Synchronized path following control of multiple homogenous underactuated AUVs

This paper addresses the problem of synchronized path following of multiple homogenous underactuated autonomous underwater vehicles(AUVs).The dedicated control laws are categorized into two envelopes:One is steering individual underwater vehicle to track along predefined path,and the other is ensuring tracked paths of multiple vehicles to be synchronized,by means of decentralized speed adaption under the constraints of multi-vehicle communication topology.With these two tasks formulation,geometric path following is built on Lyapunov theory and backstepping techniques,while injecting helmsman behavior into classic individual path following control.Synchronization of path parameters are reached by using a mixture of tools from linear algebra,graph theory and nonlinear control theory.A simple but effective control design on direct inter-vehicle speed adaption with min- imized communication variables,enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold,and all speeds converge to desired assignments as a byproduct.Simulation results illustrate the performance of the synchronized path following control laws proposed.     

Solution structure of a minor and transiently formed state of a T4 lysozyme mutant

Proteins are inherently plastic molecules, whose function often critically depends on excursions between different molecular conformations (conformers). However, a rigorous understanding of the relation between a protein's structure, dynamics and function remains elusive. This is because many of the conformers on its energy landscape are only transiently formed and marginally populated (less than a few per cent of the total number of molecules), so that they cannot be individually characterized by most biophysical tools. Here we study a lysozyme mutant from phage T4 that binds hydrophobic molecules and populates an excited state transiently (about 1?ms) to about 3% at 25?°C (ref. 5). We show that such binding occurs only via the ground state, and present the atomic-level model of the 'invisible', excited state obtained using a combined strategy of relaxation-dispersion NMR (ref. 6) and CS-Rosetta model building that rationalizes this observation. The model was tested using structure-based design calculations identifying point mutants predicted to stabilize the excited state relative to the ground state. In this way a pair of mutations were introduced, inverting the relative populations of the ground and excited states and altering function. Our results suggest a mechanism for the evolution of a protein's function by changing the delicate balance between the states on its energy landscape. More generally, they show that our approach can generate and validate models of excited protein states.     

On Modeling Bio-Scaffolds:Structural and Fluid Transport Characterization Based on 3-D Imaging Data

Bio-scaffolds which are most commonly open celled porous structures are increasingly used for tissue engineering and regenerative medicine. A number of studies have shown that the bulk properties of such irregular structures are poorly modeled using idealized unit cell approaches. The paper therefore uses novel image based meshing techniques to explore both fluid flow and bulk structural properties of a bone scaffold, as accurate modeling of bio-scaffolds with non-uniform cellular structures is very important for the development of optimal scaffolds for tissue engineering application. In this study, a porous hydroxyapatite/tricalcium phosphate (HA/TCP) bone scaffold has been scanned in a Micro-CT scanner, and converted into a volumetric mesh using image processing software developed by the authors. The resulting mesh was then exported to commercial FEA and CFD solvers for analysis. Initial FEA and CFD studies have shown promising results and have highlighted the importance of accurate modeling to understand how microstructures influence the mechanical property of the scaffold, and to analyze flow regimes through the sample. The work highlights the potential use of image based meshing for the ad hoc characterization of scaffolds as well as for assisting in the design of scaffolds with tailored strength, stiffness, and transport properties.     

A biophysical signature of network affiliation and sensory processing in mitral cells

One defining characteristic of the mammalian brain is its neuronal diversity. For a given region, substructure, layer or even cell type, variability in neuronal morphology and connectivity persists. Although it is well known that such cellular properties vary considerably according to neuronal type, the substantial biophysical diversity of neurons of the same morphological class is typically averaged out and ignored. Here we show that the amplitude of hyperpolarization-evoked sag of membrane potential recorded in olfactory bulb mitral cells is an emergent, homotypic property of local networks and sensory information processing. Simultaneous whole-cell recordings from pairs of cells show that the amount of hyperpolarization-evoked sag potential and current (Ih) is stereotypic for mitral cells belonging to the same glomerular circuit. This is corroborated by a mosaic, glomerulus-based pattern of expression of the HCN2 (hyperpolarization-activated cyclic nucleotide-gated channel 2) subunit of the Ih channel. Furthermore, inter-glomerular differences in both membrane potential sag and HCN2 protein are diminished when sensory input to glomeruli is genetically and globally altered so that only one type of odorant receptor is universally expressed. Population diversity in this intrinsic property therefore reflects differential expression between local mitral cell networks processing distinct odour-related information.     

Lipid packing sensed by ArfGAP1 couples COPI coat disassembly to membrane bilayer curvature

Protein coats deform flat lipid membranes into buds and capture membrane proteins to form transport vesicles. The assembly/disassembly cycle of the COPI coat on Golgi membranes is coupled to the GTP/GDP cycle of the small G protein Arf1. At the heart of this coupling is the specific interaction of membrane-bound Arf1-GTP with coatomer, a complex of seven proteins that forms the building unit of the COPI coat. Although COPI coat disassembly requires the catalysis of GTP hydrolysis in Arf1 by a specific GTPase-activating protein (ArfGAP1), the precise timing of this reaction during COPI vesicle formation is not known. Using time-resolved assays for COPI dynamics on liposomes of controlled size, we show that the rate of ArfGAP1-catalysed GTP hydrolysis in Arf1 and the rate of COPI disassembly increase over two orders of magnitude as the curvature of the lipid bilayer increases and approaches that of a typical transport vesicle. This leads to a model for COPI dynamics in which GTP hydrolysis in Arf1 is organized temporally and spatially according to the changes in lipid packing induced by the coat.     

Espaliers: A generalization of dendrograms

Dendrograms are widely used to represent graphically the clusters and partitions obtained with hierarchical clustering schemes. Espaliers are generalized dendrograms in which the length of horizontal lines is used in addition to their level in order to display the values of two characteristics of each cluster (e.g., the split and the diameter) instead of only one. An algorithm is first presented to transform a dendrogram into an espalier without rotation of any part of the former. This is done by stretching some of the horizontal lines to obtain a diagram with vertical and horizontal lines only, the cutting off by diagonal lines the parts of the horizontal lines exceeding their prescribed length. The problem of finding if, allowing rotations, no diagonal lines are needed is solved by anO(N ²) algorithm whereN is the number of entities to be classified. This algorithm is the generalized to obtain espaliers with minimum width and, possibly, some diagonal lines.Work of the first and second authors has been supported by FCAR (Fonds pour la Formation de Chercheurs et l'Aide à la Recherche) grant 92EQ1048, and grant N00014-92-J-1194 from the Office of Naval Research. Work of the first author has also been supported by NSERC (Natural Sciences and Engineering Research Council of Canada) grant to École des Hautes Études Commerciales, Montréal and by NSERC grant GP0105574. Work of the second author has been supported by NSERC grant GP0036426, by FCAR grant 90NC0305, and by an NSF Professorship for Women in Science at Princeton University from September 1990 until December 1991. Work of the third author was done in part during a visit to GERAD, Montréal.