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coordinated motion of molecular motors on DNA chains with branch topology

Acta Mechanica Sinica 2021年第10期37卷 1580-1588,I0004页

作者： Di Lu Bin Chen Department of Engineering Mechanics Zhejiang UniversityHangzhou310027China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Hangzhou310027China

Toward understanding the macroscopic mechanical behaviors of responsive deoxyribonucleic acid(DNA)hydrogels integrated with DNA motors,here we construct the state map for the translocation process of a single C-terminal translocase domain(FtsKC)on a single DNA chain at the molecular level and then investigate the movement of single or multiple FtsKC motors on DNA chains with varied branch topology.Our studies indicate that multiple FtsKC motors can have coordinated motion,which is mainly due to the force responsive behavior of individual FtsKC motor.We further suggest the potential application of motors of FtsKC,together with DNA chains of specific branch topology,to serve as strain sensors in hydrogels.

关键词： DNA Molecular motor coordinated motion Branch topology Strain sensor

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Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters

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Applied Mathematics and Mechanics(English Edition) 2008年第9期29卷 1131-1140页

作者：郭益深陈力 College of Mechanical Engineering Fuzhou University

Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.

关键词： flee-floating dual-arm space robot RBF neural network GL matrix andits product operator coordinated motion adaptive control

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Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance

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Applied Mathematics and Mechanics(English Edition) 2008年第5期29卷 583-590页

作者：郭益深陈力 College of Mechanical Engineering Fuzhou University

The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.

关键词： free-floating space rigid manipulator external disturbance terminal slidingsurface coordinated motion terminal sliding mode control

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