The influence of physical-chemical characteristics of surface modified copper nanoparticles on E. coli cell population growth suppression and on electrostatic properties of their membranes
The biological activity of copper nanoparticles, able to suppress growth of E. coli cells population under contact interactions, was explored. Three types of samples with oxide layers of various sizes, thickness and composition were used in experiments. It was found out, that an increase in electron density on the external membrane of E. coli correlated with copper nanoparticles suppression capability and with lower activation energy of electron transfer on bacteria. The analysis of experimental data helps to correct conditions for obtaining nanoparticles with certain properties of their surface oxide layers. The character of temperature dependence of electron density reveals the electron type of conductivity in contact area of E. coli and nano-particles. These results help to find approach to understanding the nature of toxic influence of copper nano-particles on E. coli cells under contact interaction.
Surface electrical properties of bacillus subtilis cells and the effect of interaction with silicon dioxide particles
Depending on the amount of phosphate in the growth medium, the surface layer of the Bacillus subtilis cell wall may be composed mainly of either teichoic or teichuronic acids. Only in the former case the negative charge of the cell surface increases upon addition of silicon dioxide particles into the cell suspension.
L1 Adaptive Controller for Attitude Control of Multirotors
In this work we show an application of L1 Adaptive control theory for attitude control of UAVs. We implement the flight control system on a multirotor to show robustness and precise attitude tracking in the presence of modeling uncertainties and environmental disturbances. We choose backstepping control architecture, since the kinematics and dynamics of multirotors in most cases can be written in strict feedback form. We further exploit the fact that the kinematics of the plant, while free of uncertainties, is nonlinear, which makes it highly suitable for dynamic inversion control at each level of backstepping. On the other hand, plant dynamics is uncertain and is affected by environmental disturbances such as wind gusts, unmodeled dynamics etc. Therefore, we consider 3 variants of the control architecture. The first method uses backstepping to determine the moment demand and augments it with the L1 adaptive controller to account for uncertainties and provide robustness with guaranteed transient performance. The second architecture apply the concept of L1 adaptive backstepping to the same problem; and the third architecture uses L1 backstepping for quaternion representation of the system dynamics, which helps to avoid the singularities associated with Euler angles.