Dihedral Angle Research Articles

Autonomous flight performance optimization of fixed-wing unmanned aerial vehicle with morphing wingtip

PurposeThe purpose of this paper is to improve autonomous flight performance of a fixed-wing unmanned aerial vehicle (UAV) via simultaneous morphing wingtip and control system design conducted with optimization, computational fluid dynamics (CFD) and machine learning approaches.Design/methodology/approachThe main wing of the UAV is redesigned with morphing wingtips capable of dihedral angle alteration by means of folding. Aircraft dynamic model is derived as equations depending only on wingtip dihedral angle via Nonlinear Least Squares regression machine learning algorithm. Data for the regression analyses are obtained by numerical (i.e. CFD) and analytical approaches. Simultaneous perturbation stochastic approximation (SPSA) is incorporated into the design process to determine the optimal wingtip dihedral angle and proportional-integral-derivative (PID) coefficients of the control system that maximizes autonomous flight performance. The performance is defined in terms of trajectory tracking quality parameters of rise time, settling time and overshoot. Obtained optimal design parameters are applied in flight simulations to test both longitudinal and lateral reference trajectory tracking.FindingsLongitudinal and lateral autonomous flight performances of the UAV are improved by redesigning the main wing with morphing wingtips and simultaneous estimation of PID coefficients and wingtip dihedral angle with SPSA optimization.Originality/valueThis paper originally discusses the simultaneous design of innovative morphing wingtip and UAV flight control system for autonomous flight performance improvement. The proposed simultaneous design idea is conducted with the SPSA optimization and a machine learning algorithm as a novel approach.

3D Slicer open-source software plug-in for vector-based angle calculation of canine hind limb alignment in computed tomographic images.

Severe and complex angular limb deformities in dogs require accurate morphological assessment using diagnostic imaging to achieve successful orthopedic surgery. Computed tomography (CT) is commonly used to overcome projection errors in two-dimensional angular measurements of dog hindlimb alignment. Three-dimensional volume rendering (VR) techniques permit virtual positioning and variable projection, but the final CT-image that defines the projection plane for angular measurements remains two-dimensional. We wanted to develop a true three-dimensional open-source technique to measure the alignments of the hind limbs of dogs in CT scanners. We developed an open-source 3D Slicer plug-in, to perform angular measurements using vector calculations in three-dimensional space. In 113 CT-scans of canine pelvic limbs, femoral torsion, femoral varus, femorotibial rotation, tibial torsion, tibial varus and tibiotalar rotation angles were calculated and compared to an already validated technique using VoXim®. Reference points were identified and measurements were possible in the 113 acquisitions. The greatest difference between the two techniques was 1.4° at only one tibial torsion angle. Mean values for all Bland-Altman plots did not show significant differences and were less than 0.07° for all comparisons. Based on these results we considered angular measurements of canine hind limb alignment in CT scans using the 3D Slicer extension program sufficiently accurate for clinical orthopedic and surgical purposes in veterinary medicine. With our open-source 3D Slicer extension software, we provide a free accessible tool for veterinary orthopedic surgeons and thus we hope to improve angular measurements in CT-scans of canine hind limb deformities through true three-dimensionality.

Effects of Several Auxiliary Acceptors and Anchoring Groups on Charge Transfer and Photophysical Properties of D-A-π-A Type DSSCs: A DFT Study.

In this paper, we performed theoretical studies on the twelve D-A-π-A type organic dyes (G-1 ~ G-3, M-1 ~ M-3, J-1 ~ J-3, and S-1 ~ S-3) with 9-phenylcarbazole as the electron donor in anticipation of the application of these dyes in dye-sensitized solar cells (DSSCs). DFT and TD-DFT methods are applied to investigate in detail the molecular geometries, frontier molecular orbitals (FMOs), absorption spectra, charge density difference (CDD), and transition density matrix (TDM) of several dyes. The results show that the M-series (M-1 ~ M-3) dyes have the largest dihedral angles between the electron donor and the auxiliary acceptor and also has the largest energy gaps in HOMO-LUMO orbitals, which greatly reduces the charge transfer efficiency. Finally, the UV-Vis absorption spectra inferred that the anchoring groups modified with o-nitrobenzoic acid (G-3, M-3, J-3, S-3) can red-shift the absorption peaks of the dyes, which results in higher light-harvesting efficiency and improves the power conversion efficiency of DSSCs. Overall, all of these dyes contribute to the improvement of photovoltaic power conversion efficiency and have potential for application in DSSCs devices.

