Rigid Arm Research Articles

Synthesis and Characterization of Novel Mesogen‐Jacketed Liquid Crystalline Miktoarm Star Rod‐Coil Block Copolymer

AbstractSummary: A series of novel mesogen‐jacketed liquid crystal miktoarm star rod‐coil block copolymers were synthesized via atom transfer radical polymerization (ATRP). Their architectures {coil conformation of styrene segment and rigid rod conformation of {2,5‐bis[(4‐methoxyphenyl)oxycarbonyl]styrene} (MPCS) segment} were confirmed by GPC, 1H NMR, and MALDI‐TOF studies. The liquid crystalline behaviors of the synthesized copolymers are evidenced from POM observation. The liquid crystalline phase depends on the molecular weights of the rigid rod arm of miktoarm star copolymers.Miktoarm star rod‐coil block copolymer.magnified imageMiktoarm star rod‐coil block copolymer.

Biochemical and Motile Properties of Myo1b Splice Isoforms

Myo1b is a widely expressed myosin-I isoform that concentrates on endosomal and ruffling membranes and is thought to play roles in membrane trafficking and dynamics. Myo1b is alternatively spliced within the regulatory domain of the molecule, yielding isoforms with six (myo1b(a)), five (myo1b(b)), or four (myo1b(c)) non-identical IQ motifs. The calmodulin binding properties of the myo1b IQ motifs have not been investigated, and the mechanical and cell biological consequences of alternative splicing are not known. Therefore, we expressed the alternatively spliced myo1b isoforms truncated after the final IQ motif and included a sequence at their C termini that is a substrate for bacterial biotin ligase. Site-specific biotinylation allows us to specifically attach the myosin to motility surfaces via a biotin-streptavidin linkage. We measured the ATPase and motile properties of the recombinant myo1b splice isoforms, and we correlated these properties with calmodulin binding. We confirmed that calcium-dependent changes in the ATPase activity are due to calcium binding to the calmodulin closest to the motor. We found that calmodulin binds tightly to some of the IQ motifs (Kd < 0.2 microM) and very weakly to the others (Kd > 5 microM), suggesting that a subset of the IQ motifs are not calmodulin bound under physiological conditions. Finally, we found the in vitro motility rate to be dependent on the myo1b isoform and the calmodulin concentration and that the myo1b regulatory domain acts as a rigid lever arm upon calmodulin binding to the high affinity and low affinity IQ motifs.

Nonlinear Modeling and Tracking Control of a Hydraulic Rotary Vane Actuator

AbstractRotary vane actuators as rotational drives provide rotational movements directly because they are constructed as a joint and actuator in one. So it is possible to pass on the disadvantageous transmission kinematics used with the so far usual differential cylinders at the arms of large manipulators. However, the use of hydraulic rotary vane actuators is associated with high internal oil leakage and/or high friction. Therefore, a nonlinear dynamic model for such an actuator, driving a rigid robot arm, as well as its nonlinear control are derived. To achieve tracking control a model based control law is set up using fundamental linear differential equations for the tracking error. The control law is implemented and tested on a testbed, the produced experimental results are presented. The same control algorithm can also be used to realize nonlinear disturbance attenuation for hydraulic rotary vane actuators via tracking control. (© 2005 WILEY‐VCH Verlag GmbH &amp; Co. KGaA, Weinheim)

Investigating the SecY plug movement at the SecYEG translocation channel

Protein translocation occurs across the energy-conserving bacterial membrane at the SecYEG channel. The crystal structure of the channel has revealed a possible mechanism for gating and opening. This study evaluates the plug hypothesis using cysteine crosslink experiments in combination with various allelic forms of the Sec complex. The results demonstrate that the SecY plug domain moves away from the center of the channel toward SecE during polypeptide translocation, and further show that the translocation-enhancing prlA3 mutation and SecG subunit change the properties of channel gating. Locking the plug in the open state preactivates the Sec complex, and a super-active translocase can be created when combined with the prlA4 mutation located in the pore of the channel. Dimerization of the Sec complex, which is essential for translocase activity, relocates the plug toward the open position. We propose that oligomerization may result in SecYEG cooperative interactions important to prime the translocon function.

