Results 41 to 50 of about 156,308 (283)

Discrete Data-Driven Position and Orientation Control for Redundant Manipulators with Jacobian Matrix Learning

Tsinghua Science and Technology
Redundant manipulators utilize their redundant solutions to achieve the position and orientation control of the end-effector in a given variety of complex tasks, which is an essential issue in the field of industrial robots.
Zaixiang Pang, Yafei Hu, Junzhi Yu, Bangcheng Zhang, Linan Gong   +4 more
doaj   +1 more source

A Novel QP-Based Kinematic Redundancy Resolution Method With Joint Constraints Satisfaction

IEEE Access, 2022
Kinematically redundant manipulators are advantageous for their increased dexterity and ability to fulfill some secondary requirements along with their primary task to follow the prescribed trajectory.
Ukasz Wolinski, Marek Wojtyra
doaj   +1 more source

Translophagy—A potential link between autophagy impairment and translational errors

FEBS Letters, EarlyView.
Neurodegenerative diseases are characterised by the accumulation of abnormal proteins and protein aggregates, but their origin often remains unknown. We propose that selective autophagy removes damaged protein‐making machinery, preventing errors during protein synthesis.
Mykola V. Korolchuk, Gailing Ma, Robin Antrobus, Diego Manni, Marco Trevisan‐Herraz, Mustafa Khwaja, Max Brown, Gavin D. Richardson, Masaaki Komatsu, Daniel Erskine, Viktor I. Korolchuk, Tetsushi Kataura   +11 more
wiley   +1 more source

Functional comparison of EncB and EncC cargo proteins in iron storage within the Myxococcus xanthus encapsulin

FEBS Letters, EarlyView.
Encapsulins are protein nanocompartments that play an important role in iron storage. In the Myxococcus xanthus encapsulin system, two cargo proteins called EncB and EncC contribute to iron mineralization. Here, we show that EncB and EncC generate iron‐containing minerals with distinct chemical compositions, suggesting that the composition of stored ...
Harry B. McDowell, Thomas Walther, Egbert Hoiczyk   +2 more
wiley   +1 more source

Structural and biochemical analysis of a B12 superbinder

FEBS Letters, EarlyView.
BtuG proteins are vitamin B12 scavengers in Bacteroides thetaiotaomicron, a dominant human gut bacterium. We present crystal structures of three BtuG homologs bound to cobalamin and its precursor cobinamide, revealing picomolar binding affinities, among the highest known for any natural protein.
Jose M. Martinez Felices, Jacob J. Whittaker, Dirk J. Slotboom, Albert Guskov   +3 more
wiley   +1 more source

The Application of ZFD Formula to Kinematic Control of Redundant Robot Manipulators With Guaranteed Motion Precision

IEEE Access, 2018
Zhang et al. recently design a special difference formula called the Zhang finite-difference (ZFD) formula. This paper applies the ZFD formula for the kinematic control of redundant robot manipulators, due to its good performance in approximating first ...
Zexin Li, Feng Xu, Qingshan Feng, Jianhuang Cai, Dongsheng Guo   +4 more
doaj   +1 more source

Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured Environments

Sensors, 2022
Structural optimisation of robotic manipulators is critical for any manipulator used in confined semi-structured environments, such as in agriculture. Many robotic manipulators utilised in semi-structured environments retain the same characteristics and ...
Rami Al-Khulaidi, Rini Akmeliawati, Steven Grainger, Tien-Fu Lu   +3 more
doaj   +1 more source

Generalized Jacobian analysis of lower mobility manipulators [PDF]

, 2011
Mainly drawing on screw theory and linear algebra, this paper presents a general approach for Jacobian analysis of lower mobility manipulators. Given the definitions of twist/wrench spaces and their subspaces of the end-effector, the underlying ...
Huang, Tian, Chetwynd, D. G., Liu, H. T., D.G. Chetwynd, H.T. Liu, T. Huang   +5 more
core   +1 more source

From junk to function — How weak selection in eukaryotes builds new parts and drives genomic complexity

FEBS Letters, EarlyView.
How do genomes gain new functional parts? In eukaryotes, which tend to evolve under weak selection, much of the genome is junk. Palazzo and Qiu borrow the logic of Markov chains to show how non‐functional DNA becomes functional through the appearance of intermediate states, which arise due to epistasis, buffering, and biochemical messiness, allowing ...
Alexander F. Palazzo, Yi Qiu
wiley   +1 more source

A Deep Learning Approach to Navigating the Joint Solution Space of Redundant Inverse Kinematics and Its Applications to Numerical IK Computations

IEEE Access, 2023
As an increasing number of robotic manipulators possess seven or more degrees-of-freedom (DoF), solving inverse kinematic (IK) for kinematically redundant manipulators is becoming critical.
Chi-Kai Ho, Li-Wei Chan, Chung-Ta King, Ting-Yu Yen   +3 more
doaj   +1 more source