A molecular dynamics study to investigate the cavity control of Prefoldin based bio nano actuator is presented in this paper. Prefoldin is a molecular chaperone with a jellyfish-like structure containing six long coil...A molecular dynamics study to investigate the cavity control of Prefoldin based bio nano actuator is presented in this paper. Prefoldin is a molecular chaperone with a jellyfish-like structure containing six long coiled-coil tentacles and a large central cavity. We took the temperature and p H of the medium into account,and analyzed the conformational flexibility of the Prefoldin nano actuator in details. Results show that the prefoldin is a very flexible protein, the conformational state of which appears to depend on the temperature and p H values of the medium. In fact, combining these two control parameters, a suitable environment is provided to capture nano cargoes with specific dimensions. These properties of Prefoldin actuator can be used for drug delivery in the body.展开更多
This paper proposes dynamic positioning(DP) on a hovering autonomous underwater vehicle(HAUV) to perform accurate underwater processes such as welding operations. High maneuverability, high controllability, and hoveri...This paper proposes dynamic positioning(DP) on a hovering autonomous underwater vehicle(HAUV) to perform accurate underwater processes such as welding operations. High maneuverability, high controllability, and hovering of the robot were the prerequisites of this operation, which increase its accuracy and velocity and reduce costs and human health risks. Other types of thrusters were used in this robot to reduce the number of thrusters and controller’s complexity. Controlling every 6 degrees of freedom to perform this type of operation was done. Furthermore, such a delicate operation required controlling the translational and rotational movements together. There was also a need to control the velocities to travel in a prescribed distance at a reasonable time. The possibility of dynamic positioning for welding and maintaining position at a point was defined for the robot. Then the robot’s performance under a defective state-servo motor failure, thruster malfunction-and the subsequent effects on the performance during the predetermined missions were investigated. Simulation results demonstrated that the HAUV has the capability to perform dynamic positioning operations. In this article, one of the prevalent classic control methods called PID controller was employed for controlling the movements of the robot.展开更多
文摘A molecular dynamics study to investigate the cavity control of Prefoldin based bio nano actuator is presented in this paper. Prefoldin is a molecular chaperone with a jellyfish-like structure containing six long coiled-coil tentacles and a large central cavity. We took the temperature and p H of the medium into account,and analyzed the conformational flexibility of the Prefoldin nano actuator in details. Results show that the prefoldin is a very flexible protein, the conformational state of which appears to depend on the temperature and p H values of the medium. In fact, combining these two control parameters, a suitable environment is provided to capture nano cargoes with specific dimensions. These properties of Prefoldin actuator can be used for drug delivery in the body.
文摘This paper proposes dynamic positioning(DP) on a hovering autonomous underwater vehicle(HAUV) to perform accurate underwater processes such as welding operations. High maneuverability, high controllability, and hovering of the robot were the prerequisites of this operation, which increase its accuracy and velocity and reduce costs and human health risks. Other types of thrusters were used in this robot to reduce the number of thrusters and controller’s complexity. Controlling every 6 degrees of freedom to perform this type of operation was done. Furthermore, such a delicate operation required controlling the translational and rotational movements together. There was also a need to control the velocities to travel in a prescribed distance at a reasonable time. The possibility of dynamic positioning for welding and maintaining position at a point was defined for the robot. Then the robot’s performance under a defective state-servo motor failure, thruster malfunction-and the subsequent effects on the performance during the predetermined missions were investigated. Simulation results demonstrated that the HAUV has the capability to perform dynamic positioning operations. In this article, one of the prevalent classic control methods called PID controller was employed for controlling the movements of the robot.
