Dissertations / Theses on the topic 'Docking'
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Zhang, Mei. "Cross-docking network design." Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/21685.
Full textIakovou, Georgios. "Simulating molecular docking with haptics." Thesis, University of East Anglia, 2015. https://ueaeprints.uea.ac.uk/59468/.
Full textAtkovska, Kalina, Sergey A. Samsonov, Maciej Paszkowski-Rogacz, and M. Teresa Pisabarro. "Multipose Binding in Molecular Docking." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2014. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-147177.
Full textHuggins, David John. "Multiscale docking using evolutionary optimisation." Thesis, University of Oxford, 2005. http://ora.ox.ac.uk/objects/uuid:f166d5ec-5085-48b9-838a-626f754f73fb.
Full textРемыга, Ю. С. "Технология cross-docking – особенности применения." Thesis, Национальный авиационный университет, 2010. https://er.nau.edu.ua/handle/NAU/46688.
Full textBOCZAR, LUDVIG, and JONATHAN PERNOW. "Autonomous Docking of Electric Boat." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-299765.
Full textFör fritidsbåtlivet är tilläggning en av demest stressfulla och olycksbenägna situationerna. På grund av förlust av manövrering vid låga hastigheter är det en procedur som kräver erfarenhet. Det finns främst två problem när det kommer till autonom tilläggning, det är att identifiera positionen av en brygga såväl som att hålla båten på den avsedda kursen och rätta till små avvikelser. Autonom tilläggning för fritidsbåtlivet är fortfarande rätt ovanligt och företag utforskar fortfarande olika lösningar. Denna avhandling föreslår ett Modellprediktivt Reglersystem (MPC) kombinerat med Pulserad Koherent Radarteknik som är utrustad på en underaktuerad båtmodell för att uppnå autonom tilläggning. En stor del av avhandlingen var att utvärdera antalet och placeringen av radarsensorer, såväl som att fastställa om dessa är lämpliga att användas i en vattenmiljö. För att undersöka detta placerades sensorerna längs med båtens skrov. Det konstaterades att placeringen av sensorer hade en större påverkan än mängden när det kom till att läsa av positionen av bryggan korrekt. När placeringen av sensorer och bryggpositionsalgoritmen var klar användes MPC med återkoppling. Denna regulator fick konstant återkoppling av båtens position relativt bryggan för att räkna ut styrsignal till motorerna för nästa tidssteg. Den utvecklade autonoma tilläggningen var sedan implementerad på båten som testades i en pool. Den optimala radarplaceringen kombinerat med MPC gjorde det möjligt att med framgång kunna lägga till båten autonomt utan modifiering av bryggan.
Švehlová, Zuzana. "Cross-docking ako distribučná metóda." Master's thesis, Vysoká škola ekonomická v Praze, 2010. http://www.nusl.cz/ntk/nusl-73809.
Full textZöllner, Frank G. "Enhancing protein-protein docking by new approaches to protein flexibility and scoring of docking hypotheses." [S.l. : s.n.], 2004. http://deposit.ddb.de/cgi-bin/dokserv?idn=972854142.
Full textGenheden, Samuel. "A fast protein-ligand docking method." Thesis, University of Skövde, School of Humanities and Informatics, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-69.
Full textIn this dissertation a novel approach to protein-ligand docking is presented. First an existing method to predict putative active sites is employed. These predictions are then used to cut down the search space of an algorithm that uses the fast Fourier transform to calculate the geometrical and electrostatic complementarity between a protein and a small organic ligand. A simplified hydrophobicity score is also calculated for each active site. The docking method could be applied either to dock ligands in a known active site or to rank several putative active sites according to their biological feasibility. The method was evaluated on a set of 310 protein-ligand complexes. The results show that with respect to docking the method with its initial parameter settings is too coarse grained. The results also show that with respect to ranking of putative active sites the method works quite well.
Thörn, Victor. "Cross-docking i teori och praktiken." Thesis, Mälardalens högskola, Innovation och produktrealisering, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-37251.
Full textEatherley, Graham J. "Autonomous vehicle docking using fuzzy logic." Thesis, University of Ottawa (Canada), 1994. http://hdl.handle.net/10393/6731.
Full textTaylor, Richard David. "Novel simulation methods for flexible docking." Thesis, University of Southampton, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.368873.
