Manel Puig-Vidal

High-speed force spectroscopy unfolds titin at the velocity of molecular dynamics simulations.

Bridging the Titin Gap The muscle protein titin is a molecular spring that has been extensively studied by single-molecule unfolding experiments and by molecular simulation. However, experimental and simulated unfolding could not be compared directly because they differ by orders of magnitude in pulling velocity. Rico et al. (p 741) developed high-speed force spectroscopy to pull titin molecules at speeds that reach the lower limits of molecular dynamics simulations. Bridging the gap between simulation and experiment clarified the mechanism of conformational changes in titin. Experimental time scales previously accessible only to simulations provide insight into forced protein unfolding. The mechanical unfolding of the muscle protein titin by atomic force microscopy was a landmark in our understanding of single-biomolecule mechanics. Molecular dynamics simulations offered atomic-level descriptions of the forced unfolding. However, experiment and simulation could not be directly compared because they differed in pulling velocity by orders of magnitude. We have developed high-speed force spectroscopy to unfold titin at velocities reached by simulation (~4 millimeters per second). We found that a small β-strand pair of an immunoglobulin domain dynamically unfolds and refolds, buffering pulling forces up to ~100 piconewtons. The distance to the unfolding transition barrier is larger than previously estimated but is in better agreement with atomistic predictions. The ability to directly compare experiment and simulation is likely to be important in studies of biomechanical processes.

Characterization of the harvesting capabilities of an ionic polymer metal composite device

Harvesting systems capable of transforming dusty environmental energy into electrical energy have aroused considerable interest in the last two decades. Several research works have focused on the transformation of mechanical environmental vibrations into electrical energy. Most of the research activity refers to classic piezoelectric ceramic materials, but more recently piezoelectric polymer materials have been considered. In this paper, a novel point of view regarding harvesting systems is proposed: using ionic polymer metal composites (IPMCs) as generating materials. The goal of this paper is the development of a model able to predict the energy harvesting capabilities of an IPMC material working in air. The model is developed by using the vibration transmission theory of an Euler?Bernoulli cantilever IPMC beam. The IPMC is considered to work in its linear elastic region with a viscous damping contribution ranging from 0.1 to 100?Hz. An identification process based on experimental measurements performed on a Nafion? 117 membrane is used to estimate the material parameters. The model validation shows a good agreement between simulated and experimental results. The model is used to predict the optimal working region and the optimal geometrical parameters for the maximum power generation capacity of a specific membrane. The model takes into account two restrictions. The first is due to the beam theory, which imposes a maximum ratio of 0.5 between the cantilever width and length. The second restriction is to force the cantilever to oscillate with a specific strain; in this paper a 0.3% strain is considered. By considering these two assumptions as constraints on the model, it is seen that IPMC materials could be used as low-power generators in a low-frequency region. The optimal dimensions for the Nafion? 117 membrane are length = ?12?cm and width = ?6.2?cm, and the electric power generation is 3?nW at a vibrating frequency of 7.09?rad?s?1. IPMC materials can sustain big yield strains, so by increasing the strain allowed on the material the power will increase dramatically, the expected values being up to a few microwatts.

MICRON: Small Autonomous Robot for Cell Manipulation Applications

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

Power-Conditioning Circuitry for a Self-Powered System Based on Micro PZT Generators in a 0.13-

The concept and design of a power-conditioning circuit for an autonomous low-power system-in-package (SiP) is presented in this paper. The SiPs main power source is based on the use of micropiezoelectric generators. The electrical model of the power source, which has been obtained based on experimental measurements and implemented on Cadence Analog Artists Spectre simulation environment, is explained. The model has been used to simulate the power source with the power-conditioning electronics over the entire design process. Finally, the simulated and experimental results of the developed integrated power circuits, which are formed by a rectifier and a low-power bandgap reference voltage source to define the threshold voltage for the closed-loop regulation process, are also shown. These circuits have been designed using a commercial 0.13-mum technology from ST Microelectronics through the multi-projects circuits (CMP) techniques of informatics and microelectronics for integrated systems architecture (TIMA) service.

