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Journal articles on the topic 'Effector design'

Author: Grafiati

Published: 28 June 2021

Last updated: 1 February 2022

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1

Han, Feng, Kui Sun, Yu Liu, and Hong Liu. "Design, testing and evaluation of an end-effector for self-relocation." Robotica 34, no. 12 (July 3, 2015): 2689–728. http://dx.doi.org/10.1017/s0263574715000302.

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SUMMARYTwo identical end-effectors are indispensable for self-relocation of a space manipulator, which is an effective way of extending its servicing capability. The prototype design is intimately linked to the requirements. The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.

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2

Telegenov, Kuat, Yedige Tlegenov, Shahid Hussain, and Almas Shintemirov. "Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism." Journal of Robotics and Mechatronics 27, no. 5 (October 20, 2015): 496–503. http://dx.doi.org/10.20965/jrm.2015.p0496.

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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/05.jpg"" width=""300"" /> A robotic end effector prototype</div> Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design. </span>

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3

Wu, Jun, Shaowei Fan, Minghe Jin, Kui Sun, Cheng Zhou, and Hong Liu. "Design and experiment of a universal space-saving end-effector for multi-task operations." Industrial Robot: An International Journal 43, no. 2 (March 21, 2016): 193–203. http://dx.doi.org/10.1108/ir-07-2015-0132.

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Purpose – The purpose of this paper is to present the design and experiment of a universal space-saving end-effector for multi-task operations. Design/methodology/approach – The universal end-effector is equipped with capture and actuation transmission capabilities with two corresponding subsystems, which are highly integrated systems of mechanics, electronics and sensors. A trefoil-shaped capture system is developed for closed envelop. The worm gear pair is adopted for self-locking and space-saving, and it is used in a unique manner for three grapple chains’ synchronous motion. The combination of optimal straight path linkage and pantograph mechanism is proposed in the transmission system. The electrical structure and the multi-sensory system provide the foundation for control strategy. Findings – Simulations and experiments demonstrated characteristics of the universal end-effector. The compliance of the manipulator guaranteed the achievement of “soft capture” by the end-effector. Due to the self-locking property, the end-effector and the grapple interface could keep rigid connection when powered off. Practical implications – The design process takes practical requirements into consideration. Through experiments, it is proved that the proposed end-effector can be used for the multi-task operations with corresponding tools. Originality/value – Among end-effectors with operation function, the misalignment tolerance (MT) is originally regarded as a key factor. The adoptions of the worm gear pair and the linkage make it space-saving compared to conventional designs.

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4

Asada, H., and N. Goldfine. "End Effector Design for Robotic Grinding." IFAC Proceedings Volumes 20, no. 5 (July 1987): 187–92. http://dx.doi.org/10.1016/s1474-6670(17)55316-1.

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5

Li, H. F., D. Ceglarek, and Jianjun Shi. "A Dexterous Part-Holding Model for Handling Compliant Sheet Metal Parts." Journal of Manufacturing Science and Engineering 124, no. 1 (March 1, 2001): 109–18. http://dx.doi.org/10.1115/1.1406953.

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Material handling of compliant sheet metal parts significantly impacts both part dimensional quality and production rate in the stamping industry. This paper advances previously developed material handling end effector layout optimization methodology for rigid point end effectors [1] by developing a dexterous part-holding end effector model. This model overcomes the shortcomings of the rigid point part-holding end effector model by predicting part deformation more accurately for various modes of deformation and for a set of part-holding end effector locations. This is especially important for handling systems which utilize vacuum cup end effectors widely used for handling of large sheet metal parts. The dexterous end effector model design method and an algorithm for estimation of model parameters are developed. The algorithm combines data from design of computer simulations and from the set of experiments by integrating finite element analysis and a statistical data processing technique. Experimental studies are conducted to verify the developed model and the model parameter estimation algorithm. The developed methodology provides an analytical tool for product and process designers to accurately predict part deformation during handling, which further leads to minimization of part deformation, improvement of part dimensional quality and increase of production rate.

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6

Richardson, Simone I., and Penny L. Moore. "Targeting Fc effector function in vaccine design." Expert Opinion on Therapeutic Targets 25, no. 6 (April 6, 2021): 467–77. http://dx.doi.org/10.1080/14728222.2021.1907343.

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7

Jackson, Shawn, Victoria Volk, and Jodi Prosise. "Novel Design for a Simple and Affordable End-Effector for an Upper-Limb Prosthesis." International Journal for Service Learning in Engineering, Humanitarian Engineering and Social Entrepreneurship 12, no. 1 (June 2, 2017): 62–73. http://dx.doi.org/10.24908/ijsle.v12i1.6691.

