ABSTRACT
This paper presents an observer architecture that can estimate a set of configuration space variables, their rates of change and contact forces of a fabric-reinforced inflatable soft robot. We discretized the continuum robot into a sequence of discs connected by inextensible threads; this allows great flexibility when describing the robot's behavior. At first, the system dynamics is described by a linear parameter-varying (LPV) model that includes a set of subsystems, each of which corresponds to a particular range of chamber pressure. A real-world challenge we confront is that the physical robot prototype exhibits a hysteresis loop whose directions depend on whether the chamber is inflating or deflating. In this paper we transform the hysteresis model to a semilinear model to avoid backward-in-time definitions, making it suitable for observer and controller design. The final model describing the soft robot, including the discretized continuum and hysteresis behavior, is called the semilinear parameter-varying (SPV) model. The semilinear parameter-varying observer architecture includes a set of sub-observers corresponding to the subsystems for each chamber pressure range in the SPV model. The proposed observer is evaluated through simulations and experiments. Simulation results show that the observer can estimate the configuration space variables and their rate of change with no steady-state error. In addition, experimental results display fast convergence of generalized contact force estimates and good tracking of the robot's configuration relative to ground-truth motion capture data.
ABSTRACT
A potential method by which society's reliance on fossil fuels can be lessened is via the large-scale utilization of biofuels derived from the secondary cell walls of woody plants; however, there remain a number of technical challenges to the large-scale production of biofuels. Many of these challenges emerge from the underlying complexity of the secondary cell wall. The challenges associated with lignin have been well explored elsewhere, but the dicot cell wall components of hemicellulose and pectin also present a number of difficulties. Here, we provide an overview of the research wherein pectin and xylan biosynthesis has been altered, along with investigations on the function of irregular xylem 8 (IRX8) and glycosyltransferase 8D (GT8D), genes putatively involved in xylan and pectin synthesis. Additionally, we provide an analysis of the evidence in support of two hypotheses regarding GT8D and conclude that while there is evidence to lend credence to these hypotheses, there are still questions that require further research and examination.