Exploring Tunable Torsional Mechanical Properties of 3D‐Printed Tubular Metamaterials

Additive manufacturing has proven to be a reliable and quick method for creating devices and tools. One example is 3D‐printed nasal swabs that require robust mechanical strength while maintaining adequate flexibility. However, there is a lack of detailed understanding on the mechanical response of tubular structures under torsion loading. The goal of this work is to understand the torsional behavior of a group of 3D‐printed tubular metamaterials. The idea of mechanical metamaterials is used and it is started with a rectangular lattice. Two main design methods are used: reinforced lattices and compliant lattices. First, diagonal reinforced beams are added to enhance the torsional rigidity. Furthermore, pre‐buckling is added to the straight beam, creating a flexible structure that increases the maximum torsional resistance. The experiments demonstrate that the sponge‐inspired design exhibits enhanced stiffness approximately 21 times that of baseline tubular designs. Moreover, the strength and toughness of the sponge‐inspired design are approximately 2.5 and 3 times higher. By curving the beam, compliant tubulars are created. The torsional angle is increased by at least 2.7 times, while the torsional toughness can reach up to 17 times. Using these two design strategies helps in creating tubular metamaterials with varied applications.

Crystallization-Induced Flower-like Superstructures via Peptoid Helix Assembly.

We report a unique method to construct hierarchical superstructures based on molecular programming of peptidomimetics. Chiral steric hindrance in the polymer backbone stabilizes peptoid helices that crystallize into nanosheets during solvent evaporation. The stacking of nanosheets results in flower-like superstructures. The helical peptoid, nucleated from chiral monomers, is characterized as locally stiffer and more extended than the unstructured peptoid. Molecular dynamics (MD) simulations further suggest a constraint on the dihedral angles and a preference toward the trans configuration, resulting in an extended chain structure. The nanosheet assemblies at various length scales indicate an extent of intermolecular ordering amplified by chiral steric hindrance. Such molecular programming and processing protocols will benefit the future design and controlled assembly of hierarchical peptidomimetics.

Comprehensive computational insights on the conformations, electronic properties and binding mechanism of mescaline: A hallucinogenic molecule

In the series of computational investigations of hallucinogenic compounds particularly in unraveling their conformational aspects, mescaline is taken up in this report after having studied psilocybin and psilocin. Six conformers were identified from the relaxed scan of the dihedral angles of which two were taken up for studying their chemical properties. The two low energy conformers differed by about 0.5 kcal.mol-1 at B3LYP/cc-pVTZ and 1.5 kcal.mol-1 at CCSD/cc-PVDZ levels of theory, respectively and structurally the two conformers differ by the orientation of the alkyl amine group vis-à-vis the benzene ring via the N–H---π interaction. Natural Bond Orbital calculations unveiled the existence of intra-molecular π → π*, n → π* charge transfers, and some hyperconjugative interactions that significantly enhance the stability of mescaline. Reduced Density Gradient calculations unraveled the occurrence of strong intramolecular N–H---π interaction in the most stable conformer of mescaline. The calculated geometrical parameters and predicted structure of the most stable conformer of mescaline agree significantly well with the earlier reported conformers from X-ray studies of mescaline. The computed λmax in the UV–visible spectrum, peak positions in the proton NMR spectrum, and vibrational modes exhibit excellent agreement with the previously reported experimental findings. Moreover, we utilized molecular docking and molecular dynamics simulations to elucidate the binding mode and molecular mechanism of mescaline in comparison to other hallucinogenic molecules. Our findings revealed that mescaline displayed a favorable binding energy and induced essential conformational changes, indicating a potential common mechanism of action shared with psilocybin, another hallucinogenic compound.

Long-Lived Charge Separation in Single Crystals of an Electron Donor Covalently Linked to Four Acceptor Molecules.

