  
High Throughput Screening ◽  
Chemical Space ◽  
Diversity Analysis ◽  
Graph Analysis ◽  
Command Line ◽  
Molecular Scaffold ◽  
Large Sets ◽  
Command Line Tool ◽  
Scaffold Diversity

Abstract Summary ScaffoldGraph (SG) is an open-source Python library and command-line tool for the generation and analysis of molecular scaffold networks and trees, with the capability of processing large sets of input molecules. With the increase in high-throughput screening data, scaffold graphs have proven useful for the navigation and analysis of chemical space, being used for visualization, clustering, scaffold-diversity analysis and active-series identification. Built on RDKit and NetworkX, SG integrates scaffold graph analysis into the growing scientific/cheminformatics Python stack, increasing the flexibility and extendibility of the tool compared to existing software. Availability and implementation SG is freely available and released under the MIT licence at https://github.com/UCLCheminformatics/ScaffoldGraph.

scholarly journals Genesis and Gappa: processing, analyzing and visualizing phylogenetic (placement) data

2020 ◽  
Vol 36 (10) ◽  
pp. 3263-3265 ◽  
Author(s):  
Lucas Czech ◽  
Pierre Barbera ◽  
Alexandros Stamatakis
Keyword(s):  
Phylogenetic Trees ◽  
Supplementary Information ◽  
Command Line ◽  
Supplementary Data ◽  
Computationally Efficient ◽  
Data Types ◽  
Low Level ◽  
Phylogenetic Placement ◽  
Command Line Tool ◽  
High Level

Abstract Summary We present genesis, a library for working with phylogenetic data, and gappa, an accompanying command-line tool for conducting typical analyses on such data. The tools target phylogenetic trees and phylogenetic placements, sequences, taxonomies and other relevant data types, offer high-level simplicity as well as low-level customizability, and are computationally efficient, well-tested and field-proven. Availability and implementation Both genesis and gappa are written in modern C++11, and are freely available under GPLv3 at http://github.com/lczech/genesis and http://github.com/lczech/gappa. Supplementary information Supplementary data are available at Bioinformatics online.

Spliceogen: an integrative, scalable tool for the discovery of splice-altering variants

2019 ◽  
Vol 35 (21) ◽  
pp. 4405-4407 ◽  
Author(s):  
Steven Monger ◽  
Michael Troup ◽  
Eddie Ip ◽  
Sally L Dunwoodie ◽  
Eleni Giannoulatou
Keyword(s):  
Supplementary Information ◽  
Command Line ◽  
Supplementary Data ◽  
In Silico Prediction ◽  
Single Nucleotide Variants ◽  
Single Nucleotide ◽  
Prediction Tools ◽  
Motif Prediction ◽  
Command Line Tool ◽  
Genome Scale

Abstract Motivation In silico prediction tools are essential for identifying variants which create or disrupt cis-splicing motifs. However, there are limited options for genome-scale discovery of splice-altering variants. Results We have developed Spliceogen, a highly scalable pipeline integrating predictions from some of the individually best performing models for splice motif prediction: MaxEntScan, GeneSplicer, ESRseq and Branchpointer. Availability and implementation Spliceogen is available as a command line tool which accepts VCF/BED inputs and handles both single nucleotide variants (SNVs) and indels (https://github.com/VCCRI/Spliceogen). SNV databases with prediction scores are also available, covering all possible SNVs at all genomic positions within all Gencode-annotated multi-exon transcripts. Supplementary information Supplementary data are available at Bioinformatics online.

scholarly journals FAN-C: a feature-rich framework for the analysis and visualisation of chromosome conformation capture data

2020 ◽  
Vol 21 (1) ◽  
Author(s):  
Kai Kruse ◽  
Clemens B. Hug ◽  
Juan M. Vaquerizas
Keyword(s):  
Chromosome Conformation Capture ◽  
Matrix Analysis ◽  
Set Covering ◽  
Command Line ◽  
Chromosome Conformation ◽  
C Storage ◽  
Data Formats ◽  
Analysis Tools ◽  
Command Line Tool ◽  
Broad Feature

AbstractChromosome conformation capture data, particularly from high-throughput approaches such as Hi-C, are typically very complex to analyse. Existing analysis tools are often single-purpose, or limited in compatibility to a small number of data formats, frequently making Hi-C analyses tedious and time-consuming. Here, we present FAN-C, an easy-to-use command-line tool and powerful Python API with a broad feature set covering matrix generation, analysis, and visualisation for C-like data (https://github.com/vaquerizaslab/fanc). Due to its compatibility with the most prevalent Hi-C storage formats, FAN-C can be used in combination with a large number of existing analysis tools, thus greatly simplifying Hi-C matrix analysis.

Sign in / Sign up

Export Citation Format

Share Document