Full textTotrov, Maxim. "Computational studies on protein-ligand docking." Thesis, Open University, 1999. http://oro.open.ac.uk/58005/.
Full textAndersson, Oscar, and Lucas Molin. "AutoTruck : Automated docking with internal sensors." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230383.
Full textKandidatarbetet syftar till att undersöka hur ett ledatfordon kan parkera sig självt efter en förbestämd parkeringsruttmed en kombination av flera ultraljudssensorersamt en vinkelgivare.Projektet består av två delar; konstruktion av ett miniatyrfordonsamt mjukvaran som styr fordonet. Fordonettillverkades från butiksköpta komponenter och skräddarsyddadelar. Lastbilens design var baserad p°a en bakhjulsdrivenAckermannstyrd lastbil. Identifieringen av en parkeringsplatssamt avståndsmätning hanterades av ultraljudssensoreroch hitch vinkeln mättes av en vinkelgivare.Miniatyrfordonets prestanda utvärderades genom attmäta släpets vinkelskillnad från centerlinjen av parkeringsplatsen.Prestandan ansågs att vara tillräckligt god med lyckadeparkeringar i 8 av 10 tester.
Luo, Gaohao Noble James S. "An integrated model of cross docking." Diss., Columbia, Mo. : University of Missouri--Columbia, 2008. http://hdl.handle.net/10355/6280.
Full textMirzaei, Hanieh. "Manifold optimization methods for macromolecular docking." Thesis, Boston University, 2014. https://hdl.handle.net/2144/11149.
Full textThis thesis develops efficient algorithms for local optimization problems encountered in predictive docking of biological macromolecules. Predictive docking, defined as computationally obtaining a model of the bound complex from the coordinates of the two component molecules, is one of the fundamental and challenging problems in computational structural biology. Docking methods generally search for the minima of an energy or scoring function that estimates the binding free energy or, more frequently, the interaction energy, of the two molecules. These energy functions generally have large numbers of local minima, resulting in extremely rugged energy landscapes. Therefore, independently of the algorithm used for sampling the conformational space, virtually all docking algorithms include some type of local continuous minimization of the energy function. Most state-of-the-art algorithms allow for the free movement of all atoms of the two molecules and rely on the minimization of the energy function to enforce structural constraints of the molecules. In contrast this thesis exploits the partial or complete rigidity of the molecules when defining the conformational space. As a result, the local optimization problems are formulated as optimization problems on appropriately defined manifolds. In the case of rigid docking, a novel manifold representation of rigid motions of a body is introduced that resolves many of the optimization difficulties associated with the commonly used manifold for this purposed , the so-called Special Euclidean group, SE(3). These difficulties arise from a coupling that SE(3) introduces between the rotational and translational move of the body. The new representation decouples these moves and results in a more appropriate and flexible optimization algorithm. Experimental results show that the proposed algorithm is an order of magnitude more efficient than the current state-of-the-art algorithms. The proposed manifold optimization approach is then extended to the case of flexible docking. The novel manifold representation of rigid motions is combined with the so-called internal coordinate representation of flexible moves to define a new manifold to which the original manifold optimization algorithm can be directly extended. Computational results show that the resulting optimization algorithm is substantially more efficient than energy minimization using a traditional all-atom optimization algorithm while producing solutions of comparable quality. It is shown that the application of the proposed local optimization algorithm as one of the components of a multi-stage refinement protocol for protein-protein docking contributes significantly to the refinement stage by helping to move the distribution of docking decoys closer to the corresponding bound structures. Finally, it is shown that the approach of the thesis can be substantially generalized to address the problem of minimization of a cost function that depends on the location and poses of one or more rigid bodies, or bodies that consist of rigid parts hinged together. This is a formulation used in a number of engineering applications other than molecular docking.
ANDERSSON, OSCAR, and LUCAS MOLIN. "AutoTruck : Automated docking with internal sensors." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233142.
Full textKandidatarbetet syftar till att undersöka hur ett ledat fordon kan parkera sig självt efter en förbestämd parkeringsrutt med en kombination av flera ultraljudssensorer samt en vinkelgivare. Projektet består av två delar; konstruktion av ett miniatyrfordon samt mjukvaran som styr fordonet. Fordonet tillverkades från butiksköpta komponenter och skräddarsydda delar. Lastbilens design var baserad på en bakhjulsdriven Ackermannstyrd lastbil. Identifieringen av en parkeringsplats samt avståndsmätning hanterades av ultraljudssensorer och hitch vinkeln mättes av en vinkelgivare. Miniatyrfordonets prestanda utvärderades genom att mäta släpets vinkelskillnad från centerlinjen av parkeringsplatsen. Prestandan ansågs att vara tillräckligt god med lyckade parkeringar i 8 av 10 tester.