Crystalline donor-acceptor (D-A) systems serve as an excellent platform for studying CT exciton creation, migration, and dissociation into free charge carriers for solar energy conversion. Donor-acceptor cocrystals have been utilized to develop an understanding of CT exciton formation in ordered organic solids; however, the strong electronic coupling of the D and A units can sometimes limit charge separation lifetimes due to their close proximity. Covalent D-A systems that preorganize specific donor-acceptor structures can assist in engineering crystal morphologies that promote long-lived charge separation to overcome this limitation. Here we investigate photogenerated CT exciton formation in a single crystal of a 2,5,8,11-tetraphenylperylene (PerPh4) donor to which four identical naphthalene-(1,4:5,8)-bis(dicarboximide) (NDI) electron acceptors are covalently attached at the para positions of the PerPh4 phenyl groups to yield PerPh4-NDI4. X-ray crystallography shows that the four NDIs pack pairwise into two distinct motifs. Two NDI acceptors of one PerPh4-NDI4 are positioned over the PerPh4 donors of adjacent PerPh4-NDI4 molecules with the donor and acceptor π-systems having a large dihedral angle between them, while the other two NDIs of PerPh4-NDI4 form xylene-NDI van der Waals π-stacks with the corresponding NDIs in adjacent PerPh4-NDI4 molecules. Upon selective photoexcitation of PerPh4 in the single crystal, CT exciton formation occurs in <300 fs yielding electron-hole pairs that live for more than ∼16 μs. This demonstrates the effectiveness of covalently linked D-A systems for engineering single crystal structures that promote efficient and long-lived charge separation for solar energy conversion.

Synthesis, characterization and supra-molecular analysis for (E)-3-(pyridin-4-yl)acrylic acid.

The title compound, C8H7NO2, crystallizes as prismatic colourless crystals in space group P , with one mol-ecule in the asymmetric unit. The pyridine ring is fused to acrylic acid, forming an almost planar structure with an E-configuration about the double bond with a torsion angle of -6.1 (2)°. In the crystal, strong O-H⋯N inter-actions link the mol-ecules, forming chains along the [101] direction. Weak C-H⋯O inter-actions link adjacent chains along the [100] direction, generating an R 2 2(14) homosynthon. Finally, π-π stacking inter-actions lead to the formation of the three-dimensional structure. The supra-molecular analysis was supported by Hirshfeld surface and two-dimensional fingerprint plot analysis, indicating that the most abundant contacts are associated with H⋯H, O⋯H/H⋯O, N⋯H/H⋯N and C⋯H/H⋯C inter-actions.

Compression performance evaluation of a novel origami-lattice metamaterial

The thin-walled lattice metamaterials are usually applied into the energy absorption, and the low-weight and high-bearing components. In this paper, a novel kind of open-section origami units with single degree of freedom (DOF) motion from flat foldability to closed tube are firstly proposed and verified based on the symmetry design method. On this base, a novel origami-lattice metamaterial is firstly proposed through stacking multiple symmetry open-section origami cells. Furthermore, the influence of different geometry parameters and compression directions on the energy absorption ability and the deformation mechanism are analyzed in detail. The relative density of the proposed origami-lattice metamaterials will increase with the dihedral angles and wall thickness. Testing results show that the initial peak force, specific energy absorption of the proposed lattice metamaterials in z-direction and y-direction compression could improve by 397.18 % and 138.69 %, 303.84 % and 82.77 % with the increase of the wall thickness from 1 mm to 2 mm. With the increase from 90° to 135°, the initial peak force, EA value, and SEA value in the z-direction could improve by 79.34 %, 55.54 % and 56.93 %. When the z-direction layers increase from the 4 to 6, the initial peak force, EA value, and SEA value in the y-direction could improve 78.10 %, 204.72 % and 101.82 %. Significantly, the proposed lattice metamaterials have the better low-weight and high-bearing and energy absorption capacity, which is promising for the architecture field.

Unraveling the Remarkable Influence of Substituents on the Emission Variation and Circularly Polarized Luminescence of Dinuclear Aluminum Triple-Stranded Helicates.