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Ionic polymer metal composite (IPMC) materials are in an early stage of development. Their response as actuators is still very unpredictable. Their dynamic response is still subjected to several critical parameters that vary with time, thus extracting an accurate and repeatable model is very difficult. This paper presents the design and implementation of an adaptive efficient position control system for an IPMC actuator working in underwater conditions. The control system is an model reference adaptive control (MRAC) based on a reference model and an adaptation that controls a 1 cm × 0.5 cm length IPMC strip based on a Nafion 117 Na+ membrane. As the reference model a second-order empirical model of the plant is used. The control system is first simulated and then experimentally implemented within the LabVIEW framework.

Low-Voltage Low-Power Technology

One way to enhance the efficiency of energy harvesting systems is complex conjugate impedance matching of its electrical impedance. In Piezoelectric energy Harvesting systems the match is done to increment the energy flows from a vibration energy source to an energy storage electrical circuit. In this article, we compare the power generated using the modulus impedance matching with the power generated using the complex conjugate impedance matching. We present the power ratio between both types of matching methods. The novelty of this article consists of a piezoelectric transducer completely adapted with a complex conjugate impedance match. The theory developed is validated on a commercial piezoelectric transducer QP40w from Midé Technology. The transducer model is first identified by means of a system identification step based on a novel two-port Lumped-Electromechanical Model. The QP40w is complex conjugate matched at its fourth resonant mode increasing the generated power by up to 20% more compared with the modulus match.

Model reference adaptive control for an ionic polymer metal composite in underwater applications

Based on small mobile robots the presented MINIMAN system provides a platform for micro-manipulation tasks in very different kinds of applications. Three exemplary applications demonstrate the capabilities of the system. Both the high precision assembly of an optical system consisting of three millimeter-sized parts and the positioning of single 20-μm-cells under the light microscope as well as the handling of tiny samples inside the scanning electron microscope are done by the same kind of robot. For the different tasks, the robot is equipped with appropriate tools such as micro-pipettes or grippers with force and tactile sensors. For the extension to a multi-robot system, it is necessary to further reduce the size of robots. For the above mentioned robot prototypes a slip-stick driving principle is employed. While this design proves to work very well for the described decimeter-sized robots, it is not suitable for further miniaturized robots because of their reduced inertia. Therefore, the developed centimeter-sized robot is driven by multilayered piezoactuators performing defined steps without a slipping phase. To reduce the number of connecting wires the microrobot has integrated circuits on board. They include high voltage drivers and a serial communication interface for a minimized number of wires.

Piezoelectric Energy Harvesting Improvement with Complex Conjugate Impedance Matching

In this paper, we introduce a cooperative medium access control (MAC) protocol, named cooperative energy harvesting (CEH)-MAC, that adapts its operation to the energy harvesting (EH) conditions in wireless body area networks (WBANs). In particular, the proposed protocol exploits the EH information in order to set an idle time that allows the relay nodes to charge their batteries and complete the cooperation phase successfully. Extensive simulations have shown that CEH-MAC significantly improves the network performance in terms of throughput, delay and energy efficiency compared to the cooperative operation of the baseline IEEE 802.15.6 standard.

From decimeter- to centimeter-sized mobile microrobots: the development of the MINIMAN system

An interfacing circuit for piezoresistive pressure sensors based on CMOS current conveyors is presented. The main advantages of the proposed interfacing circuit include the use of a single piezoresistor, the capability of offset compensation, and a versatile current-mode configuration, with current output and current or voltage input. Experimental tests confirm linear relation of output voltage versus piezoresistance variation.

Cooperative Energy Harvesting-Adaptive MAC Protocol for WBANs

Quartz tuning forks are extremely good resonators and their use is growing in scanning probe microscopy. Nevertheless, only a few studies on soft biological samples have been reported using these probes. In this work, we present the methodology to develop and use these nanosensors to properly work with biological samples. The working principles, fabrication and experimental setup are presented. The results in the nanocharacterization of different samples in different ambients are presented by using different working modes: amplitude modulation with and without the use of a Phase-Locked Loop (PLL) and frequency modulation. Pseudomonas aeruginosa bacteria are imaged in nitrogen using amplitude modulation. Microcontact printed antibodies are imaged in buffer using amplitude modulation with a PLL. Finally, metastatic cells are imaged in air using frequency modulation.