Johansson, Tim, and Pontus Nilsson. "Further Development of a Docking Station : Redesign of MagniLink S Docking Station at LVI Low Vision International." Thesis, Linnéuniversitetet, Institutionen för maskinteknik (MT), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-44186.
Full textLoberg, Jon-Erik. "Planar Docking Algorithms for Underactuated Marine Vehicles." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-10039.
Full textThe use of autonomously underwater vehicles (AUVs) has a great potential in scientific mission involving underwater exploration. However a major drawback with todays AUV missions is the launch and recovery process which are usually performed manually from a manned supply ship. These manned ships have a huge daily operation cost, and because AUVs can have operation times up to 70 hours these missions become extremely costly. Since the combination of an AUV together with a manned mothership is very costly the use of AUVs are very restricted. A solution here is to replace the manned mothership with an unmanned vehicle such as a unmanned surface vehicle (USV). This will reduce the cost of AUV mission drastically and therefore increase the use of AUVs on scientific missions. This motivates the need for an AUV-USV docking method which is one of the two docking scenarios treated in this master thesis. Another docking method treated here is the possibility to dock a USV together with a manned mothership without human interference. A docking method that removes the human intervention will make the USV completely unmanned, since USVs today are manually docked together with a mothership or driven back to shore by a remote control. To achieve an understanding of the field, a summary of the most relevant findings in todays literature are given. This includes the possibility to autonomously dock together an AUV with another vehicle or installation, and other related fields such as spacecraft docking and aerial refuelling. The main findings involving AUV docking, ranges from a simple fuzzy logic procedure to more advanced methods involving trajectory planning and potential field guidance. Since no extensive previous work exist on general USV docking, a short introduction is given to the most related fields, such as spacecraft docking and aerial refuelling. During air refuelling two methods are summarised which includes racetrack pattern or waypoint paths, where the receiver aircraft has two different ways of rendezvousing with the tanker, namely point parallel- or route-rendezvous. In both docking scenarios treated here, rendezvous guidance is developed since the vehicles are assumed underactuated. The docking procedure is divided into two stages, a homing stage and a docking stage. In the homing stage only rough guidance is needed which is not the case during docking stage where requirements are much tighter on positioning to avoid collisions. In the AUV to USV homing stage the USV does all the work, but during docking stage the AUV has full responsibility, since the USV only traverses along a straight path. The USV's path is here orientated against the wind direction to minimise the sideslip effect caused due to weather disturbances. Once the USV has converged to a straight path the AUV proceeds to docking from behind the USV to finalise docking. For the USV to mothership docking scenario, the USV has the full responsibility during the whole docking procedure. Here the USV is underactuated, and therefore the mothership will be in motion and only has to avoid sudden manoeuvres. In the homing stage the USV will manoeuvre towards a point given on the line of sight vector between the two vehicles. Once the USV reaches this point it will steer along a circle around the mothership to avoid collisions and to position itself in clear sight of the docking point. With clear sight achieved the USV will use its forward motion to converge sideways towards the docking point, such that docking can be completed. Finally, simulations are carried out to verify the behaviour of the developed guidance laws. During these simulations two 3DOFs underactuated USV models are being used, where both vehicles only has controllability over surge speed and yaw rate. In both docking scenarios the whole docking procedure is analysed including homing and docking stage. The simulation results shows a proper docking with a satisfying approach in both scenarios. Also the mothership's velocity is examined to understand the USV's sideway approach towards the mothership.
Wang, Chu. "Improved conformational sampling for protein-protein docking /." Thesis, Connect to this title online; UW restricted, 2007. http://hdl.handle.net/1773/9194.
Full textClaußen, Holger. "Effizientes Protein-Ligand-Docking mit flexiblen Proteinstrukturen /." Sankt Augustin : GMD-Forschungszentrum Informationstechnik, 2001. http://www.gbv.de/dms/bs/toc/33264023X.pdf.