This study explored the development of functional dyes using aluminum, focusing on aluminum-based dinuclear triple-stranded helicates, and examined the effects of substituent variations on their structural and optical properties. Key findings revealed that the modification of methyl groups to the pyrrole positions significantly extended the conjugation system, resulting in a red shift in the absorption and emission spectra. Conversely, the modification of methyl groups at the methine positions due to steric hindrances increased the torsion angle of the ligands, leading to a blue shift in the absorption and emission spectra. A common feature across all complexes was that in the excited state, one of the three ligands underwent significant structural relaxation. This led to a pronounced Stokes shift and minimal spectra overlap with high photoluminescence behaviors. Moreover, our research extended to the optical resolution of the newly synthesized complexes by analyzing the chiroptical properties of the resulting enantiomers, including their circular dichroism and circularly polarized luminescence. These insights offer valuable contributions to the design and application of novel aluminum-based functional dyes, potentially influencing a range of fields, from materials science to optoelectronics.

Buckling collapse of submarine thick-wall pipe under torque and hydraulic pressure based on vector form intrinsic finite element method

Torsion is a prevalent form of stress on pipe. This paper employs experimental and numerical methods to investigate the buckling behavior of thick-walled pipe under combined torsion and external pressure. Firstly, the beam-shell coupling method based on the vector form intrinsic finite element method is utilized to establish a model for torsion and external pressure in thick-walled pipe. The accuracy of the model is verified by the collapsible test of the scaled pipe. On this basis, the influence of different torsion angles on the failure mode and the failure mechanism of bending pipe under dynamic and quasi-static conditions are compared and analyzed. It is found that under different loading conditions, the buckling propagation mode of the downstream pipeline changes greatly. This phenomenon is mainly caused by the action of torque on the elbow. Finally, the effect of different torsion angles on the collapse pressure of the bend is investigated.

Dynamical Effects of Solvation on Norbornadiene/Quadricyclane Systems.

Molecules that can undergo reversible chemical transformations following the absorption of light, the so-called molecular photoswitches, have attracted increasing attention in technologies, such as solar energy storage. Here, the optical and thermochemical properties of the photoswitch are central to its applicability, and these properties are influenced significantly by solvation. We investigate the effects of solvation on two norbornadiene/quadricyclane photoswitches. Emphasis is put on the energy difference between the two isomers and the optical absorption as these are central to the application of the systems in solar energy storage. Using a combined classical molecular dynamics and quantum mechanical/molecular mechanical computational scheme, we showcase that the dynamic effects of solvation are important. In particular, it is found that standard implicit solvation models generally underestimate the energy difference between the two isomers and overestimate the strength of the absorption, while the explicit solvation spectra are also less red-shifted than those obtained using implicit solvation models. We also find that the absorption spectra of the two systems are strongly correlated with specific dihedral angles. Altogether, this highlights the importance of including the dynamic effects of solvation.

In Vitro and In Silico Explorations of the Protein Conformational Changes of Corynebacterium glutamicum MshA, a Model Retaining GT-B Glycosyltransferase.

MshA is a GT-B glycosyltransferase catalyzing the first step in the biosynthesis of mycothiol. While many GT-B enzymes undergo an open-to-closed transition, MshA is unique because its 97° rotation is beyond the usual range of 10-25°. Molecular dynamics (MD) simulations were carried out for MshA in both ligand bound and unbound states to investigate the effect of ligand binding on localized protein dynamics and its conformational free energy landscape. Simulations showed that both the unliganded "opened" and liganded "closed" forms of the enzyme sample a wide degree of dihedral angles and interdomain distances with relatively low overlapping populations. Calculation of the free energy surface using replica exchange MD for the apo "opened" and an artificial generated apo "closed" structure revealed overlaps in the geometries sampled, allowing calculation of a barrier of 2 kcal/mol for the open-to-closed transition in the absence of ligands. MD simulations of fully liganded MshA revealed a smaller sampling of the dihedral angles. The localized protein fluctuation changes suggest that UDP-GlcNAc binding activates the motions of loops in the 1-l-myo-inositol-1-phosphate (I1P)-binding site despite little change in the interactions with UDP-GlcNAc. Circular dichroism, intrinsic fluorescence spectroscopy, and mutagenesis studies were used to confirm the ligand-induced structural changes in MshA. The results support a proposed mechanism where UDP-GlcNAc binds with rigid interactions to the C-terminal domain of MshA and activates flexible loops in the N-terminal domain for binding and positioning of I1P. This model can be used for future structure-based drug development of inhibitors of the mycothiol biosynthetic pathway.