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An affordable prosthetic arm was designed to be used in underprivileged areas to allow more upper-limb amputees to have access to prosthetics that can help them regain their independence. The primary user of the prosthesis will be the amputee(s) who receive the device; beneficiaries include the amputee’s family and the community involved in the manufacturing of future prostheses. The customer requirements include cost-effectiveness, the ability to withstand humidity, cleanability, low maintenance, long life, lightweight, and the ability to perform simple tasks independently. A new end-effector was created that meets the range-of-motion required for the user to perform his/her required tasks. The end-effector is comprised of a PVC cap, PVC coupling, wooden ball holding the tool, and two wooden stop rings. The device screws onto the forearm PVC pipe and locks into place. Four end-effectors were created: toothbrush, fork, spoon, and pen. A change-out station was created to allow the user to independently attach and detach the different end-effectors. The total cost of the device was $20.66.

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8

Zhu, Yingpeng, Chuanyu Wu, Junhua Tong, Jianneng Chen, Leiying He, Rongyang Wang, and Jiangming Jia. "Deviation Tolerance Performance Evaluation and Experiment of Picking End Effector for Famous Tea." Agriculture 11, no. 2 (February 5, 2021): 128. http://dx.doi.org/10.3390/agriculture11020128.

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Accurately obtaining the posture and spatial position of tea buds through machine vision and other technologies is difficult due to the small size, different shapes, and complex growth environment of tea buds. Therefore, end effectors are prone to problems, such as picking omission and picking error. This study designs a picking end effector based on negative pressure guidance for famous tea. This end effector uses negative pressure to guide tea buds in a top-down manner, thereby correcting their posture and spatial position. Therefore, the designed end effector has deviation tolerance performance that can improve the picking success rate. The pre-experiment is designed, the tip of apical bud is referred to as the descent position, and the negative pressure range is determined to be 0.6 to 0.9 kPa. A deviation tolerance orthogonal experiment is designed. Experimental results show that various experimental factors are ranked in terms of the significance level of the effect on the average success rate, and the significance ranking is as follows: negative pressure (P) > pipe diameter (D) > descent speed (V). An evaluation method of deviation tolerance performance is presented, and the optimal experiment factor-level combination is determined as: P = 0.9 kPa, D = 34 mm, V = 20 mm/s. Within the deviation range of a 10 mm radius, the average success rate of the negative pressure guidance of the end effector is 97.36%. The designed end effector can be applied to the intelligent picking of famous tea. This study can provide a reference for the design of similar picking end effectors for famous tea.

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9

Seraji, H. "Design of Adaptive End-Effector Controllers for Manipulators." IFAC Proceedings Volumes 20, no. 1 (June 1987): 83–89. http://dx.doi.org/10.1016/s1474-6670(17)59281-2.

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10

Wang, Guohua, Yabo Yu, and Qingchun Feng. "Design of End-effector for Tomato Robotic Harvesting." IFAC-PapersOnLine 49, no. 16 (2016): 190–93. http://dx.doi.org/10.1016/j.ifacol.2016.10.035.

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11

Booher, Nicholas J., and Adam J. Bogdanove. "Tools for TAL effector design and target prediction." Methods 69, no. 2 (September 2014): 121–27. http://dx.doi.org/10.1016/j.ymeth.2014.06.006.

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12

Robertson, M. P. "Design and optimization of effector-activated ribozyme ligases." Nucleic Acids Research 28, no. 8 (April 15, 2000): 1751–59. http://dx.doi.org/10.1093/nar/28.8.1751.

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13

Bauer, Saskia, Dongli Yu, Aaron W. Lawson, Isabel M. L. Saur, Lamprinos Frantzeskakis, Barbara Kracher, Elke Logemann, Jijie Chai, Takaki Maekawa, and Paul Schulze-Lefert. "The leucine-rich repeats in allelic barley MLA immune receptors define specificity towards sequence-unrelated powdery mildew avirulence effectors with a predicted common RNase-like fold." PLOS Pathogens 17, no. 2 (February 3, 2021): e1009223. http://dx.doi.org/10.1371/journal.ppat.1009223.

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Nucleotide-binding domain leucine-rich repeat-containing receptors (NLRs) in plants can detect avirulence (AVR) effectors of pathogenic microbes. The Mildew locus a (Mla) NLR gene has been shown to confer resistance against diverse fungal pathogens in cereal crops. In barley, Mla has undergone allelic diversification in the host population and confers isolate-specific immunity against the powdery mildew-causing fungal pathogen Blumeria graminis forma specialis hordei (Bgh). We previously isolated the Bgh effectors AVRA1, AVRA7, AVRA9, AVRA13, and allelic AVRA10/AVRA22, which are recognized by matching MLA1, MLA7, MLA9, MLA13, MLA10 and MLA22, respectively. Here, we extend our knowledge of the Bgh effector repertoire by isolating the AVRA6 effector, which belongs to the family of catalytically inactive RNase-Like Proteins expressed in Haustoria (RALPHs). Using structural prediction, we also identified RNase-like folds in AVRA1, AVRA7, AVRA10/AVRA22, and AVRA13, suggesting that allelic MLA recognition specificities could detect structurally related avirulence effectors. To better understand the mechanism underlying the recognition of effectors by MLAs, we deployed chimeric MLA1 and MLA6, as well as chimeric MLA10 and MLA22 receptors in plant co-expression assays, which showed that the recognition specificity for AVRA1 and AVRA6 as well as allelic AVRA10 and AVRA22 is largely determined by the receptors’ C-terminal leucine-rich repeats (LRRs). The design of avirulence effector hybrids allowed us to identify four specific AVRA10 and five specific AVRA22 aa residues that are necessary to confer MLA10- and MLA22-specific recognition, respectively. This suggests that the MLA LRR mediates isolate-specific recognition of structurally related AVRA effectors. Thus, functional diversification of multi-allelic MLA receptors may be driven by a common structural effector scaffold, which could be facilitated by proliferation of the RALPH effector family in the pathogen genome.

