Motion optimization using state-dispersion-based phase space partitions

This paper addresses a phase space partitioning problem in motion planning systems. A class of kinematic and dynamic motion planning systems, including rapid semioptimal motion-planning (RASMO), uses partitions for phase spaces in cumulative optimization criteria. In these systems, a partition results in a uniquely planned motion with a quality that is determined by a selected optimization criterion. In this paper, state-dispersion-based phase space partitioning (SDPP) that generates adaptive partitions is proposed. These partitions allow the motion planning systems to plan better motions. Uniform partitions and adaptively fixed partitions of SDPP are compared under several conditions using RASMO and a double inverted pendulum model while setting the optimality criterion of RASMO to time. The results reveal that RASMO with SDPP plans smaller time motions than those obtained with RASMO using uniform partitions.     

Gain‐Scheduled Control via Switching of LTI Controllers and State Reset

This paper proposes a synthesis method of gain‐scheduled control systems that switch linear time‐invariant controllers according to hysteresis of the scheduling parameter. Stability and L₂‐gain analysis and synthesis methods for switched systems are applied to the switched gain‐scheduled control synthesis using reset of the controller state, where also the reset law is computed via linear matrix inequalities (LMIs). In addition to optimization of an upper bound of L₂‐gain, we reduce jumps of control input via an auxiliary optimization. Numerical examples are presented to illustrate the switched gain‐scheduled controller.     

Isolation and Characterization of Two Types of Xyloglucanases from a Phytopathogenic Fungus,Verticillium dahliae

Xyloglucan is a major hemicellulosic component in plant cell walls. Phytopathogenic fungi secrete cell wall-degrading enzymes on their infection to hosts, while the nature of the cell wall-lytic enzymes of such fungi are yet to be fully understood. Verticillium dahliae is a soil-borne fungus that causes vascular wilt diseases in a variety of commercially important crops worldwide. We purified two types of xyloglucanases, XEG12A and XEG74B, from the culture of naturally isolated Verticillium dahliae strain 2148. XEG12A showed a molecular size of 23 kDa with its maximal activity at pH 7.5. XEG12A specifically hydrolyzed xyloglucan with no activity on other β-glucans. XEG74B had a molecular size of 110 kDa with its optimum pH at 6.0. XEG74B primarily hydrolyzed xyloglucan, with a slight activity on β-1,3-1,4-glucan. Analysis of hydrolytic products of xyloglucanooligasaccharide (XXXGXXXG) by matrix-assisted laser desorption/ionization time-of-flight mass spectrometry (MALDI-TOF MS) revealed that the both enzymes cleaved β-1,4-glucosidic linkage at the position of unbranched chain, while XEG74B showed a little fluctuation with the cleavage site. Both enzymes did not hydrolyzed xyloglucanoheptasaccharide (XXXG) at all. N-Terminal and internal amino acid sequencing of the enzymes revealed that XEG12A and XEG74B belonged to Glycoside Hydrolase (GH) Families 12 and 74, respectively. Based on these results we concluded that V. dahliae XEG12A and XEG74B were xyloglucan-specific endo-β-1,4-glucanases (EC 3.2.1.151).     

Preparation of porous membranes by selective decomposition of adamantane unit in ABA‐type triblock copolymer

The mechanism of pore formation by selective decomposition of adamantane unit in an ABA‐type triblock copolymer derived from 4,4‐(hexafluoroisopropylidene)diphthalic anhydride‐2,3,5,6‐tetramethyl‐1,4‐phenylenediamine (6FDA‐TeMPD) and poly(2‐methyl‐2‐adamantylmethacrylate) (PMAdMA) was investigated on this basis. This study aims to developing a novel method of material design for high‐precision gas separation membranes and application to electric devices by improving dielectric constant. Scanning electron microscopy images showed that the membrane structure changed considerably after heating; the difference increased with the increase in adamantane content. Interestingly, the internal structure of Block(36 mol%6FDA‐TeMPD/64 mol%PMAdMA) membrane was almost unchanged although its surface structure was changed. These results suggest that the mechanism of formation of porous membrane involves the decomposition of adamantane unit from surface. In addition, more adamantane units inside the membrane were discharged to the surface of the membrane through a path formed by decomposed adamantane units. POLYM. ENG. SCI., 56:1191–1200, 2016. © 2016 Society of Plastics Engineers