Breaking Global Diatropic Current to Tame Diradicaloid Character: Thiele's Hydrocarbon Under Macrocyclic Constraints

AbstractA diradical/biradical character of organic derivatives is one of the key aspects of contemporary research focusing on the fundamental studies followed by potential applicability relying on the unique optical, electronic, or magnetic properties assigned to unpaired electrons. A precise involvement of two p‐phenylenes into a cyclophane‐like conjugated, diatropic system creates a flexible molecule with the two different characters of both subunits (benzene and quinone) imprinting into the structure a Kekulé delocalized system. A dynamic of both carbocyclic subunits, and their mutual interaction generates a singlet open‐shell state (J=−1.25 kcal/mol) as documented spectroscopically (NMR and EPR). The extended theoretical analysis has proved a correlation between dihedral angle and the diradicaloid character that shifts from a closed‐shell singlet to an open‐shell state, eventually showing the y0=0.86 for 78 degrees and ΔEST=−0.34 kcal/mol.

Breaking Global Diatropic Current to Tame Diradicaloid Character: Thiele's Hydrocarbon Under Macrocyclic Constraints.

A diradical/biradical character of organic derivatives is one of the key aspects of contemporary research focusing on the fundamental studies followed by potential applicability relying on the unique optical, electronic, or magnetic properties assigned to unpaired electrons. A precise involvement of two p-phenylenes into a cyclophane-like conjugated, diatropic system creates a flexible molecule with the two different characters of both subunits (benzene and quinone) imprinting into the structure a Kekulé delocalized system. A dynamic of both carbocyclic subunits, and their mutual interaction generates a singlet open-shell state (J=-1.25 kcal/mol) as documented spectroscopically (NMR and EPR). The extended theoretical analysis has proved a correlation between dihedral angle and the diradicaloid character that shifts from a closed-shell singlet to an open-shell state, eventually showing the y0=0.86 for 78 degrees and ΔEST=-0.34 kcal/mol.

NBN- and BNB-Phenalenyls: the Yin and Yang of Heteroatom-doped π Systems.

NBN- and BNB-doped phenalenyls are isoelectronic to phenalenyl anions and cations, respectively. They represent a pair of complementary molecules that have essentially identical structures but opposite properties as electron donors and acceptors. The NBN-phenalenyls 1-4 considered here were prepared from N,N'-dimethyl-1,8-diaminonaphthalene and readily available boron-containing building blocks (i. e., BH3⋅SMe2 (1), p-CF3-C6H4B(OH)2 (2), C6H5B(OH)2 (3), or MesBCl2/iPr2NEt (4)). Treatment of 1 with 4-Me2N-2,6-Me2-C6H2Li gave the corresponding NBN derivative 5. The BNB-phenalenyl 6 was synthesized from 1,8-naphthalenediyl-bridged diborane(6), PhNH2, and MesMgBr. A computational study reveals that the photoemission of 1, 4, and 5 originates from locally excited (LE) states at the NBN-phenalenyl fragments, while that of 2 is dominated by charge transfer (CT) from the NBN-phenalenyl to the p-CF3-C6H4 fragment. Depending on the dihedral angle θ between its Ph and NBN planes, compound 3 emits mainly from a less polar LE (θ >55°) or more polar CT state (θ <55°). In turn, the energetic preference for either state is governed by the polarity of the solvent used. An equimolar aggregate of the NBN- and BNB-phenalenyls 3 and 6 (in THF/H2O) shows a distinct red-shifted emission compared to that of the individual components, which originates from an intermolecular CT state.

Effect of a halogen bond on the crystal structure of terphenyldicarboxylic acid derivatives.

