This paper reports on experiments conducted as part of the DARPA SDR (Software for Distributed robotics) program. The core challenge for this program is to develop a system capable of carrying out ‘locate-and-protect...
详细信息
This paper presents the design of a selective-actuation flexure parallel mechanism that can provide three independent translational motions. The mechanism can be used as an ultra precision positioning system. The mode...
详细信息
This paper describes a method for improving the speed of actuators based on shape memory alloys (SMA) by increasing the rate at which an SMA element can safely be heated. The method consists of measuring the electrica...
详细信息
Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation from the operation area which can be reached with long instruments only. Therefore, the surgeon loses access to the manipulation ...
详细信息
As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip causes the needle to bend. We propose that, by using nonholonomic kinematics, control and path planning, an appropriately d...
详细信息
In this paper we present am approach to coordinate the motions of droplets in digital microfluidic systems, a new class of lab-on-a-chip systems for biochemical analysis. A digital microfluidic system typically consis...
详细信息
ISBN:
(纸本)3540257284
In this paper we present am approach to coordinate the motions of droplets in digital microfluidic systems, a new class of lab-on-a-chip systems for biochemical analysis. A digital microfluidic system typically consists of a planar array of cells with electrodes that control the droplets. The primary challenge in using droplet-based systems is that they require the simultaneous coordination of a potentially large number of droplets on the array as the droplets move, mix, and split. In this paper we describe a general-purpose system that uses simple algorithms and yet is versatile. First, we present a semi-automated approach to generate the array layout in terms of components. Next, we discuss simple algorithms to select destination components for the droplets and a decentralised scheme for components to route the droplets of the array. These are then combined into a reconfigurable system that has been simulated in software to perform analyses such at the DNA polymerase chain reaction. The algorithms have been able to successfully coordinate hundreds of droplets simultaneously and perform one or more chemical analyses in parallel. Because it is challenging to analytically characterize the behaviour of such systems, simulation methods to detect potential system instability are proposed.
To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we have developed a tool that uses inverse kinematics to support moving small fragments of protein b...
详细信息
ISBN:
(纸本)3540257284
To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we have developed a tool that uses inverse kinematics to support moving small fragments of protein backbone, while respecting biochemists' desires to "remain in favorable regions of the Ramachandran plot" and "preserve ideal geometry". By presenting estimates of derivatives in response to motion, we are able to refine these qualitative desires as we work with our collaborators. We then explore low-dimensional bases to parametrize the space of backbone motions.
In this paper we present a humanoid robot, HRP-2P which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down a...
详细信息
ISBN:
(纸本)3540232141
In this paper we present a humanoid robot, HRP-2P which can walk, lie down and get up. We believe that HRP-2P (154 cm height and 58 kg weight) is the first humanoid robot that is the size of a human and can lie down and get up. Biped walking is realized by a walking pattern generator using a preview control and a feedback control. The lying down and getting up motions were made possible by HRP-2P's compact body with a waist joint and a novel motion controller.
暂无评论