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14

Semjon, Ján, and Michal Šulik. "Proposal End-Effectors for Robotic Workplaces with SCARA Robot." Applied Mechanics and Materials 844 (July 2016): 13–18. http://dx.doi.org/10.4028/www.scientific.net/amm.844.13.

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Article deals with the design of the end effector on SCARA robot whose task is to manipulate from three kinds of products.Two types of products have the precisely defined offtake points and are oriented by means of vibrating trays.The third type of product comes undirected by conveyor belt.Position and orientation of the third product is identified by means of a camera system. The role of the article is to suggest such a solution robotic effector that without the use of automatic exchange of effectors was possible to manipulate from all products on the robotized workplace.

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15

Doyle, Erin L., Nicholas J. Booher, Daniel S. Standage, Daniel F. Voytas, Volker P. Brendel, John K. VanDyk, and Adam J. Bogdanove. "TAL Effector-Nucleotide Targeter (TALE-NT) 2.0: tools for TAL effector design and target prediction." Nucleic Acids Research 40, W1 (June 12, 2012): W117—W122. http://dx.doi.org/10.1093/nar/gks608.

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16

Löhning, Max, Ahmed N. Hegazy, Daniel D. Pinschewer, Dorothea Busse, Karl S. Lang, Thomas Höfer, Andreas Radbruch, Rolf M. Zinkernagel, and Hans Hengartner. "Long-lived virus-reactive memory T cells generated from purified cytokine-secreting T helper type 1 and type 2 effectors." Journal of Experimental Medicine 205, no. 1 (January 14, 2008): 53–61. http://dx.doi.org/10.1084/jem.20071855.

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Many vaccination strategies and immune cell therapies aim at increasing the numbers of memory T cells reactive to protective antigens. However, the differentiation lineage and therefore the optimal generation conditions of CD4 memory cells remain controversial. Linear and divergent differentiation models have been proposed, suggesting CD4 memory T cell development from naive precursors either with or without an effector-stage intermediate, respectively. Here, we address this question by using newly available techniques for the identification and isolation of effector T cells secreting effector cytokines. In adoptive cell transfers into normal, nonlymphopenic mice, we show that long-lived virus-specific memory T cells can efficiently be generated from purified interferon γ–secreting T helper (Th) type 1 and interleukin (IL)-4– or IL-10–secreting Th2 effectors primed in vitro or in vivo. Importantly, such effector-derived memory T cells were functional in viral challenge infections. They proliferated vigorously, rapidly modulated IL-7 receptor expression, exhibited partial stability and flexibility of their cytokine patterns, and exerted differential effects on virus-induced immunopathology. Thus, cytokine-secreting effectors can evade activation-induced cell death and develop into long-lived functional memory cells. These findings demonstrate the efficiency of linear memory T cell differentiation and encourage the design of vaccines and immune cell therapies based on differentiated effector T cells.

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17

Kazerooni, H. "A Practical Robotic End-Effector for Grasping Postal Sacks." Journal of Dynamic Systems, Measurement, and Control 126, no. 1 (March 1, 2004): 154–61. http://dx.doi.org/10.1115/1.1649981.

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This article describes a new class of end-effectors that can be used with robotic and material handling devices for grabbing and holding deformable objects with undefined shapes such as sacks and bags. These end-effectors can grab and hold filled sacks from any point on the sack and regardless of the sack orientation and position. The first prototype end-effector, designed for the U.S. Postal Service, has two rollers. The rollers are pushed toward each other by the force of a spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to the friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The end-effector described here has been evaluated and proven to be exceedingly effective in grabbing and holding postal sacks. This article describes the underlying principles of the design, grasp conditions and control of the end-effector.

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18

Wang, Chunrong, Jing Zhao, and Erdong Xia. "Design and optimization of a novel rescue end-effector." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 3 (February 28, 2018): 1032–44. http://dx.doi.org/10.1177/0954406218761506.

