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RNA interference constitutes a powerful tool for biological studies, but has also become one of the most challenging therapeutic strategies. However, small interfering RNA (siRNA)-based strategies suffer from their poor delivery and biodistribution. Cell-penetrating peptides (CPPs) have been shown to improve the intracellular delivery of various(More)
We extend the searchable symmetric encryption (SSE) protocol of [Cash et al., Crypto’13] adding support for range, substring, wildcard, and phrase queries, in addition to the Boolean queries supported in the original protocol. Our techniques apply to the basic single-client scenario underlying the common SSE setting as well as to the more complex(More)
The development of short interfering RNA (siRNA), has provided great hope for therapeutic targeting of specific genes responsible for pathological disorders. However, the poor cellular uptake and bioavailability of siRNA remain a major obstacle to their clinical development and most strategies that propose to improve siRNA delivery remain limited for in(More)
This paper builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and control Lyapunov function based quadratic programs (CLFQP) for underactuated hybrid systems. The primary contribution of this paper is developing a robust control technique for underactuated hybrid systems with application to bipedal walking,(More)
We introduce Exponential Control Barrier Functions as means to enforce strict state-dependent high relative degree safety constraints for nonlinear systems. We also develop a systematic design method that enables creating the Exponential CBFs for nonlinear systems making use of tools from linear control theory. The proposed control design is numerically(More)
Small interfering RNA (siRNA) is widely recognized as a powerful tool for targeted gene silencing. However, siRNA gene silencing occurs during transfection, limiting its use is in kinetic studies, deciphering toxic and off-target effects and phenotypic assays requiring temporal, and/or spatial regulation. We developed a novel controllable siRNA (csiRNA)(More)
This paper presents an approach to apply L1 adaptive control for output regulation in the presence of nonlinear uncertainty in underactuated hybrid systems with application to bipedal walking. The reference model is generated by control Lyapunov function based quadratic program (CLFQP) controller and is nonlinear. We evaluate our proposed control design on(More)
Recent work on control Lyapunov functions and control Barrier functions has enabled addressing stability of nonlinear and underactuated hybrid systems while simultaneously enforcing input / state constraints and safety-critical constraints. However, under model uncertainty, these controllers break down and violate constraints. This paper presents a novel(More)
This paper presents a novel methodology to achieve dynamic walking for underactuated and hybrid dynamical bipedal robots subject to safety-critical position-based constraints. The proposed controller is based on the combination of control Barrier functions and control Lyapunov functions implemented as a state-based online quadratic program to achieve(More)