The syntheses and structures of dimethyl [11,21:24,31-terphenyl]-14,34-dicarboxylate (1), dimethyl 22,25-diiodo[11,21:24,31-terphenyl]-14,34-dicarboxylate (2), potassium [11,21:24,31-terphenyl]-14,34-dicarboxylate (3) and dimethyl [1,1'-biphenyl]-4,4'-dicarboxylate (4) are reported. Neighboring phenyl rings in compounds 1, 3 and 4 have a planar structure (torsion angles are 0.6-4.1°) and the molecules are packed into regular layers. In the structure of the iodinated derivative of terphenyldicarboxylic acid (2), the middle benzene ring of the terphenyl fragment is rotated relative to the other rings by 64° due to the repulsion between the protons and the iodine atoms of neighboring rings. The formation of halogen bonds between iodine and oxygen atoms of the carbonyl group leads to the movement of molecules of one layer into another layer and the loss of layered structure. Potassium [11,21:24,31-terphenyl]-14,34-dicarboxylate (3) forms crystals with an ionic structure. The coordination number of the potassium cation is eight and the resulting coordination polyhedron is a distorted square antiprism. Dianions in the potassium salt crystal are packed in layers similar to the layers in the dimethyl ethers 1 and 4. Salt 3 has high thermal stability to 500°C.

Transmembrane conformation of the envelope protein of an alpha coronavirus, NL63.

The envelope (E) proteins of coronaviruses (CoVs) form cation-conducting channels that are associated with the pathogenicity of these viruses. To date, high-resolution structural information about these viroporins is limited to the SARS-CoV E protein. To broaden our structural knowledge of other members of this family of viroporins, we now investigate the conformation of the E protein of the human coronavirus (hCoV), NL63. Using two- and three-dimensional magic-angle-spinning NMR, we have measured 13 C and 15 N chemical shifts of the transmembrane domain of E (ETM), which yielded backbone (ϕ, ψ) torsion angles. We further measured the water accessibility of NL63 ETM at neutral pH versus acidic pH in the presence of Ca2+ ions. These data show that NL63 ETM adopts a regular α-helical conformation that is unaffected by pH and the N-terminal ectodomain. Interestingly, the water accessibility of NL63 ETM increases only modestly at acidic pH in the presence of Ca2+ compared to neutral pH, in contrast to SARS ETM, which becomes much more hydrated at acidic pH. This difference suggests a structural basis for the weaker channel conductance of α-CoV compared to β-CoV E proteins. The weaker E channel activity may in turn contribute to the reduced virulence of hCoV-NL63 compared to SARS-CoV viruses.

Exploring Molecular Energy Landscapes by Coupling the DFTB Potential with a Tree-Based Stochastic Algorithm: Investigation of the Conformational Diversity of Phthalates.

Exploring the global energy landscape of relatively large molecules at the quantum level is a challenging problem. In this work, we report the coupling of a nonredundant conformational space exploration method, namely, the robotics-inspired iterative global exploration and local optimization (IGLOO) algorithm, with the quantum-chemical density functional tight binding (DFTB) potential. The application of this fast and efficient computational approach to three close-sized molecules of the phthalate family (DBP, BBP, and DEHP) showed that they present different conformational landscapes. These differences have been rationalized by making use of descriptors based on distances and dihedral angles. Coulomb interactions, steric hindrance, and dispersive interactions have been found to drive the geometric properties. A strong correlation has been evidenced between the two dihedral angles describing the side-chain orientation of the phthalate molecules. Our approach identifies low-energy minima without prior knowledge of the potential energy surface, paving the way for future investigations into transition paths and states.

A set of cross-correlated relaxation experiments to probe the correlation time of two different and complementary spin pairs

Intrinsically disordered proteins (IDPs) defy the conventional structure-function paradigm by lacking a well-defined tertiary structure and exhibiting inherent flexibility. This flexibility leads to distinctive spin relaxation modes, reflecting isolated and specific motions within individual peptide planes. In this work, we propose a new pulse sequence to measure the longitudinal 13C′ CSA-13C′-13Cα DD CCR rate ΓzC′/C′Cα and present a novel 3D version of the transverse ΓxyC′/C′Cα CCR rate, adopting the symmetrical reconversion approach. We combined these rates with the analogous ΓxyN/NH and ΓzN/NH CCR rates to derive residue-specific correlation times for both spin-pairs within the same peptide plane. The presented approach offers a straightforward and intuitive way to compare the correlation times of two different and complementary spin vectors, anticipated to be a valuable aid to determine IDPs backbone dihedral angles distributions. We performed the proposed experiments on two systems: a folded protein ubiquitin and Coturnix japonica osteopontin, a prototypical IDP. Comparative analyses of the results show that the correlation times of different residues vary more for IDPs than globular proteins, indicating that the dynamics of IDPs is largely heterogeneous and dominated by local fluctuations.