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This paper describes the design of a novel multi-functional rescue end-effector with tonging, shearing and grasping capabilities to meet the demands of urban catastrophe rescue applications. The tonging and shearing form and the grasping form of the end-effector are analysed. The two forms are determined using the transformations of their grasping mechanisms. Four objectives (to maximize shearing space, minimize mass, minimize the equivalent stress and minimize deformation) are proposed for selection of the optimal grasping mechanism structure. Additional objectives also involve the end-effector’s structural strength and kinematic characteristics. A nested optimization structure that is composed of the non-dominated sorting genetic algorithm II (NSGA-II) and finite element analysis is proposed to perform multi-domain and multi-objective optimization of the end-effector. To improve the optimization efficiency, a traditional synthesis technique and a sensitivity analysis are applied to reduce the outer and inner numbers of the design variables. Simulation results indicate that the values of the four target objectives are superior to those before optimization and two referenced objectives, and the end-effector mass in particular, can evidently be reduced.

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19

Hock, Ondrej, and Jozef Sedo. "Design of Pseudoinverse Method for Robotic Arm." TRANSACTIONS ON ELECTRICAL ENGINEERING 7, no. 3 (March 30, 2020): 55–58. http://dx.doi.org/10.14311/tee.2018.3.055.

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Pseudoinverse method for control end-effector movement of a robotic arm is presented in this paper. For that task we used the robotic arm DOBOT. We made simulation model in Matlab environment and SimMechanics toolbox. We described the pseudoinverse method and problem-solving of pseudoinverse for non-square matrices. In the near future we will make implementation of this method to the control end-effector movement of a robotic arm and therefore we created a simulation to how many digits we will need for correct calculating of goniometric functions in DSP

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20

Xie, Yinhui, Wenbin Zou, Yongtai Yang, and Jun Lia. "Design of robotic end-effector for milling force control." IOP Conference Series: Materials Science and Engineering 423 (November 6, 2018): 012032. http://dx.doi.org/10.1088/1757-899x/423/1/012032.

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21

Graham, Sean S., Wangyuan Zong, Jun Feng, and Shengping Tang. "Design and Testing of a Kiwifruit Harvester End-Effector." Transactions of the ASABE 61, no. 1 (2018): 45–51. http://dx.doi.org/10.13031/trans.12361.

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Abstract. Mechanisms to aid fruit harvesting are undergoing constant development with increasing available technologies. However, fruits grown on vines, such as kiwifruit, have complex tree architectures and present difficulties in confirming design parameters. The objective of this research was to develop an end-effector for a kiwifruit harvester based on integrating the physical characteristics of the fruit, such as stem length, the space between mature fruits, and the growing environment provided by a trellised system into the design. These properties contribute to developing a mechanism that is lightweight, battery operated, and requires only one translational joint for positioning. Scissor cutting actuated by a linear solenoid is used to provide the required torque of 1.38 Nm to completely sever Hayward variety kiwifruit at the stem using a curved blade with a 20° relief angle. The cutting of the stem is actuated by a force sensor located on the device that enables cutting at less than 10 N, preventing premature detachment of the fruit and damage to the vine. The cutting time was measured to be 0.1 s ±0.03 s per cut. This end-effector design adds to the body of research aimed at developing a fully mechanized kiwifruit harvester. Keywords: Detachment force, End-effector, Fruit harvester, Kiwifruit, Linear solenoid.

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22

Fry, Fiona, and Claus Jacob. "Sensor/Effector Drug Design with Potential Relevance to Cancer." Current Pharmaceutical Design 12, no. 34 (December 1, 2006): 4479–99. http://dx.doi.org/10.2174/138161206779010512.

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23

Du, Xinwu, Xulong Yang, Jiangtao Ji, Xin Jin, and Lei Chen. "Design and Test of a Pineapple Picking End-effector." Applied Engineering in Agriculture 35, no. 6 (2019): 1045–55. http://dx.doi.org/10.13031/aea.13405.

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Abstract. In eastern China, pineapple harvesting is a complicated and sometimes dangerous task, and an effective method to harvest pineapples instead of picking them manually has not been developed. In this article, a pineapple picking end-effector based on the physical properties of pineapples (static friction characteristics and compressive properties) was designed. The fingers of the end-effector were used to capture a pineapple in the form of step-by-step movement to help reduce fruit damage and plant damage during picking. The indexes of the evaluation of the pineapple picking performance (fruit damage rate, plant damage rate, fruit fall rate and average picking time) were established, and the picking test was conducted at a pineapple plantation. The temperature effect was analyzed in the morning (19°C) and at noon (35°C). The temperature had no significant effect on the picking performance. The picking performance test showed that the size of the fruit might be the main cause of fruit damage. Throughout the picking test, the fruit damage rate was 5%, the plant damage rate was 0%, the fruit fall rate was 1.7%, and the average picking time of each fruit was 14.9 s. Keywords: Pineapple, Physical properties, End-effector, Low damage picking.