Full textOledzki, Peter Richard. "Developing a protein-ligand docking algorithm : FlexLigDock." Thesis, University of Leeds, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.435818.
Full textSeito, Narumi. "Modelagem e simulação de rendezvous e docking." Instituto Nacional de Pesquisas Espaciais (INPE), 2015. http://urlib.net/sid.inpe.br/mtc-m21b/2015/06.03.14.07.
Full textIn this thesis strategies to solve the problem of the RVD/B (RendezVous and Docking/Berthing) orbital operations are studied. In a brief review of the literature, the strategies of approximation, the techniques for orbit and attitude synchronization, and the technique for the close proximity approximation are presented, all of them supported by two systems of differential equations for the translational and rotational motion of both spacecrafts. Two configurations are considered for the chaser: one when the robotic manipulator of the chaser is inert, and a second one when the robotic manipulator is in action. In the first configuration the Newtonian formulation is used to obtain the equations of Hill-Clohessy-Klein for the translational dynamics, while the attitude motion is determined by Eulers equations. These two systems of differential equations allow to guide the chaser up to the point for berthing the target. In the second configuration, the Lagrangian formulation for quasi-coordinates and generalized coordinates supplies the equations for the motion of the robotic manipulator when berthing the target. These latter equations and their numerical simulation of berthing the target are the original part of this thesis. The computational simulations of the dynamics are carried out by use of the software MatLab.
Whiteley, Chris G., C.-Y. Shing, C.-C. Kuo, and Duu-Jong Lee. "Docking of HIV protease to silver nanoparticles." Elsevier, 2016. http://hdl.handle.net/10962/67105.
Full textThis interaction of silver nanoparticles (AgNP) with human immune-deficiency virus aspartic protease (HIVPR) is examined by molecular dynamics simulation using the Colores (Situs) package and biophysical techniques using UV–vis spectroscopy, dynamic light scattering, transmission electron microscopy and circular dichroism. The ‘docking’ of AgNP with HIVPR creates a complex [AgNP–HIVPR] to initiate a hypochromic time-dependent red-shift for the surface plasmon resonance maximum. MD simulations reflect large perturbations to enzyme conformations by fluctuations of both rmsd and B-factors. Increase in changes to electrostatic potentials within the enzyme, especially, with chain B, suggest hydrophobic interactions for the binding of the AgNP. This is supported by changes to mainchain and sidechain dihedrals for many hydrophobic amino acid including Cys95, Trp6 and Trp42. Circular dichroism spectra reveal disappearance of α-helices and β-sheets and increase in random coil first from chain B then chain A. During initial stages of the interactive simulation the enzyme is conformational flexible to accommodate the AgNP, that docks with the enzyme under a cooperative mechanism, until a more stable structure is formed at convergence. There is a decrease in size of the HIVPR–AgNP complex measured by changes to the gyration radius supporting evidence that the AgNP associates, initially, with chain B.
Huang, Bingding. "Improving protein docking with binding site prediction." Doctoral thesis, [S.l. : s.n.], 2008. http://nbn-resolving.de/urn:nbn:de:bsz:14-ds-1216305428189-09951.
Full textDuzzi, Matteo. "Spacecraft Rendezvous and Docking Using Electromagnetic Interactions." Doctoral thesis, Università degli studi di Padova, 2018. http://hdl.handle.net/11577/3422295.
