Virus Matryoshka: A Bacteriophage Particle—Guided Molecular Assembly Approach to a Monodisperse Model of the Immature Human Immunodeficiency Virus

Immature human immunodeficiency virus type 1 (HIV‐1) is approximately spherical, but is constructed from a hexagonal lattice of the Gag protein. As a hexagonal lattice is necessarily flat, the local symmetry cannot be maintained throughout the structure. This geometrical frustration presumably results in bending stress. In natural particles, the stress is relieved by incorporation of packing defects, but the magnitude of this stress and its significance for the particles is not known. In order to control this stress, we have now assembled the Gag protein on a quasi‐spherical template derived from bacteriophage P22. This template is monodisperse in size and electron‐transparent, enabling the use of cryo‐electron microscopy in structural studies. These templated assemblies are far less polydisperse than any previously described virus‐like particles (and, while constructed according to the same lattice as natural particles, contain almost no packing defects). This system gives us the ability to study the relationship between packing defects, curvature and elastic energy, and thermodynamic stability. As Gag is bound to the P22 template by single‐stranded DNA, treatment of the particles with DNase enabled us to determine the intrinsic radius of curvature of a Gag lattice, unconstrained by DNA or a template. We found that this intrinsic radius is far larger than that of a virion or P22‐templated particle. We conclude that Gag is under elastic strain in a particle; this has important implications for the kinetics of shell growth, the stability of the shell, and the type of defects it will assume as it grows.     

Impact of including land-use change emissions from biofuels on meeting GHG emissions reduction targets: the example of Ireland

The greenhouse gases (GHG) emissions from land-use change are of particular concern for land-based biofuels. Emissions avoided by substituting fossil fuels with biofuels may be offset by emissions from direct and indirect land-use changes (LUC). There is an urgent need to investigate what impact land-use change emissions may have on the expansion of bioenergy and biofuels, in the context of EU mitigation policies. This paper focuses on Ireland, which faces a number of challenges in delivering its renewable energy and GHG reduction targets. The Irish TIMES energy systems model was used to assess the impact of a range of land-use change emissions’ levels on the evolution of Ireland’s low-carbon energy system. A reference scenario was developed where LUC is ignored and Ireland achieves a least-cost low-carbon energy system by 2050. If high indirect land-use change (ILUC) emissions are included, this results in a decrease by 30 % in bioenergy and a 68 % increase in marginal abatement costs by 2050. Hydrogen is used instead of bioenergy in the freight sector in this scenario, while private cars are fuelled by renewable electricity. If GHG emissions from ILUC were considered less severe, indigenous grass biomethane becomes the key biofuel representing 31 % of total bioenergy consumption. This is in line with recent research in Ireland of the key role that grass biomethane can play.     

Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly challenging when obstacles are present in the manipulator workspace. In this paper a n-joint planar robot manipulator is considered and it is assumed that obstacles located in its workspace can be approximated in a conservative way with circles. The goal is to represent the obstacles in the robot configuration space. The representation allows to obtain an efficient and accurate trajectory planning and tracking. A simple but effective path planning strategy is proposed in the paper. Since path planning depends on tracking accuracy, in this paper an adequate tracking accuracy is guaranteed by means of a suitably designed Second Order Sliding Mode Controller (SOSMC). The proposed approach guarantees a collision-free motion of the manipulator in its workspace in spite of the presence of obstacles, as confirmed by experimental results.     

Experimental validation of the discrete-time MCS adaptive strategy

This paper is concerned with the implementation and experimental validation of a discrete-time model reference adaptive control strategy, known as Minimal Control Synthesis (MCS) algorithm. After discussing the proof of stability of the algorithm when applied to discretized models of continuous-time plants, the problem of controlling a highly nonlinear electro-mechanical device is taken as a representative case of study. It is shown that the discrete-time MCS is an effective strategy to solve the problem while guaranteeing robustness to unmodeled nonlinear dynamics over a wide range of test manoeuvres.     

Contact force regulation in wire-actuated pantographs via variable structure control and frequency-domain techniques

One of the main problems in high-speed-train transportation systems is related to the current collection quality, that can dramatically decrease because of oscillations of the pantograph-catenary system. This problem has been addressed by means of active pantographs. In this paper we present some results about the possible implementation of variable structure control (VSC) techniques on a wire actuated symmetric pantograph. Such an actuator was suggested in the literature as a viable solution to building an active pantograph by modifying a passive pantograph currently used by Italian Railways. The use of VSC with sliding modes was considered in order to cope with the system uncertainties due to the overhead suspended catenary. Recent results about the frequency-based analysis of VSC systems featuring second-order sliding modes are exploited to avoid the performance-destroying effect of the resonant wire actuator and to get a continuous control force without using observers. We show by simulations that the contact force results are very close to the desired set-point also in the presence of measurement noise.     

Using 3D Sound to Improve the Effectiveness of the Advanced Driver Assistance Systems

Future generation cars will be characterized by a wide range of Information Technology (IT) services providing safety and infotainment. This makes the car an information intensive environment where the visual channel is overloaded, putting the safety of drivers and passengers in jeopardy. We propose the use of a 3D auditory display to provide information from the Advanced Driver Assistance Systems. This reduces the eye-off-road time, exploiting the human capability to associate sounds with positions in space. Preliminary lab tests reveal the suitability of this approach. The system still has to be carefully tuned and personalized to achieve usability and reliability, but we think that it provides a complementary channel that is specially useful in low visibility conditions.     

Stationary policies for lower bounds on the minimum average cost of discrete‐time nonlinear control systems

The paper deals with the control problem of discrete‐time nonlinear systems. The main contribution of this note is to present conditions that assure the existence of stationary policies that generate lower bounds for the minimal long‐run average cost. These lower bounds coincide with the optimal solution when a mild convergence assumption holds. To illustrate the results, the paper presents an application for the simultaneous state‐feedback control problem, and the derived strategy is used to design a real‐time simultaneous control for two direct current motor devices. The dynamics of these two devices are written in terms of a nonlinear algebraic matrix recurrence, which in turn represents a particular case for our general nonlinear approach. The optimal gain for the corresponding simultaneous state‐feedback problem is obtained, and such a gain was implemented in a laboratory testbed to control simultaneously the two direct current motors. Copyright © 2013 John Wiley & Sons, Ltd.     

Tool addition strategies for flexible manufacturing systems

The allocation of tools to machines determines potential part routes in flexible manufacturing systems. Given production requirements and a minimum feasible set of tools, the decision of how to fill vacant slots in tool magazines to maximize routing flexibility is shown to be a minimum cost network flow problem for the cases when routing flexibility is a function of the average workload per tool aggregated over tool types, or of the number of possible routes through the system. A linear programming model is then used to plan a set of routes for each part type so as to minimize either the material handling requirement or the maximum workload on any machine. The impact of these tool addition strategies on the material handling and workload equalization is investigated and computational results presented. The advantage of the overall approach is computational simplicity at each step and the ability to react to dynamic changes.This article is based upon work supported by the National Science Foundation under Grants No. DMC 85–44993 and DDM 92–15432.This work was done by the author while visiting the SIE Department of the University of Arizona.