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24

Wang, Zhanxi, Xiansheng Qin, Jing Bai, Xiaoqun Tan, and Jing Li. "Design and Implementation of Multifunctional Automatic Drilling End Effector." IOP Conference Series: Materials Science and Engineering 187 (March 2017): 012032. http://dx.doi.org/10.1088/1757-899x/187/1/012032.

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25

Bowling, Alan P., John E. Renaud, Jeremy T. Newkirk, Neal M. Patel, and Harish Agarwal. "Reliability-Based Design Optimization of Robotic System Dynamic Performance." Journal of Mechanical Design 129, no. 4 (April 7, 2006): 449–54. http://dx.doi.org/10.1115/1.2437804.

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In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end effector (i.e., point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point. In this work a unilevel performance measure approach is used to perform RBDO. This is important for the reliable design of robotic systems in which a solution to the DCE is required for each constraint call. The method is illustrated on a robot design problem.

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Sun, Zeyuan, Hui Li, Zhihong Jiang, Zhenzi Song, Yang Mo, and Marco Ceccarelli. "Prototype Design and Performance Tests of Beijing’s Astronaut Robot." Applied Sciences 8, no. 8 (August 10, 2018): 1342. http://dx.doi.org/10.3390/app8081342.

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This paper proposes a novel chameleon-like astronaut robot that is designed to assist, or even substitute, a human astronauts in a space station to complete dangerous and prolonged work, such as maintenance of solar panels, and so on. The robot can move outside the space station freely via the hundreds of aluminum handrails, which are provided to help astronauts move. The robot weighs 30 kilograms, and consists of a torso, three identical 4-degree of freedom (DOF) arms, three end effectors, and three monocular vision system on each end effector. Via multi-arm associated motion, the robot can realize three kinds of motion modes: walking, rolling, and sliding. Numerous experiments have been conducted in a simulation environment and a ground verification platform. Experimental results reveal that this robot has excellent motion performance.

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Turella, Luca, Raffaella Rumiati, and Angelika Lingnau. "Hierarchical Action Encoding Within the Human Brain." Cerebral Cortex 30, no. 5 (January 14, 2020): 2924–38. http://dx.doi.org/10.1093/cercor/bhz284.

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Abstract Humans are able to interact with objects with extreme flexibility. To achieve this ability, the brain does not only control specific muscular patterns, but it also needs to represent the abstract goal of an action, irrespective of its implementation. It is debated, however, how abstract action goals are implemented in the brain. To address this question, we used multivariate pattern analysis of functional magnetic resonance imaging data. Human participants performed grasping actions (precision grip, whole hand grip) with two different wrist orientations (canonical, rotated), using either the left or right hand. This design permitted to investigate a hierarchical organization consisting of three levels of abstraction: 1) “concrete action” encoding; 2) “effector-dependent goal” encoding (invariant to wrist orientation); and 3) “effector-independent goal” encoding (invariant to effector and wrist orientation). We found that motor cortices hosted joint encoding of concrete actions and of effector-dependent goals, while the parietal lobe housed a convergence of all three representations, comprising action goals within and across effectors. The left lateral occipito-temporal cortex showed effector-independent goal encoding, but no convergence across the three levels of representation. Our results support a hierarchical organization of action encoding, shedding light on the neural substrates supporting the extraordinary flexibility of human hand behavior.

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28

Noroy, Christophe, and Damien F. Meyer. "The super repertoire of type IV effectors in the pangenome of Ehrlichia spp. provides insights into host-specificity and pathogenesis." PLOS Computational Biology 17, no. 7 (July 12, 2021): e1008788. http://dx.doi.org/10.1371/journal.pcbi.1008788.

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The identification of bacterial effectors is essential to understand how obligatory intracellular bacteria such as Ehrlichia spp. manipulate the host cell for survival and replication. Infection of mammals–including humans–by the intracellular pathogenic bacteria Ehrlichia spp. depends largely on the injection of virulence proteins that hijack host cell processes. Several hypothetical virulence proteins have been identified in Ehrlichia spp., but one so far has been experimentally shown to translocate into host cells via the type IV secretion system. However, the current challenge is to identify most of the type IV effectors (T4Es) to fully understand their role in Ehrlichia spp. virulence and host adaptation. Here, we predict the T4E repertoires of four sequenced Ehrlichia spp. and four other Anaplasmataceae as comparative models (pathogenic Anaplasma spp. and Wolbachia endosymbiont) using previously developed S4TE 2.0 software. This analysis identified 579 predicted T4Es (228 pT4Es for Ehrlichia spp. only). The effector repertoires of Ehrlichia spp. overlapped, thereby defining a conserved core effectome of 92 predicted effectors shared by all strains. In addition, 69 species-specific T4Es were predicted with non-canonical GC% mostly in gene sparse regions of the genomes and we observed a bias in pT4Es according to host-specificity. We also identified new protein domain combinations, suggesting novel effector functions. This work presenting the predicted effector collection of Ehrlichia spp. can serve as a guide for future functional characterisation of effectors and design of alternative control strategies against these bacteria.

