Protein crystallization screens frequently yield salt crystals as well as protein crystals. A simple method for determining whether a crystal is composed of salt or macromolecules is suggested. A drop containing one or more crystals is transferred to a glass cover slip and the cover slip is then passed through the flame of a Bunsen burner. Macromolecule crystals are destroyed by this treatment,...

Human upright posture is inherently unstable. To counter the mechanical effect of a large-scale perturbation such as a slip, the CNS can make adaptive adjustments in advance to improve the stability of the body center-of-mass (COM) state (i.e., its velocity and position). Such feedforward control relies on an accurate internal representation of stability limits, which must be a function of anat...

This paper explores two practical issues related to the force control of manipulators. The first issue examined is how system stability is effected by commonly occurring manipulator nonlinearities, such as sampled-data, control signal saturation and slip-stick friction. It is shown that discretely implemented force control algorithms can drive the feedback force controlled manipulator into a li...

This paper presents an acceleration slip regulation (ASR) system for four-wheel drive (4WD) electric vehicles, which are driven by the front and rear axles simultaneously. The ASR control strategy includes three control modes: average distribution of inter-axle torque, optimal distribution of inter-axle torque and independent control of optimal slip rate, respectively, which are designed based ...

This paper presents a time-varying sliding mode adaptive controller in order to handle the stick-slip oscillation of nonlinear rotary drilling system. The time-varying sliding mode controller with strong robust has two time-varying sliding surfaces, one of them induced time-varying integral sliding mode control can control the transient stage of the rotary drilling system and ensure the system ...

Skid‐steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a four track wheel skid‐steered mobile robot (4‐TW SSMR) using flexible fuzzy logic control (FLC). The extended Kalman filter is utilized to e...

Safety systems in road vehicles are categorised into two main types: passive and active systems. The antilock braking system (ABS) is an active safety system in road vehicles, which senses the slip value between the tyre and the road and uses these values to determine the optimum braking force. Due to the high non-linearity of the tyre and road interaction, and uncertainties from vehicle dynami...