Motor Cortex Neural Correlates of Output Kinematics and Kinetics During Isometric-Force and Arm-Reaching Tasks

We recorded the activity of 132 proximal-arm-related neurons in caudal primary motor cortex (M1) of two monkeys while they generated either isometric forces against a rigid handle or arm movements with a heavy movable handle, in the same eight directions in a horizontal plane. The isometric forces increased in monotonic fashion in the direction of the force target. The forces exerted against the handle in the movement task were more complex, including an initial accelerating force in the direction of movement followed by a transient decelerating force opposite to the direction of movement as the hand approached the target. EMG activity of proximal-arm muscles reflected the difference in task dynamics, showing directional ramplike activity changes in the isometric task and reciprocally tuned "triphasic" patterns in the movement task. The apparent instantaneous directionality of muscle activity, when expressed in hand-centered spatial coordinates, remained relatively stable during the isometric ramps but often showed a large transient shift during deceleration of the arm movements. Single-neuron and population-level activity in M1 showed similar task-dependent changes in temporal pattern and instantaneous directionality. The momentary dissociation of the directionality of neuronal discharge and movement kinematics during deceleration indicated that the activity of many arm-related M1 neurons is not coupled only to the direction and speed of hand motion. These results also demonstrate that population-level signals reflecting the dynamics of motor tasks and of interactions with objects in the environment are available in caudal M1. This task-dynamics signal could greatly enhance the performance capabilities of neuroprosthetic controllers.

Synthesis and activity of macrocyclized chiral Mn(III)–Schiff-base epoxidation catalysts

A series of chiral macrocyclic Mn(III)Salen complexes has been prepared with two salicylidene moieties linked in their 3 and 3′ positions by aliphatic polyether bridges of variable lengths or by a more rigid aromatic junction arm. X-ray structures of ligand precursors and of complex 8 have been performed. All complexes have been used in the asymmetric epoxidation of 1,2-dihydronaphthalene with NaOCl as oxygen atom donor and exhibited modest enantiomeric excesses. Complex 10 was selected to be tested with two cis-disubstituted olefins and several oxidants, namely NaOCl, PhIO and n-Bu 4NHSO 5. 2,2′-Dimethylchromene oxide was obtained from 2,2′-dimethylchromene with ee values of 56% and 74% when using 10 and NaOCl and PhIO, respectively.

Graph-theoretic modelling of epicyclic gear systems

New graph theoretic models of gears, gear trains and geared systems are developed, which are suitable for computer aided kinematic and dynamic analyses. A lumped parameter model of ideal non-deforming gears is used. Methodologies of modelling of rigid bodies and linkages using graph theory are extended to include gear members. Rigid arms model the contact between the gear pair. Gear pair-carrier assemblies are modelled as multi-terminal subsystems. A hyper-edge in the rotation graph representing the three bodies of the gear pair-carrier trio has the fundamental law of gearing constraint as an associated terminal equation. Gear pair-carrier subassemblies are over constrained kinematically. Assuming that the gear pair and carrier dimensions are designed so that the constraints are satisfied identically, the system can be seen as having excess consistent equations kinematically and dynamically which may be set aside during the analysis of the system. The methodology is applied to planar involute profile spur gear systems but may be extended further. Example models for fixed, epicyclic and planetary gear trains are developed. A detailed model and analysis of a gear slider mechanism is given.

Two Thiourea-based Colorimetric Sensors for Anions: Structure and Binding Study

Two colorimetric thiourea-based chemsensors with two relatively rigid arms, 2A and 2B, were synthesized. Their binding abilities with halide anions, AcO−, [Formula: See Text] were studied by UV-Vis spectroscopy in DMSO. The two sensors showed a notable selective color response to F− anion from colorless to green-yellow in recognition. The structures of the two sensors and their binding behaviors are discussed. The association constants were calculated by nonlinear fittings of 1:1, 1:2 or 1:1 to 1:2.

