A sensor fusion algorithm for flexible framed modular mobile robots is presented in this paper. This algorithm uses traditional Kalman filters and rigid axle kinematic models to predict the global posture of each axle. A Covariance Intersection filter is then proposed for fusing these axle modules using data provided by the compliant frame module. Modeling and instrumentation of the compliant f...

A neutral heteroditopic pyridine N-oxide axle containing [2]rotaxane, synthesised via sodium cation templation, displays cooperative recognition of alkali metal cation-halide anion ion-pairs in an unprecedented axle component separated ion-pair binding fashion.

1 describes the design, synthesis and operation of an artificial small-molecule capable of synthesizing peptides in a sequence-specific manner. The design of this artificial molecular machine was, in the author's own words, " inspired by the ribosome " ; 2 with several elements analogous to ribosomal protein synthesis (Fig. 1). The tRNA's of conventional translation are substituted by amino aci...

Cucurbit[7[uril, the wheel component in two new and structurally simple pseudorotaxanes, shuttles between the two axle termini at low pH, whereas the shuttling motion stops at higher pH, as the wheel is bound to the center of the axle.

A [2]rotaxane constructed from a per-ethylated pillar[6]arene as a wheel and a pyridinium derivative as an axle was prepared. The wheel segment of the per-ethylated pillar[6]arene moved from one station to another along the axle as a result of thermal stimuli.

Mechanically interlocked molecules such as rotaxanes and catenanes have potential as components of molecular machinery. Rotaxanes consist of a dumb-bell-shaped molecule encircled by a macrocycle that can move unhindered along the axle, trapped by bulky stoppers. Previously, rotaxanes have been made from a variety of molecules, but not from DNA. Here, we report the design, assembly and character...

The synthesis and anion-recognition properties of the first halogen-bonding rotaxane host to sense anions in water is described. The rotaxane features a halogen-bonding axle component, which is stoppered with water-solubilizing permethylated β-cyclodextrin motifs, and a luminescent tris(bipyridine)ruthenium(II)-based macrocycle component. (1) H NMR anion-binding titrations in D2 O reveal the ha...

Automatic vehicle classification (AVC) systems provide information about classes of vehicle that can be used for many purposes. This paper describes a axle count and axle spacing using wireless accelerometers sensors and magnetometers sensors. The vehicle axles are detected by accelerometer sensors, and the vehicles arrivals, departures and speed are estimated by magnetometers. The prototype sy...