Robust bucket position tracking for a large hydraulic excavator

The device we study is the excavation arm of a large hydraulic mining shovel having a multi-loop kinematic form. We describe an iterative algorithm that allows the position of the bucket to be tracked from measurements of the linear actuator extensions. The important characteristic of this algorithm is that it is numerically well-behaved when the linkage is close to singular configurations. While we focus on a specific device, the algorithm is easy to adapt to other multi-loop linkages. (C) 2004 Elsevier Ltd. All rights reserved.

Designing supramolecular structures from models of cyclic peptide scaffolds with heterocyclic constraints

Cyclic peptides containing oxazole and thiazole heterocycles have been examined for their capacity to be used as scaffolds in larger, more complex, protein-like structures. Both the macrocyclic scaffolds and the supramolecular structures derived therefrom have been visualised by molecular modelling techniques. These molecules are too symmetrical to examine structurally by NMR spectroscopy. The cyclic hexapeptide ([Aaa-Thz](3), [Aaa-Oxz](3)) and cyclic octapeptide ([Aaa-Thz](4), [Aaa-Oxz](4)) analogues are composed of dipeptide surrogates (Aaa: amino acid, Thz: thiazole, Oxz: oxazole) derived from intramolecular condensation of cysteine or serine/threonine side chains in dipeptides like Aaa-Cys, Aaa-Ser and Aaa-Thr. The five-membered heterocyclic rings, like thiazole, oxazole and reduced analogues like thiazoline, thiazolidine and oxazoline have profound influences on the structures and bioactivities of cyclic peptides derived therefrom. This work suggests that such constrained cyclic peptides can be used as scaffolds to create a range of novel protein-like supramolecular structures (e.g. cylinders, troughs, cones, multi-loop structures, helix bundles) that are comparable in size, shape and composition to bioactive surfaces of proteins. They may therefore represent interesting starting points for the design of novel artificial proteins and artificial enzymes. (C) 2002 Elsevier Science Inc. All rights reserved.

Robust stability of sequential multi-input multi-output quantitative feedback theory designs

This paper re-examines the stability of multi-input multi-output (MIMO) control systems designed using sequential MIMO quantitative feedback theory (QFT). In order to establish the results, recursive design equations for the SISO equivalent plants employed in a sequential MIMO QFT design are established. The equations apply to sequential MIMO QFT designs in both the direct plant domain, which employs the elements of plant in the design, and the inverse plant domain, which employs the elements of the plant inverse in the design. Stability theorems that employ necessary and sufficient conditions for robust closed-loop internal stability are developed for sequential MIMO QFT designs in both domains. The theorems and design equations facilitate less conservative designs and improved design transparency.