Online ultrasound image guidance for radiotherapy of prostate cancer: impact of image acquisition on prostate displacement

Aim Numerous studies reported the use of ultrasound image-guidance system to assess and correct patient setup during radiotherapy for prostate cancer. We conducted a study to demonstrate and quantify prostate displacement resulting from pressure of the probe on the abdomen during transabdominal ultrasound image acquisition for prostate localization. Material and methods Ten healthy volunteers were asked to undergo one imaging procedure. The procedure was performed in a condition that simulates the localization of prostate during online ultrasound guidance. A 3D ultrasound machine was used. The procedure started with the placement of the probe on the abdomen above the pubis symphysis. The probe was tilted in a caudal and posterior direction until the prostate and seminal vesicle were visualized. The probe was then fixed with a rigid arm, which maintained the probe in a static position during image acquisition. The probe was then moved, in a short time, stepwise toward the prostate, acquiring images at each step. The prostate and seminal vesicles were identified and selected in all planes. The first 3D volume was used as reference 1, to which all other scans were matched using a gray value matching algorithm. Results Prostate motion was quantified as a 3D translation relative to the patient coordinate system. The resulting translations represented the amount of prostate movement as a function of probe displacement. Between 7 and 11 images were obtained per volunteer, with a maximal probe displacement ranging between 3 and 6 cm. Prostate displacement was measured in all volunteers for all the probe steps and in all directions. The largest displacements occurred in the posterior direction in all volunteers. The absolute prostate motion was less than 5 mm in 100% of the volunteers after 1 cm of probe displacement, in 80% after 1.5 cm, in 40% after 2 cm, in 10% after 2.5 cm, and 0% after 3 cm. To achieved a good-quality ultrasound images, the probe requires an average displacement of 1.2 cm, and this results in an average prostate displacement of 3.1 mm. No correlations were observed between prostate motion and prostate-probe distance or bladder size. Conclusion Probe pressure during ultrasound image acquisition causes prostate displacement, which is correlated to the amount of probe displacement from initial contact. The induced uncertainty associated with this process needs to be carefully evaluated to determine a safe margin to be employed during online ultrasound image-guided radiotherapy of the prostate.

Dynamic sliding PID control for tracking of robot manipulators: theory and experiments

For a class of robot arms, a proportional-derivative (PD) controller plus gravity compensation yields the global asymptotic stability for regulation tasks, and some proportional-integral-derivative (PID) controllers guarantee local regulation without gravity cancellation. However, these controllers cannot render asymptotic stability for tracking tasks. In this paper, a simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed. A dynamic sliding mode without reaching phase is enforced, and terminal attractors, as well as saturated ones, are considered. A comparative experimental study versus PD control, PID control, and adaptive control for a rigid robot arm validates our design.

Intramolecular directional förster resonance energy transfer at the single-molecule level in a dendritic system.

We report on the directional Förster resonance energy transfer (FRET) process taking place in single molecules of a first (T1P4) and a second (T2P8) generation of a perylenemonoimide (P)-terrylenediimide (T)-based dendrimer in which the chromophores are separated by rigid polyphenylene arms. At low excitation powers, single-molecule detection and spectroscopy of T1P4 and T2P8 dendrimers point to a highly efficient directional FRET from P donors to the central T acceptor, optical excitation at 488 nm resulting in exclusively acceptor emission in the beginning of the detected fluorescence intensity. Donor emission is seen only upon the bleaching of the acceptor. High-resolution time-resolved single-molecule fluorescence data measured with a microchannel plate photomultiplier reveal, for T2P8, a broad range of FRET rates as a result of a broad range of distances and orientations experienced by the donor-acceptor dendrimers when immobilized in a polymer matrix. Single-molecule data from T2P8 on 488 nm excitation are indicative for the presence, after terrylenediimide bleaching, of a P-P excited dimer characterized by a broad emission spectrum peaking around 600 nm and by fluctuating fluorescence decay times. At high excitation powers, single T1P4 and T2P8 molecules display simultaneous emission from both donor and acceptor chromophores. The effect, called "exciton blockade", occurs due to the presence of multiple excitations in a single molecule.

Keyboard musical instrument equipped with hammer stopper promptly driven for rotation by means of rigid link work

A composite keyboard musical instrument includes an acoustic grand piano, an electronic sound generating system and a silent system, and an electric motor, a hammer stopper, a link work and a controller form in combination the silent system, wherein rigid arms and rigid rods are assembled into the link work so as to promptly transmit the force from the actuator to the hammer stopper without substantial time lug.