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29

Ran, Huang, Qian Xiang Zhou, and Zhong Qi Liu. "Design and Simulation of Space Deformable-Contact-Surface-Based End Effector." Advanced Materials Research 631-632 (January 2013): 1166–71. http://dx.doi.org/10.4028/www.scientific.net/amr.631-632.1166.

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It is common to use space arm for maintaining and assembling. The major technology problems to solve first are the deformability, the soft and tightening contact with the target. Use ER as the contactor of end effector which is learned from the space station end effector can overcome many problems, as the poor location precision and uncontainable attitude which is bring by the big space arm. The design of multi-DOF Deformable-Contact-Surface-Based shape adaptive end effector is introduced in this text. The simulation result by Matlab software proves the design not only can tight connect the target, but also can suppress vibration and meet the precise demand of location, precise force control and deformability. It can meet the multi-mission in the future.

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30

Guttman, David S., and Jean T. Greenberg. "Functional Analysis of the Type III Effectors AvrRpt2 and AvrRpm1 of Pseudomonas syringae with the Use of a Single-Copy Genomic Integration System." Molecular Plant-Microbe Interactions® 14, no. 2 (February 2001): 145–55. http://dx.doi.org/10.1094/mpmi.2001.14.2.145.

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Gram-negative phytopathogenic bacteria require a type III secretion apparatus for pathogenesis, presumably to deliver Avr effector proteins directly into plant cells. To extend previous studies of Avr effectors that employed plasmids encoding Avr proteins, we developed a system that permits the integration of any gene into the Pseudomonas syringae genome in single copy. With this system, we confirmed earlier findings showing that P. syringae pv. maculicola strain PsmES4326 expressing the AvrRpt2 effector induces a resistance response in plants with the cognate R gene, RPS2. Chromosomally located avrRpt2, however, provoked a stronger resistance response than that observed with plasmid-expressed AvrRpt2 in RPS2+ plants. Additionally, chromosomal expression of AvrRpt2 conferred a fitness advantage on P. syringae grown in rps2- plants, aiding in growth within leaves and escape to leaf surfaces that was difficult to detect with plasmid-borne avrRpt2. Finally, with the use of the genomic integration system, we found that a chimeric protein composed of the N terminus of the heterologous AvrRpm1 effector and the C-terminal effector region of AvrRpt2 was delivered to plant cells. Because the C terminus of AvrRpt2 cannot translocate into plant cells on its own, this indicates that the N-terminal region can direct secretion and translocation during an infection, which supports the view that Avr proteins have a modular design. This work establishes a readily manipulatable system to study type III effectors in a biologically realistic context.

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Deng, Fei, Jin Bao Chen, Meng Chen, and Fu Jun Peng. "Design and Kinematic Analysis of a New Grapple Mechanism." Advanced Materials Research 605-607 (December 2012): 239–43. http://dx.doi.org/10.4028/www.scientific.net/amr.605-607.239.

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Combined with China's demand for space station construction, a new type of lock system for end effector is developed. This grapple mechanism makes grappling, pulling and rigidization in one mechanism which is simple construction and high reliability. The composition and the working principle of this grapple mechanism are introduced. Then, the singularity of the mechanism is analyzed and its kinematics equations are established. The parameter variations are obtained by using PROE. The results show that the working process adapts to the variation of the motion and force between the end effector and target adapter perfectly.

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Gurung, Arun Bahadur, and Atanu Bhattacharjee. "Significance of Ras Signaling in Cancer and Strategies for its Control." Oncology & Hematology Review (US) 11, no. 02 (2015): 147. http://dx.doi.org/10.17925/ohr.2015.11.02.147.

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Ras is a GTP-binding protein and is the most widely studied oncoprotein. To achieve its biological activity, it must undergo post-translation modification. Ras acts as a typical molecular switch. The GTP-bound Ras can activate several downstream effector pathways. Ras signaling regulates many important physiologic processes within a cell, such as cell cycle progression, survival, apoptosis, etc. Several studies have found mutation in Ras or its effectors in various types of tumors. Therefore, Ras or its downstream effectors can be attractive drug targets against various types of tumors in cancer therapeutics. Some therapeutic agents against Ras effectors, such as Raf, MEK1/2, PI3K, AKT etc., have successfully managed to enter into phase I and II trials. This targeted drug design could be envisaged in mainly four ways, such as prevention of Ras-GTP formation, covalent locking of the GDP-bound Ras, inhibition of Ras-effector interactions, or impairment of post-translational modification of Ras. In this review we summarize the normal Ras signaling as well its aberrant signaling in tumors and various strategies to inhibit Ras signaling.

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Prada, Vladimir, Oscar Avilés, and Mauricio Mauledoux. "Design of a three-finger end effector for optimal grip." DYNA 81, no. 184 (April 23, 2014): 93. http://dx.doi.org/10.15446/dyna.v81n184.38748.

