China Tobacco

Robust control of multi-joint robotic arm visual servoing based on neural network and adaptive command filtering

This paper proposes a multi joint robotic arm visual servo robust control strategy based on neural networks and daptive command filtering, aiming to solve dynamic uncertainty and nonlinear problems. By constructing an image plane feature point error model and deriving the image J...

Mechanistic Decoupling of the cis - and trans -Cleavage Activities of Cas12a via Phosphorothioate-Induced Kinetic Trapping

Abstract CRISPR-Cas12a is widely utilized for genome engineering and nucleic acid diagnostics, being distinguished by its indiscriminate single-stranded DNA (ssDNA) trans-cleavage activity triggered by its specific cis-target recognition. However, the precise kinetic coordination...