The effect of Trager therapy on the level of evoked stretch responses in patients with Parkinson's disease and rigidity

Objective: To quantify changes of evoked stretch responses (ESR) in the most rigid arm of patients with Parkinson's disease (PD) after Trager therapy. Methods: Gentle rocking motion associated with this type of manual therapy was imparted to the upper limbs and body of 30 patients for 20 minutes. A pretest and 2 posttests (at 1 and 11 minutes after the treatment, respectively) were performed, consisting of electromyographic (EMG) recordings of the flexor carpi radialis and extensor digitorum communis while the patient's wrist was passively flexed and extended with an amplitude of 60° and a frequency of 1 Hz. Patients received the treatment on the most rigid side of their bodies (ipsi-group) or on the contralateral side (contra-group). Half of patients in each group received the treatment while lying supine on a massage table (ipsi- and contra-supine) or sitting in a chair (ipsi- and contra-sitting). Results: In general, the level of ESR were reduced by 36% immediately after treatment and remained 32% lower than pretest values 11 minutes after treatment (F = 41.45, P < .05). Patients who received the treatment lying supine benefited from a 42% reduction of ESR (F = 4.07, P < .05). The side on which the treatment was performed did not significantly influence the outcome of the treatment (F = 0.50, P > .05). However, post hoc analysis of the triple interaction (test × side × position) indicated that the sitting position was much less efficient for sustained contralateral effect (P > .05). Conclusions: Results from the present study strongly suggest that it is possible to modify the level of ESR by using Trager therapy. This stretch reflex inhibition may induce a reduction of the muscle rigidity seen in these patients. The present results may eventually lead to the development of a specific complementary therapy for patients with Parkinson's disease and rigidity. (J Manipulative Physiol Ther 2002;25:455-64)

Synthesis and Structure of Trigonal and Tetragonal Connectors for a “Tinkertoy” Construction Set

We describe a convergent synthesis of eight 1,3,5- and 1,2,4,5-substituted benzene derivatives with long rigid arms containing 4-pyridyl, 2,2'-bipyridyl, and 2,2'-bipyrimidyl termini, meant to be used as trigonal or tetragonal connectors for the construction of large molecular structures. The synthesis involved copper-free Pd-mediated coupling of terminal acetylenes to aryl halides. First, one of the termini of 1,3-diethynylbicyclo[1.1.1]pentane was coupled with a brominated aza heterocycle, and second, 3 equiv of the resulting extended arm were coupled with 1,3,5-triiodobenzene or 4 with 1,2,4,5-tetraiodobenzene. An improved large-scale synthesis for 1,3-diethynylbicyclo[1.1.1]pentane is described. The structures of two of the arms were determined by single-crystal X-ray analysis. Several long molecular rods with 4-pyridyl termini were obtained as byproducts, and a single-crystal X-ray structure is reported for the shortest of these.

Thrust stand for ground tests of solid propellant microthrusters

A pendulum type balance has been designed and fabricated to characterize solid propellant microthrusters. The thrust measurement system mainly consists of a rigid arm rotating freely around a pivot and a feedback control loop. The deflection of the arm produced by the applied thrust is detected using a high frequency transmitter and an antenna. The principle of the measurement is to compensate exactly the thrust force applied to the pendulum by injecting a current in a coil. The measurement of this current gives a perfect image of the thrust force. This article presents the design and performances of the balance. The thrust force measurement sensitivity is 25 μN and the system bandwidth is 40 Hz. Using this balance, single cylindrical thrusters have been characterized. The results gave less than a 1% error between experiment and theoretical evaluation.