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34

Jie, Liang, and Jia Shu-Hui. "The Study of Design Method for Robotic Drill End Effector." Procedia Engineering 174 (2017): 206–10. http://dx.doi.org/10.1016/j.proeng.2017.01.120.

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35

Ross, Elliott M. "Receptor G protein effector: The design of a biochemical switchboard." Journal of Chemical Education 65, no. 11 (November 1988): 937. http://dx.doi.org/10.1021/ed065p937.

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Aashith, C., and Muralidhara Rao. "Design and development of robotic end-effector position measuring device." International Journal of Advanced Mechatronic Systems 8, no. 2/3 (2020): 86. http://dx.doi.org/10.1504/ijamechs.2020.10033417.

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Aashith, C., and Muralidhara Rao. "Design and development of robotic end-effector position measuring device." International Journal of Advanced Mechatronic Systems 8, no. 2/3 (2020): 86. http://dx.doi.org/10.1504/ijamechs.2020.111305.

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38

Shaik, Ahmed, Nkgatho S. Tlale, and Glen Bright. "Parallel robot design incorporating a direct end effector sensing system." International Journal of Intelligent Systems Technologies and Applications 4, no. 3/4 (2008): 368. http://dx.doi.org/10.1504/ijista.2008.017279.

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39

Zhang, Bin, Chengli Zhang, Fugui Xie, Wangmin Yi, Shaohua Meng, and Wei Wang. "Design of an End-effector for Spacecraft Automatic Assembly Robot." IOP Conference Series: Materials Science and Engineering 616 (October 16, 2019): 012010. http://dx.doi.org/10.1088/1757-899x/616/1/012010.

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Subrata, I. Dewa Made, and Ichsan Nurfitra. "an End-Effector Design for a Sweet Pepper Harvesting Robot." Jurnal Keteknikan Pertanian 25, no. 2 (October 1, 2011): 87–94. http://dx.doi.org/10.19028/jtep.25.2.87-94.

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41

Boskovic, Jovan D., Ravi Prasanth, and Raman K. Mehra. "Retrofit Fault-Tolerant Flight Control Design Under Control Effector Damage." Journal of Guidance, Control, and Dynamics 30, no. 3 (May 2007): 703–12. http://dx.doi.org/10.2514/1.25564.

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42

Feng, Fei, Yi Wei Liu, Hong Liu, and He Gao Cai. "The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator." Advanced Materials Research 308-310 (August 2011): 2095–103. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2095.

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The space manipulator which is mounted on a space structure or spacecraft to manipulate space payloads is important for the on-orbit-servicing. Its manipulation tasks depend on its end-effector. The flexibility of the large space manipulator will result in residual vibration on its tip, and let the manipulator have poor capability of end positioning. To overcome the drawbacks mentioned-above, the end-effector needs strong capability of misalignment tolerance and soft capturing. On the base of these requirements and analysis, two kinds of end-effector schemes are presented and designed in detail. The essential performances are in comparison based on the results of dynamic simulations and experiments. Consequently, the conclusion is drawn that the steel cable-snared end-effector which captures the interface by winding the grapple fixture probe, is the best scheme that can combine the ability of soft capturing and great misalignment tolerance perfectly.

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Hughes, Richard, Stuart King, Abbas Maqbool, Hazel McLellan, Tolga Bozkurt, Yasin Dagdas, Suomeng Dong, Paul Birch, Sophien Kamoun, and Mark Banfield. "Molecular mechanisms of host cell manipulation by plant pathogens." Acta Crystallographica Section A Foundations and Advances 70, a1 (August 5, 2014): C801. http://dx.doi.org/10.1107/s2053273314091980.

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An estimated 15% of global crop production is lost to pre-harvest disease every year. New ways to manage plant diseases are required. A mechanistic understanding of how plant pathogens re-program their hosts to enable colonisation may provide novel genetic or chemical opportunities to interfere with disease. One notorious plant parasite is the Irish potato famine pathogen Phytophthora infestans. This pathogen remains a considerable threat to potato/tomato crops today as the agent of late blight. Plant pathogens secrete effector proteins outside of and into plant cells to suppress host defences and manipulate cell physiology. Structural studies have provided insights into effector evolution and enabled experiments to probe function [1-3]. Crystal structures of 4 Phytophthora RXLR-type effectors, which are unrelated in primary sequence, revealed similarities in the fold of these proteins. This fold was proposed to act as a stable scaffold that supports diversification of effectors. Further, molecular modelling has enabled mapping of single-site variants responsible for specialisation of a Phytophthora Cystatin-like effector, revealing how effectors can adapt to new hosts after a "host jump". Structural studies describing how RXLR-effectors interact with host targets are lacking. We have used Y2H/co-IP studies to identify host proteins that interact with P. infestans effectors PexRD2 and PexRD54. PexRD2 interacts with MAPKKKe, a component of plant immune signalling pathways, and suppressed cell death activities of this protein. We used the structure of PexRD2 to design mutants that fail to interact with MAPKKKe, and no longer suppress cell-death activities. We found that PexRD54 interacts with potato homologues of the autophagy protein ATG8. We have obtained a crystal structure for PexRD54 in the presence of ATG8. We are now using X-ray scattering to verify the complex structure in solution prior to establishing the role of this interaction during infection.