Full textLa capacità di eseguire operazioni di servizio su veicoli in orbita ha riscontrato, negli ultimi anni, un’enorme interesse da parte delle maggiori compagnie e agenzie spaziali internazionali. La necessità di ridurre i costi di produzione, assieme alla possibilità di ottenere sistemi complessi più affidabili e duraturi, ha indirizzato marcatamente il mercato dell’ingegneria aerospaziale verso lo studio di soluzioni innovative per eseguire in orbita operazioni quali rifornimento, aggiornamento e manutenzione di sottositemi, riparazioni di componenti non funzionanti e ispezioni. Le nuove idee e tecnologie in via di sviluppo per eseguire queste operazioni sono percepite come estremamente funzionali e efficienti in termini di costo, in grado di estendere la vita operativa di un satellite e diminuire i costi connessi alla sua completa sostituzione. Attualmente, il tassello mancante per poter procedere efficacemente con questo tipo di procedure, è un sistema automatico di docking che possa costituire un nuovo standard semplice ed affidabile. Gli odierni sistemi di docking, infatti, sono caratterizzati da elevati requisiti di puntamento e necessitano dell’attuazione di precise azioni sul controllo d’assetto in modo da garantire un aggancio sicuro tra i due veicoli coinvolti nella manovra. Questo è dovuto al fatto che tali sistemi di aggancio sono stati progettati quasi unicamente per il trasferimento di equipaggio o di materiali mentre nessuna progettazione, finora, è mai stata prevista per i satelliti commerciali e scientifici. Recentemente, l’avvento dei CubeSat ha fortemente incoraggiato aziende e agenzie del settore aerospaziale ad investire nello sviluppo di dimostratori tecnologici e payload scientifici, grazie alla notevole riduzione nel costo necessario per lanciare in orbita tali veicoli. Lo svantaggio nell’utilizzare questo tipo di piattaforme è principalmente legato ai limiti tecnici intrinseci degli stessi, rappresentati dalle ridotte risorse a disposizione. Ciononostante, gran parte di queste limitazioni sono state superate grazie alla possibilità di scalare i risultati ottenuti ed applicarli a sistemi più grandi. Numerose tecnologie sono già state testate e caratterizzate nello spazio usando moduli CubeSat, ma solo esperimenti marginali sono stati condotti sino ad oggi su sistemi di docking, anche se si sta percependo un cambio di tendenza. Tali sistemi, infatti, permetterebbero l’esecuzione di operazioni di aggancio e sgancio, ampliando enormemente i possibili scenari di missione: sistemi modulari formati da molteplici unità CubeSat potrebbero interagire tra loro creando agglomerati più grandi in grado di condividere le risorse più efficacemente, riorganizzarsi e aggiornarsi autonomamente. Lo scopo di questa ricerca è quello di proporre un nuovo sistema di soft-docking caratterizzato da requisiti meno stringenti per quanto concerne l’accuratezza nel puntamento e nel controllo d’assetto rispetto ai sistemi esistenti. L’idea innovativa alla base dello studio è quella di sfruttare la capacità di auto-allineamento e reciproca attrazione garantita dall’interazione magnetica che si instaura tra due interfacce elettromagnetiche, in modo da facilitare le manovre di prossimità ed aggancio. La trattazione è suddivisa in due parti principali. Nella prima parte viene presentato l’esperimento PACMAN (Position and Attitude Control with MAgnetic Navigation) il quale rappresenta un dimostratore tecnologico di un sistema di docking per piccoli satelliti basato su attuatori magnetici. Tale sistema, sviluppato all'interno del programma ESA Education Fly Your Thesis! 2017, è stato testato in gravità ridotta durante la 68th campagna di voli parabolici ESA a dicembre. La seconda parte si focalizza invece su un nuovo concept, TED (Tethered Electromagnetic Docking), secondo il quale le manovre di close-range rendezvous e docking possono essere realizzate lanciando una sonda elettromagnetica collegata ad un filo da un satellite chaser verso un’interfaccia elettromagnetica montata su di un satellite target. Stabilito il collegamento, tramite il recupero del filo, i due veicoli sono connessi rigidamente concludendo la manovra.
Saladin, Adrien. "Macromolecular Docking : applications to the RecA nucleofilament." Paris 7, 2009. http://www.theses.fr/2009PA077098.
Full textProteins play a central role in various cellular processes with various interactions with other proteins, DNA, lipids or small ligands. Because the determination of these interactions is fundamental for understanding key biological processes, several experimental methods have been developed to characterize them. Experimental studies can take a long time and an expensive. Computational methods can therefore be of great help to guide future biochemical experiments. Development of docking software is a long process involving cycles of algorithm conception, programming and tests. During my thesis, I developed an object oriented library to help and speed-up development and tests of docking methods. This library was programmed in C++ with Python bindings, and has been used to test new methods applied to protein-DNA docking and multicomponent docking. Programs made with the help of this library are presently used to study the binding of DNA to the RecA complex, responsible of homologous recombination
Ferreira, Janaina Gomes. "Estudo de compostos quinônicos com potencial atividade contra a doença de Chagas." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/75/75131/tde-23062008-163355/.