Numerical Simulation of Multiple Floating Structures With Nonlinear Constraints

Abstract A versatile and efficient numerical analysis is developed to compute the responses of a moored floating system composed of multiple floating structures. Structures such as tankers, semisubmersibles, FPSOs, SPARs, TLPs, and SPMs connected by mooring lines, connectors or fenders may be analyzed individually or collectively including multiple interaction. The analysis is carried out in the time domain assuming rigid body motion for the structures, and the solution is generated by a forward integration scheme. The analysis includes the nonlinearities in the excitation, damping, and restoring terms encountered in a typical mooring system configuration. It also allows for instabilities in the tower oscillation as well as slack mooring lines. Certain simplifications in the analysis have been made, which are discussed. The exciting forces in the analysis are wind, current, and waves (including a steady and an oscillating drift force), which are not necessarily collinear. The waves can be single frequency or composed of multiple frequency components. For regular waves either linear, stretched linear or fifth order theory may be used. The irregular wave may be included as a given spectral model (e.g., PM or JONSWAP). The vessels are free to respond to the exciting forces in six degrees of freedom—surge, sway, heave, roll, pitch, and yaw. The tower, when present, is free to respond in two degrees of freedom—oscillation and precession. The loads in the mooring lines are determined from prescribed tension-strain tables for the lines. Rigid mooring arms can be analyzed by allowing for compression in the load-strain table. Fenders may be input similarly through load compression tables. In order to establish the stability and accuracy of the solution, comparison of the results with linearized frequency domain analysis was made. The analysis is verified by several different model test results for different structure configurations in regular and random seas. Some of the interesting aspects of nonlinear system are shown with a few examples.

A New Class of Star-Shaped Discotic Liquid Crystal Containing a 2, 4, 6-Triphenyl-1, 3, 5-triazine Unit as a Core

Abstract A new class of discotic liquid crystals based on 2, 4, 6-triphenyl-1, 3, 5-triazine as a core and [(4-alkoxyphen-yl)ethynyl] benzene ester as rigid arms has been synthesized by a Pd(0)/Cu(I)-catalyzed carbon–carbon coupling reaction. The obtained compounds exhibited liquid-crystalline properties.

Neuro-fuzzy Inverse Dynamics Control for Flexible-link Space Robots

ABSTRACT A neuro-fuzzy (NF)-based adaptive controller is presented in this paper for the trajectory tracking control of a flexible-link space manipulator. Based on the singular perturbation method and two time-scale decompositions, the dynamic model of a flexible space robot is reduced into a slow subsystem of an equivalent rigid-link arm and a fast subsystem of flexible mode. A dynamic NF adaptive controller based on dynamic inversion is presented for the tracking control of the equivalent rigid arm, while a fuzzy proportional-derivative (PD) controller is used to stabilize the elastic dynamics. Finally, experiment studies are carried out to show the viability and effectiveness of the proposed control approach.

Synthesis and Characterization of Wormlike Three-Arm Poly(n-hexyl isocyanate) Star Polymers

We have previously reported the use of titanium alkoxide complexes as initiators for the living polymerization of isocyanates. In this paper, we present the synthesis of a trimetallic initiator, 2, comprised of three titanium alkoxides connected to a central organic core and the use of this catalyst to form three-arm star polymers which contain rigid polyisocyanate arms. Kinetic and molecular weight experiments confirm that the trimetallic complex 2, like its monometallic analogue, 6, initiates the living polymerization of n-hexyl isocyanate and that the three-arm stars obtained from 2 are completely symmetrical. The number-average molecular weight of polymer obtained from 2 increases linearly with the monomer-to-catalyst ratio used, which indicates a lack of chain transfer during polymerization. A comparison of the rates of polymerization of n-hexyl isocyanate by 2 and 6 at fixed initial monomer and titanium concentrations (k 2 = (3.99 ± 0.2) x 10 -3 M min -1 , k 6 = (3.84 ± 0.1) x 10 -3 M min -1 ) demonstrates that all three titanium centers in 2 are active and propagate independently of one another. The solution properties of these new three-arm star polymers were examined through tandem GPC/light scattering and solution viscometry experiments. Light scattering shows that there is a 55% reduction in the mean-square radius of gyration (g = star / linear = 0.45 ± 0.05) of the three-arm star polyisocyanate from that of a linear polyisocyanate of the same molecular weight. The experimental value of g approaches the rod limit of g that indicates that the arms of the three-arm star can be construed as stiff, wormlike chains. Additionally, there is a 28% reduction in the intrinsic viscosity of three-arm polyisocyanate star from that of its linear equivalent. Finally, a 30% w/w solution of three-arm star polyisocyanate displays a nematic, lyotropic liquid crystalline mesophase.

Star-shaped discotic nematic liquid crystal containing 1,3,5-triethynylbenzene and oxadiazole-based rigid arms

A novel three-armed discotic liquid crystal based on 1,3,5-triethynylbenzene as a core and 2,5-diphenyloxadiazole as rigid arms has been synthesized, which is the first star-shaped molecule exhibiting a discotic nematic phase.