The objective of this paper is to compare two discretization models—namely, the assumed modes and finite element mod els—to efficiently represent the link flexibility of robot manip ulators. We present a systematic modeling procedure based on homogeneous transformation matrices for spatial multilink flexible manipulators with both revolute and prismatic joints. The Lagrangian formulation of dynamics and computer algebra are employed to derive closed-form equations of motion. We show that fewer mathematical operations are required for in ertia matrix computation in the finite element model compared with the assumed modes formulation; however, because the number of state space equations are more, the numerical sim ulation time may be greater for finite element models. Use of the finite element model to approximate flexibility usually gives rise to overestimated stiffness matrix. We analytically show that overestimation of structure stiffness may lead to unstable closed-loop response of the original manipulator system, using a model-based control law. We illustrate the complexity owing to the time-dependent frequency equation of the assumed modes model arising in a prismatic jointed flexible link with payload and in manipulators with more than one link with revolute joints. We describe a novel method based on the differential form of the frequency equation to simulate such systems. A model-based decoupling control law is used to compare the dynamic responses of the manipulator system. The results are illustrated by numerical simulation of a flexible spatial RRP configuration robot.
Wheeled Mobile Robots (WMRs) are known to be nonholonomic systems, and most dynamic models of WMRs assume that the wheels undergo rolling without slipping. This paper deals with the problem of modeling and simulation of motion of a WMR when the conditions for rolling are not satisfied at the wheels. We use a traction model where the adhesion coefficient between the wheels of a WMR and a hard flat surface is a function of the wheel slip. This traction model is used in conjunction with the dynamic equations of motion to simulate the motion of the WMR. The simulations show that controllers which do not take into account wheel slip give poor tracking performance for the WMR and path deviation is small only for large adhesion coefficients. This work shows the importance of wheel slip and suggests use of accurate traction models for improving tracking performance of a WMR.
CCAAT/enhancer binding protein α (C/EBPα) is mutated in 10% of acute myeloid leukemias, resulting in either a truncated protein or an altered leucine zipper (C/EBPαLZ) that prevents DNA-binding. C/EBPα induces bcl-2 in cooperation with NF-κB p50 to inhibit apoptosis. We now demostrate that C/EBPα or a C/EBPαLZ oncoprotein bind the bcl-2 P2 promoter in chromatin immunoprecipitation assays and induce the promoter dependent on the integrity of a κB site. C/EBPα expressed as a transgene in B cells binds and activates the bcl-2 promoter, but not in nfkb1−/− mice lacking NF-κB p50. Bcl-2 is central to the intrinsic apoptotic pathway, while FLICE inhibitory protein (FLIP) modulates caspase-8, the initiator caspase of the extrinsic pathway. C/EBPα and C/EBPαLZ also bind the FLIP promoter and induce its expression dependent upon NF-κB p50. Moreover, induction of FLIP by C/EBPα protects splenocytes from Fas ligand-induced apoptosis, but only if p50 is present. We also demonstrate direct interaction between bacterially produced C/EBPα and NF-κB p50, mediated by the C/EBPα basic region. These findings indicate that C/EBPα or its oncoproteins activate the bcl-2 and FLIP genes by tethering to their promoters via bound NF-κB p50. Targeting their interaction may favor apoptosis of transformed cells.
One of the most important factors that affect the pointing of precision payloads and devices in space platforms is the vibration generated due to static and dynamic unbalanced forces of rotary equipments placed in the neighborhood of payload. Generally, such disturbances are of low amplitude, less than 1 kHz, and are termed as 'micro-vibrations'. Due to low damping in the space structure, these vibrations have long decay time and they degrade the performance of payload. This paper addresses the design, modeling and analysis of a low frequency space frame platform for passive and active attenuation of micro-vibrations. This flexible platform has been designed to act as a mount for devices like reaction wheels, and consists of four folded continuous beams arranged in three dimensions. Frequency and response analysis have been carried out by varying the number of folds, and thickness of vertical beam. Results show that lower frequencies can be achieved by increasing the number of folds and by decreasing the thickness of the blade. In addition, active vibration control is studied by incorporating piezoelectric actuators and sensors in the dynamic model. It is shown using simulation that a control strategy using optimal control is effective for vibration suppression under a wide variety of loading conditions. _______________________________________________________________________ 1. Introduction Vibration propagation into mechanical systems can cause many problems at different levels resulting in performance degradation of sensitive systems [1]. Vibrations
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