Full textThis work presents the structure determined by X-ray analyses for two naphthoquinone compounds 3,4-dihydro-2,2-dimethyl-2H-naphtho[1,2-b]pyran-5,6- dione and dimethyl-1,4-naphthoquinone. The crystal packing of these compounds showed the existence of intermolecular hydrogen bonds of the type CH...0. These intermolecular forces are responsible for the self-assembly in three-dimensional supramolecular structure. A set of 29 naphthoimidazoles, derived from β-lapachone, that has shown activity against T. cruzi, the agent of Chagas disease, were modeled. From these structures electronic, geometric, topological, etc, properties were calculated to be used in the investigation by statistic analysis, using the partial least squares method (PLS). After reduction of the number of variables, the best PLS model found was the one obtained with the following variables: Morp17p, X4a, piPC09, RDF065v, BELp6, RDF060p, R4u, RDF035m and RCI. For the PLS model, the lower error of validation was obtained using 3 factors with the coefficients R=0.71 and Q=0.82. Two sets of compounds, naphtoquinones and naphthoimidazoles, were studied by docking method. The results showed that, for both, naphtoquinones and naphthoimidazoles and both trypanothione and glutathione reductase, the compounds have low probability to bind in the active site, and are more likely to bind in the interface site, especially in the interface site of the human protein.
Fischer, Bernhard Karl. "High throughput simulation methods for protein ligand docking." Karlsruhe : Forschungszentrum Karlsruhe, 2007. http://d-nb.info/985070374/34.
Full textSternberg, David Charles Ph D. Massachusetts Institute of Technology. "Optimal docking to tumbling objects with uncertain properties." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/112364.
Full textThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 227-242).
Active debris removal (ADR), on-orbit servicing and in-space assembly likely require proximity operations and soft docking between two or more satellites. These operations can be complicated by the presence of several challenges, including 1) flexible dynamics, 2) impending collision with other proximity objects, 3) uncooperative satellites, 4) tumbling behavior, 5) uncertainty in the knowledge of this tumble, and 6) the need to maneuver at least one of the satellites through an accelerated approach trajectory. This thesis considers challenges 3 through 6 by addressing the terminal approach and soft docking by a Chaser satellite to a passively tumbling, rigid-body Target. The terminal approach is characterized by the Chaser starting at an initial position several meters away from the Target and aligned with the Target's docking port. It then initializes its inward motion relative to the Target to maintain its position synchronous (i.e., maintaining alignment with the body-fixed frame of the Target's docking port) with the tumbling motion. Using a fuel-efficient trajectory, it traverses along the docking port's body-fixed approach axis by creating the requisite tangential and radial accelerations associated with the Target's tumble. Finally, the Chaser docks with a sufficiently low impact velocity to avoid damage to itself or the Target. This thesis addresses three important aspects of this Synchronous Docking to a Tumbling Target (SDTT) problem, with examples drawn from this ADR mission scenario. First, a methodology is developed to define whether a Chaser can feasibly execute this terminal approach to a Target when that Target's tumbling motion is measured a priori with some known degree of uncertainty. Given the potential urgency in deriving the approach trajectory, a robust and computationally efficient minimum fuel trajectory solver is formulated. This solver is based upon the recognition that fuel optimality requires that the tangential and radial accelerations of the Chaser be equal as it traverses the terminal approach. Since these accelerations are dictated by the Target's uncertain tumbling motion, a Multiple Model optimization technique is used to provide robustness in the trajectory. The result is a methodology that can assess the feasibility of achieving a soft dock of a known Chaser with a Target whose motion is uncertain. Second, this feasibility framework can be used to analyze two Chaser scenarios. The first entails the design of a new Chaser that can capture a broad sub-set of the Target population (Market Capture), while the second entails the determination of the fraction of a Target population, with uncertain dynamics, to which an existing Chaser can feasibly soft dock (Market Analysis). Both scenarios consider levels of uncertainty in the knowledge of the motion of individual Targets in the population that is inherently associated with remote sensing. Third, 0-g simulations are required to obtain predictions of Chaser performance, since this SDTT problem leads to Chasers that conduct multi-axis accelerations uncharacteristic of conventional satellites. A simulation framework that supports both unconstrained 0-g and constrained 1-g performance prediction to flight is developed. The development and validation of key dynamics and environmental factors for both environments are presented. As a result, this research provides a computationally efficient, low-order solver for rapidly deriving a terminal approach trajectory that is both fuel optimal as well as robust to uncertainty in the measurement of the Target's dynamics. Furthermore, a methodology is provided that permits evaluation of the design of a Chaser that can feasibly dock with a desired fraction of the Target population before committing to the cost and effort of developing that Chaser (Market Capture) as well as those Targets to which an existing Chaser can feasibly dock before committing to the time and fuel consumption needed to rendezvous with those Targets (Market Analysis). Finally, a ground test methodology for Chasers that must execute multi-axis accelerated trajectories is presented to minimize the impact of Chaser 0-g modeling errors on the performance of SDTT operations.
by David Charles Sternberg.
