Abstract: In biological signal transduction pathways intermediates are often oscillatory and need to be converted into smooth output signals at the end. We show by mathematical modelling that protein kinase cascades enable converting oscillatory signals into sharp stationary step-like outputs. The importance of this result is demonstrated for the switch-like protein activation by calcium oscillations, which is of biological importance for regulating different cellular processes. In addition, we found that protein kinase cascades cause memory effects in the protein activation, which might be of a physiological advantage since a smaller amount of calcium transported in the cell is required for an effective activation of cellular processes.Keywords: physics, calcium oscillations, mathematical modelling, calcium, calcium oscillations, sygnalling cascade, protein kinase cascades, signal transduction, ultrasensitivity, biochemical switch, cellular dynamicsPublished: 07.06.2012; Views: 1022; Downloads: 29 Link to full text
Abstract: This master's thesis describes development and building of the SCARA robot arm with two rotational joints. Using SolidWorks, model of the SCARA robot was built, serving as development tool for the physical model. Controlling the SCARA robot was done with MicroZed development board, based on the Zynq-7000 SoC, which consists of a field-programmable gate array (FPGA) and ARM Cortex-A9 processor.
Purpose of this master's thesis was to build a SCARA robot and utilize the FPGA for interaction with peripherals, ARM Cortex-A9 processor was used for implementing a cascading control system. This master's thesis is the foundation for future work involving advanced control techniques consisting of nonlinear controllers, which are developed in the Laboratory for Cognitive Systems and Mechatronics at Faculty of Electrical Engineering and Computer Science at Maribor.Keywords: SCARA robot, cascade control system, FPGA, Zynq-7000 SoC, MicroZed development boardPublished: 29.01.2020; Views: 79; Downloads: 18 Full text (3,69 MB)