Coordinated motion design on lie groups

The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integrator dynamics. It thereby shows that coordination can be studied in a systematic way once the Lie group geometry of the configuration space is well characterized. Applying the proposed general methodology to particular examples allows to retrieve control laws that have been proposed in the literature on intuitive grounds. A link with Brockett's double bracket flows is also made. The concepts are illustrated on SO(3), SE(2) and SE(3). © 2010 IEEE.

Alternating spatial patterns for coordinated group motion

Motivated by recent observations of fish schools, we study coordinated group motion for individuals with oscillatory speed. Neighbors that have speed oscillations with common frequency, amplitude and average but different phases, move together in alternating spatial patterns, taking turns being towards the front, sides and back of the group. We propose a model and control laws to investigate the connections between these spatial dynamics, communication when sensing is range or direction limited, and convergence of coordinated group motions. ©2007 IEEE.

A new alpha-Keggin type polyoxometalate coordinated to four silver complex moieties: {PW9V3O40[Ag(2,2 '-bipy)](2)[Ag-2(2,2 '-bipy)(3)](2)}

A new polyoxometalate derivative {PW9V3O40[Ag(2,2'-bipy)](2)[Ag-2(2,2'-bipy)(3)](2)} 1 has been hydrothermally synthesized and structurally characterized by the single crystal X-ray diffraction. X-Ray analysis showed that both [Ag(2,2'-bipy)](+) and [Ag-2(2,2'-bipy)(3)](2+) units are supported on the alpha-Keggin polyoxoanion [PW9V3O40](6-) via the surface bridging oxygen atoms. 1 represents the first alpha-Keggin type polyoxoanion coordinated with four transition metal complex moieties, which further acts as a neutral molecular units for the construction of an interesting three-dimensional supramolecular framework.

Studies on the organometallic palladium coordinated carbosillane liquid crystalline dendrimer

A novel complex - palladium-coordinated ate-type liquid crystalline dendrimer was synthesized by a divergent approach, The product showed liquid crystalline properties from 115 degrees C to 187 degrees C, and it belonged to dinuclear species, containing two palladium centers linked by two bridging Cl, each palladium atom completes its coordinations with N atom and a sigma bond to an ortho-carbon in the phenyl ring. The microanalytical values obtained for the product are in agreement with those of compound containing ligand, palladium:and chlorine in a molar ratio of 1 : 1 : 1 and 12 palladium atoms for every scaffold.

SYNTHESIS OF A NEW TYPE OF CH3CN-COORDINATED LANTHANIDE COMPOUNDS LN(CH3CN)9(ALCL4)3CH3CN

Acetonitrile is a weakly donating ligand. The cationic compounds of CH_3CN-coordinated transition metal are versatile homogeneous catalysts for the polymerization and isomerization of olefins and cycloolefins. The cationic compound of lanthanide[Eu(CH_3·CN)_3(BF_4)_3]_n was prepared from the oxidation of Eu with NOBF_4 in CH_3CN by Thomas in 1986. It was found that [Eu(CH_3CN)_3(BF_4)_3]_n can catalyze the polymerization of styrene cyclohexadiene and other olefins. However, there is no information about...

Molecular coordinated regulation of gene expression during ovarian development in the penaeid shrimp

To understand the molecular events of ovarian development in penaeid shrimp, RNA arbitrarily primed polymerase chain reaction (RAP-PCR) was used to identify differentially expressed genes during ovarian maturation in Metapenaeus ensis. From a screening of 700 clones in a cDNA library of the shrimp ovary by the products of RAP-PCR of different maturation stages, 91 fragments with differentially expressed pattern as revealed by dot-blot hybridization were isolated and sequenced. Forty-two of these fragments show significant sequence similarity to known gene products and the differentially expressed pattern of 10 putative genes were further characterized via Northern hybridization. Putative glyceraldehyde-3-phosphate dehydrogenase and arginine kinase are related to provision of energy for active cellular function in oocyte development. Translationally controlled tumor protein, actin, and keratin are related to the organization of cytoskeleton to accomplish growth and development of oocytes. High mobility group protein DSP1, heat shock protein 70, and nucleoside diphosphate kinase may act as repressors before the onset of ovarian maturation. Peptidyl-prolyl cis-trans isomerase and glutathione peroxidase are related to the stabilization of proteins and oocytes. This study provides new insights on the molecular events in the ovarian development in the shrimp.