Sc. D.
Amaee, Richard Dana. "Structural studies of PKS and NRPS docking domains." Thesis, University of Cambridge, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.613128.
Full textStrafford, J. "Docking and bioinformatics tools to guide enzyme engineering." Thesis, University College London (University of London), 2012. http://discovery.ucl.ac.uk/1339145/.
Full textLarkum, Trevor John. "Optimisation of docking locations for remotely operated vehicles." Thesis, University College London (University of London), 2005. http://discovery.ucl.ac.uk/1445650/.
Full textRörbrink, Malin. "Improving detection of promising unrefined protein docking complexes." Thesis, Linköpings universitet, Bioinformatik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133633.
Full textDaunay, Bruno. "Couplage haptique pour des applications de docking moléculaire." Paris 6, 2007. http://www.theses.fr/2007PA066324.
Full textPersson, Anton, and Rasmus Åslin. "Effektivisering av materialhantering på en cross-docking terminal." Thesis, Tekniska Högskolan, Jönköping University, JTH, Logistik och verksamhetsledning, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-50014.
Full textTan, Wee Kiat. "Horizontal steering control in docking the ARIES AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Dec%5FTan%5FW.pdf.
Full textThesis advisor(s): Fotis Papoulias, Anthony J. Healey. Includes bibliographical references (p. 83). Also available online.
Miraglia, Italo Giorgio. "Applicazione della logica fuzzy al docking tra dirigibili." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amslaurea.unibo.it/6975/.
Full textGaultier, Mathieu. "An Autonomous Self-Docking Robot on Passive Systems." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-272122.
Full textUtformningen av en robot är nära kopplad till dess tilldelade uppgift. En robot har inte samma anpassningsförmåga som människor. Därför är varje robot utformad för att lösa en specifik uppgift. Ett alternativ till detta är modulära robotar, vilket ökar i populäritet. En robot kräver andras hjälp eftersom den inte kan klara uppgiften ensam. I detta examensarbete undersöks möjligheten att ha en enda markrobot som hanterar förflyttningsuppgiften istället för att implementera sensorer och algoritmer på varje oberoende system. Förflyttningsroboten bör ha förmågan att ansluta sig till vissa andra moduler så att den sedan kan styra dem på önskade platser. Detta examensarbete fokuserar särskilt på dockningssekvensen mellan förflyttningsroboten och den andra modulen. För att uppnå denna dockningssekvens används visuella markörer för att extrahera de relativa positionerna för de två systemen. Dessutom har Kalmanfilter och Monte Carlo-lokaliseringsalgoritmer undersökts. Resultaten som erhållits genom simuleringarna är korrekta men de beräknade relativa positionerna var inte tillräckligt exakta för att systemen faktiskt skulle kunna ansluta och säkerställa kommunikationen mellan dem.
Landaverde, Raphael J. "GPU optimizations for a production molecular docking code." Thesis, Boston University, 2014. https://hdl.handle.net/2144/21199.