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Rong, Xuewen, Rui Song, Hui Chai, and Xiaolin Ma. "Mechanical Design and Kinematics Analysis of a Hydraulically Actuated Manipulator." Open Mechanical Engineering Journal 8, no. 1 (December 12, 2014): 457–61. http://dx.doi.org/10.2174/1874155x01408010457.

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This paper gives a mechanism design of a six DOF hydraulically actuated manipulator firstly. Then its DH frames and link parameters are given. Next, its forward kinematic equations are derived according to homogeneous transformation method. Fourthly, the analytical solutions of its inverse kinematics are solved by given the position and posture of the end-effector simultaneously. The posture of the end-effector is given with three z-y-z Euler angles for they have obvious geometry meanings and are easy to be measured. In addition, the correctness of the inverse kinematic equations is verified in Simulink by comparing many sets of randomly produced joint variables in workspace and their corresponding inverse solutions.

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Wanichnukhrox, Nakrob, Thavida Maneewarn, and Szathys Songschon. "Mechanical Analysis of a Hybrid Approach for a Lower Limb Rehabilitation Robot." Applied Mechanics and Materials 789-790 (September 2015): 665–74. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.665.

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The design of lower limb rehabilitation robot can be categorized into two approaches: the end-effector and the exoskeleton. Both types of the robots have different advantages and disadvantages. The exoskeleton type is designed to mimic the kinematic structure of the human skeleton by controlling hip and knee joints but the end-effector type is driven at the footplate which allows patients to perform various gait training exercise. In this paper, the end-effector and exoskeleton device are compared based on dynamical analysis using Matlab's Simechanics simulation. The hybrid lower limb rehabilitation robot is also proposed based on the exoskeleton robot with the adjustable mechanical coupling interface between human and robot and the active footplate. The hybrid design combines the advantages of both the exoskeleton and the end-effector by allowing the mechanical coupling parameters and the active footplate controller to be adjustable at different stages of training. The proposed design can improve both joints misalignment and joint trajectory tracking problems in both existing approaches.

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Liu, Hai Fang, Rui Wang, and Shi Sheng Zhong. "Design and Implementation of the Airborne Laser Effector for Autonomous Pipeline Alignment." Applied Mechanics and Materials 496-500 (January 2014): 1327–32. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.1327.

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Abstract. High-accuracy beam pointing is one of the key problems in the airborne laser remote sensing of natural gas pipeline leak. In response to the domestic demand for the long-distance natural pipeline leak detection, this study proposes an airborne laser effector for autonomous pipeline alignment based on CH4/H2S detector. Mainly structured on 2DOF serial mechanism, the device under discussion is designed with a control system operated on IPC and PMAC, followed by the design of hierarchical modular software. Once completed, the device is placed for indoors pointing experiments as well as simulated airborne test. The results show the effector can conduct full-angle scan of the pod area, achieve a static measuring precision of less than 0.4m as an alignment point is about 100 meters from the laser and detect leakage in dynamic simulated experiment, which meets with the design requirements. In other words, both the design and control algorithm are proved to be feasible. The effector holds an important engineering value for solving the problem of remote detection of the natural gas pipeline leakage.

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Ma, Zheng, Aun-Neow Poo, Marcelo H. Ang, Geok-Soon Hong, and Hian-Hian See. "Design and control of an end-effector for industrial finishing applications." Robotics and Computer-Integrated Manufacturing 53 (October 2018): 240–53. http://dx.doi.org/10.1016/j.rcim.2018.04.010.

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48

Tian-Soon, Sim, Marcelo H. Ang, and Lim Kah-Bin. "A compliant end-effector coupling for vertical assembly: design and evaluation." Robotics and Computer-Integrated Manufacturing 13, no. 1 (March 1997): 21–30. http://dx.doi.org/10.1016/s0736-5845(96)00032-4.

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Yang, Guilin, Renfeng Zhu, Zaojun Fang, Chin-Yin Chen, and Chi Zhang. "Kinematic Design of a 2R1T Robotic End-Effector With Flexure Joints." IEEE Access 8 (2020): 57204–13. http://dx.doi.org/10.1109/access.2020.2982185.

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50

Palm, William J., and Ramiro Liscano. "Integrated design of an end effector for a visual servoing algorithm." Journal of Robotic Systems 3, no. 3 (June 1986): 221–36. http://dx.doi.org/10.1002/rob.4620030303.

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