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- Schillinger, P., et al.
(författare)
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Adaptive heterogeneous multi-robot collaboration from formal task specifications
- 2021
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Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 145
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Tidskriftsartikel (refereegranskat)abstract
- Efficiently coordinating different types of robots is an important enabler for many commercial and industrial automation tasks. Here, we present a distributed framework that enables a team of heterogeneous robots to dynamically generate actions from a common, user-defined goal specification. In particular, we discuss the integration of various robotic capabilities into a common task allocation and planning formalism, as well as the specification of expressive, temporally-extended goals by non -expert users. Models for task allocation and execution both consider non-deterministic outcomes of actions and thus, are suitable for a wide range of real-world tasks including formally specified reactions to online observations. One main focus of our paper is to evaluate the framework and its integration of software modules through a number of experiments. These experiments comprise industry-inspired scenarios as motivated by future real-world applications. Finally, we discuss the results and learnings for motivating practically relevant, future research questions. (C) 2021 Elsevier B.V. All rights reserved.
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- Olsson, Gustaf D., et al.
(författare)
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Theoretical studies of 17-beta-estradiol-imprinted prepolymerization mixtures : insights concerning the roles of cross-linking and functional monomers in template complexation and polymerization
- 2013
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Ingår i: Industrial & Engineering Chemistry Research. - : American Chemical Society (ACS). - 0888-5885 .- 1520-5045. ; 52:39, s. 13965-13970
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Tidskriftsartikel (refereegranskat)abstract
- In this study, computational methods were employed in efforts to elucidate physical mechanisms underlying the ligand selectivity of polymeric sorbents produced through the molecular imprinting of 17-beta-estradiol. Previous computational and experimental studies had identified candidate systems applicable to the development of synthetic polymeric receptors for the detection and possible removal of pollutants with endocrine-disrupting properties. Here we present a series of comprehensive molecular dynamics studies of candidate molecular imprinting prepolymerization systems. The results from the studies highlight the role of the cross-linker and the importance of the interplay between functionalities of the various monomers employed in template complexation. The significance of these results for future studies is discussed.
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- Schillinger, Eric, et al.
(författare)
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An Artificial Estrogen Receptor through Combinatorial Imprinting
- 2012
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Ingår i: Chemistry - A European Journal. - : Wiley. - 0947-6539 .- 1521-3765. ; 18:46, s. 14773-14783
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Tidskriftsartikel (refereegranskat)abstract
- Polymeric sorbents targeting endocrine-disrupting estrogen active compounds (EAC) were prepared by terpolymer imprinting using 17 beta-estradiol (E2) as template. From a group of eight functional monomers representing Bronsted acids, bases, hydrogen-bond donors and acceptors, as well as pi-interacting monomers, a terpolymer library that comprises all possible binary combinations of the functional monomers was prepared. Binding tests revealed that imprinted polymers exhibit a markedly higher affinity for E2 compared to nonimprinted polymers (NIPs) or polymers prepared by using single functional monomers. A combination of methacrylic acid (MAA) and p-vinylbenzoic acid offered a particularly promising lead polymer, displaying an imprinting factor of 17 versus 2.4 for a benchmark polymer prepared by using only MAA as functional monomer. The saturation capacities ascribed to imprinted sites were four to five times higher for this polymer compared to previously reported imprinted polymers. NMR titrations and molecular dynamics simulations corroborated these results, indicating an orthogonal preference of the two functional monomers with respect to the E2 3-OH and 17-OH groups. The optimized polymer exhibited a retentivity for EACs that correlates with their inhibitory effect on the natural receptor. By using the optimized molecularly imprinted polymers (MIPs) in a model water-purification system, they were capable of completely removing ppb levels of a small group of EACs from water. This is in contrast to the performance of nonimprinted polymers and well-established sorbents for water purification (e.g., active carbon), which still contained detectable amounts of the compounds after treatment.
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