Full textScientists have always felt the desire to perform computationally intensive tasks that surpass the capabilities of conventional single core computers. As a result of this trend, Graphics Processing Units (GPUs) have come to be increasingly used for general computation in scientific research. This field of GPU acceleration is now a vast and mature discipline. Molecular docking, the modeling of the interactions between two molecules, is a particularly computationally intensive task that has been the subject of research for many years. It is a critical simulation tool used for the screening of protein compounds for drug design and in research of the nature of life itself. The PIPER molecular docking program was previously accelerated using GPUs, achieving a notable speedup over conventional single core implementation. Since its original release the development of the CPU based PIPER has not ceased, and it is now a mature and fast parallel code. The GPU version, however, still contains many potential points for optimization. In the current work, we present a new version of GPU PIPER that attains a 3.3x speedup over a parallel MPI version of PIPER running on an 8 core machine and using the optimized Intel Math Kernel Library. We achieve this speedup by optimizing existing kernels for modern GPU architectures and migrating critical code segments to the GPU. In particular, we both improve the runtime of the filtering and scoring stages by more than an order of magnitude, and move all molecular data permanently to the GPU to improve data locality. This new speedup is obtained while retaining a computational accuracy virtually identical to the CPU based version. We also demonstrate that, due to the algorithmic dependencies of the PIPER algorithm on the 3D Fast Fourier Transform, our GPU PIPER will likely remain proportionally faster than equivalent CPU based implementations, and with little room for further optimizations. This new GPU accelerated version of PIPER is integrated as part of the ClusPro molecular docking and analysis server at Boston University. ClusPro has over 4000 registered users and more than 50000 jobs run over the past 4 years.
EKSTRÖM, ELIN, and ELLEN SEVERINSSON. "A Conceptual Design of a Reliable Hard Docking System : Docking of an utonomous underwater vehicle to the new generation A26 submarine." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-299330.
Full textUnder 2024 och 2025 förväntas Svenska Marinen sjösätta två nya ubåtar, med nya förmågor gällande dockning av undervattensfordon. Ubåtarna ingår i nya Blekingeklass (A26) och är en del av Försvarsmaktens och Försvarets Materielverks (FMV) målsättning om att utveckla och använda mer autonoma system, för att öka personaleffektivitet och för att kunna möta morgondagens tekniska utmaningar. Detta examensarbete utfördes på uppdrag av FMV, med syftet att undersöka vilka fysiska krav som ställs för att hårddocka ett autonomt undervattensfordon på de nya ubåtarna. Dessa krav identifierades genom analys av en kvalitativ och kvantitativ undersökning. Analysen uppdagade tio nyckelinsikter som gav upphov till tretton krav. Kraven kombinerades med projektspecifik data för AUV62-systemet och ubåt A26, för att utveckla tre konceptuella designförslag av hårddockningssystem. Koncepten verifierades genom analys gällande material, spänning och utböjning, samt geometriska begränsningar. Koncepten utvärderades baserat på hur väl de uppfyllde respektive krav. Ett hängmatteformat koncept visade sig ha störst potential för att bli ett pålitligt hårddockningssystem. Examensarbetet avslutades med att projektets syfte ansågs vara uppfyllt, följt av förslag på vidare arbete.
Grimm, Vera. "Untersuchung eines wissensbasierten Potentials zur Bewertung von Protein-Protein-Docking-Studien." [S.l. : s.n.], 2003. http://deposit.ddb.de/cgi-bin/dokserv?idn=967176506.
Full textZimmermann, Olav. "Untersuchungen zur Vorhersage der nativen Orientierung von Protein-Komplexen mit Fourier-Korrelationsmethoden." [S.l. : s.n.], 2003. http://deposit.ddb.de/cgi-bin/dokserv?idn=96830933X.
Full textKoch, Kerstin. "Statistical analysis of amino acid side chain flexibility for 1:n protein protein docking." [S.l. : s.n.], 2003. http://deposit.ddb.de/cgi-bin/dokserv?idn=968919413.
Full textMagalhães, Camila Silva de. "Algoritmos genéticos para o problema de Docking proteína-ligante." Laboratório Nacional de Computação Científica, 2006. http://www.lncc.br/tdmc/tde_busca/arquivo.php?codArquivo=85.
Full textSaladin, Adrien [Verfasser]. "Macromolecular Docking. Applications to the RecA nucleofilament / Adrien Saladin." Bremen : IRC-Library, Information Resource Center der Jacobs University Bremen, 2010. http://d-nb.info/1034989146/34.
Full textMylonas, George P. "Gaze-Contingent Perceptual Docking for Minimally Invasive Robotic Surgery." Thesis, Imperial College London, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.511834.
Full textDe, Youngster Dela. "An Isometry-Invariant Spectral Approach for Macro-Molecular Docking." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/30226.
Full textKeller, Kevin Martin. "Sonar based positioning and docking for autonomous underwater vehicles." Thesis, University of Liverpool, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.399134.
Full textLivoti, Elsa Livoti. "Experimentally validated computational docking to characterize protein-protein interactions." Thesis, University of Kent, 2017. https://kar.kent.ac.uk/67450/.
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