An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements.

This paper presents an adaptive partial state feedback controller for rigid-link flexible-joint (RLFJ) robots. The controller compensates for parametric uncertainty throughout the entire mechanical system while only requiring measurement of link position and actuator position. To eliminate the need for measuring link velocity and actuator velocity a set of filters is utilized as a surrogate for the unmeasurable quantities. Based on this set of filters, an adaptive integrator backstepping procedure is used to develop a torque input controller which guarantees semiglobal asymptotic link position tracking while also ensuring that all signals remain bounded during closed-loop operation. Simulation results for a two-link RLFJ robot are utilized to validate the performance of the proposed controller.

Adaptive position/force control of robot manipulators without velocity measurements: theory and experimentation.

In this paper, we design an adaptive position/force controller for robot manipulators during constrained motion. The proposed controller can compensate for parametric uncertainty while only requiring measurements of link position and end-effector force. A filtering technique is utilized to produce a pseudo-velocity error signal and thus, eliminate the need for link velocity measurements. The control strategy provides semiglobal asymptotic tracking performance for the end-effector position and the interaction force between the constraint and the end-effector. An experimental implementation of the proposed controller on a two-link planar robot is also presented.

Overexpression of kermit/dGIPC is associated with lethality in Drosophila melanogaster.

Insertional mutagenesis is an important tool for functional genomics in Drosophila melanogaster. The insertion site in the KG00562 mutant fly line has been mapped to the CG8709 (herein named DmLpin) locus and to the 3' of kermit (also called dGIPC). This mutant line presents a high lethality rate resulting from a gain of function. To obtain some insight into the biological role of the mutated locus, we have characterized the mutation and its relation to the high mortality of the KG00562 fly line. In this mutant, we did not detect one of the DmLpin transcripts, namely DmLpinK, but we did detect an unusual 2.3-kb mRNA (LpinK-w). Further investigation revealed that the LpinK-w transcript results from an aberrant splicing between the untranslated first exon of DmLpinK and the mini-white marker gene. Lack of DmLpinK or LpinK-w expression does not contribute to lethality, since heterozygous KG00562/Def7860 animals presented lethality rates comparable to those of the wild type. In contrast, the overexpression of kermit was associated with lethality of the KG00562 fly line. Significantly higher levels of kermit were detected in the Malpighian tubules of KG00562/+ flies that presented higher lethality rates than wild-type or KG00562/Def7860 animals, in which the lethality was rescued. In agreement with a recently reported study, our data support the hypothesis that misexpression of kermit/dGIPC could interfere with Drosophila development, with further investigations being needed in this direction.

Overexpression of kermit/dGIPC is associated with lethality in Drosophila melanogaster

Insertional mutagenesis is an important tool for functional genomics in Drosophila melanogaster. The insertion site in the KG00562 mutant fly line has been mapped to the CG8709 (herein named DmLpin) locus and to the 3’ of kermit (also called dGIPC). This mutant line presents a high lethality rate resulting from a gain of function. To obtain some insight into the biological role of the mutated locus, we have characterized the mutation and its relation to the high mortality of the KG00562 fly line. In this mutant, we did not detect one of the DmLpin transcripts, namely DmLpinK, but we did detect an unusual 2.3-kb mRNA (LpinK-w). Further investigation revealed that the LpinK-w transcript results from an aberrant splicing between the untranslated first exon of DmLpinK and the mini-white marker gene. Lack of DmLpinK or LpinK-w expression does not contribute to lethality, since heterozygous KG00562/Def7860 animals presented lethality rates comparable to those of the wild type. In contrast, the overexpression of kermit was associated with lethality of the KG00562 fly line. Significantly higher levels of kermit were detected in the Malpighian tubules of KG00562/+ flies that presented higher lethality rates than wild-type or KG00562/Def7860 animals, in which the lethality was rescued. In agreement with a recently reported study, our data support the hypothesis that misexpression of kermit/dGIPC could interfere with Drosophila development, with further investigations being needed in this direction.