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Gold surface microelectrode arrays permit geometrical control of neuronal networks via thiol linking chemistry 2

Gold surface microelectrode arrays permit geometrical contro...

引用

2nd Annual international IEEE/EMBS conference on Microtechnologies in Medicine and Biology

作者： Nam, Y Wheeler, BC Brewer, G Univ Illinois Dept Elect & Comp Engn Urbana IL 61801 USA

ISBN: (纸本)0780374800

Realization of in vitro neuronal circuits on microelectrode arrays (MEAs) may significantly benefit basic neuroscience studies, as well as provide insight relevant to applications such as neural prostheses or cell-based biosensors. Here we report on a design approach in which the MEAs are coated with gold so as to permit the use of the relatively reliable surface modification chemistry afforded by alkanethiol self-assembled monolayers (SAMs). The alkanethiol based linking chemistry is then used to control the geometry of an in vitro neuronal network grown on the MEA.

关键词： MEA self-assembled monolayer (SAM) neuronal network cell patterning hippocampal pyramidal cells

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Poly(ethylene glycol) interfaces for the control of biofouling in silicon-based microsystems 2

Poly(ethylene glycol) interfaces for the control of biofouli...

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2nd Annual international IEEE/EMBS conference on Microtechnologies in Medicine and Biology

作者： Sharma, S Johnson, RW Desai, TA Univ Illinois Dept Bioengn Chicago IL 60607 USA

ISBN: (纸本)0780374800

Silicon has been extensively employed as a material for the development of microsystems for analytical and separation technologies. However, biofouling that mainly arises due to the charged surface of silicon has been observed to limit the long-term functioning of these microsystems. Surface biofouling can be controlled by engineering the silicon substrates with poly(ethylene glycol) (PEG), a water-soluble, nontoxic, and nonimmunogenic polymer. PEG interfaces on silicon substrates can be created either by physical adsorption or by covalent immobilization such as grafting and chemical coupling. Nevertheless, covalently coupled PEGs are considered to be more stable due to strong forces of adhesion. Furthermore, PEG interfaces are needed that are ultrathin, uniform, conformal and stable in in vivo-like environments. In the present research effort, we examine PEG interfaces of various chain densities created by a covalent coupling reaction scheme. Unmodified and PEG-modified silicon samples have been analyzed using the techniques of ellipsometry, contact angle measurement, X-ray photoelectron spectroscopy (XPS), atomic force microscopy (AFM), and fluorescence microscopy. Furthermore, we have investigated the stability of PEG films in dry and aqueous conditions up to four weeks in order to assess their ability to control biofouling on continuous basis.

关键词： poly(ethylene glycol) silicon microsystems thin films biofouling

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Product disassembly scheduling using graph models

Product disassembly scheduling using graph models

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2nd international conference on Environmentally Conscious Manufacturing

作者： Puente-Méndez, ST Torres-Medina, F Pomares-Baeza, J Univ Alicante Dept Phys Syst Engn & Signal Theory Automat Robot & Comp Vis Grp E-03080 Alicante Spain

ISBN: (纸本)0819442976

Disassembly problem is a current issue for industrial companies. Governments of different countries promote research in this field. This paper presents the following points. First a brief state of the art in disassembly planning. Next it exposes a solution for the disassembly problem of industrial products. It uses a combination between direct and indirect graph representation for the product. all components whose have physical entity are considered as vertices of the graph. Edges of the graph represents the relationships between vertices. There are three different types of edges. First corresponds with accessibility and fasteners restrictions. Second corresponds with direct relations between components without fasteners. Last one corresponds with contact relationships, whose represent an indifferent chooses of the vertices. Based on that representation the paper exposed a method to find the best sequence to disassemble a component. Costs of disassembly each component and of changing tool between each pair of vertices and different sequences of the disassembly are taken into consideration. This method consists in a function minimization defined in the graph domain. In the last point of the paper this method is test with a remote-control disassembly. This method gives a solution to the problem, if several solutions, with the same cost, exist then it gives all of then, and anyone of these disassemble sequences could be used to achieve to the target component.

关键词： disassembly disassembly scheduling graph representation remanufacturing recycling

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Mental development for robots

Mental development for robots

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IEEE international conference on Development and Learning, ICDL

作者： J. Weng Embodied Intelligence Laboratory Department of Computer Science and Engineering Michigan State University East Lansing MI USA

It is desirable for humans to control robots through high-level commands, and it is tedious for humans to issue detailed commands to direct actions for every fraction of a second. However, it is extremely challenging for humans to program a robot to execute such high-level commands in unknown human environments. How can we address this fundamental challenge in robotics? Can, a robot develop its skills autonomously as a human infant or a higher animal does? What is the fundamental difference between the paradigm of mental development and that of traditional engineering? The paper consists mainly of short notes for a tutorial.

关键词： robotics and automation Intelligent robots Neuroscience Human robot interaction Psychology Computer science Animals Navigation Biological materials Books

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Bi-articular muscle as a principle keyword for biomimetic motor link system

Bi-articular muscle as a principle keyword for biomimetic mo...

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international conference on Microtechnologies in Medicine and Biology

作者： M. Kumamoto T. Oshima T. Fujikawa Laboratory of Image Information Science and Technology Bunkyo Tokyo Japan Faculty of Engineering Toyama Prefectural University Toyama Japan Toyama National College of Maritime Technology Toyama Japan

Unique functional properties of the bi-articular muscles were examined and discussed in terms of EMG kinesiology with human subjects and robotics utilizing a mechanical two-joint link model provided with bi-articular actuators as well as monoarticular actuators. It was revealed that one antagonistic pair of the bi-articular muscles and two antagonistic pairs of the mono-articular muscles demonstrated a perfectly coordinating activity pattern and contributed to output force direction control at the endpoint of the extremities. The coordinating activities of three pairs of antagonistic muscles were able to reproduce by a single command signal informing force direction via a proposed simple spinal level neural network. Thus, the existence of the bi-articular muscles in animals might mechanically support animal like unique motor control properties with very simple control mechanisms.

关键词： Muscles Biomimetics Mechanical factors Actuators Force control Animals Electromyography Humans robot kinematics Extremities

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Analysis and design of a multi-link mobile robot (Serpentine)

Analysis and design of a multi-link mobile robot (Serpentine...

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IEEE international conference on Industrial technology (ICIT)

作者： P. Wiriyacharoensunthorn S. Laowattana Bangkok THIALAND

This paper is a study on dynamic behavior of a snake robot, called Serpentine robot, 2nd version (SR#2). The SR#2 is the latest version of snake robots developed at FIBO as a research platform for studying serpentine gaits. The gait is in form of sinusoidal curve, considered one of the most effectiveness crawling pattern in the natural world. The Active Cord Mechanism (ACM) assumption, initiated by Hirose, is implemented. The robot motion results from different joint torques and frictional reacting forces in each wheel. In this study, we proposed a modified serpeniod function with steering command to control the robot's direction. We also performed dynamic analysis using Kane's method. Holonomic constraints under frictional forces and nonholonomic constraints unders velocities were considered. We verified our algorithm for directional control on this Serpentine robot both simulation and experiment.

关键词： Mobile robots Legged locomotion Wheels Propulsion Motion control Kinematics Uniform resource locators robot motion robot control Performance analysis

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A developmental principle for robotic hand-eye coordination skill

A developmental principle for robotic hand-eye coordination ...

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IEEE international conference on Development and Learning, ICDL

作者： M. Xie Singapore-MIT Alliance School of Mechanical & Production Engineering Nanyang Technological University Singapore

Hand-eye coordination is an important skill that a person performs effortlessly. It is a typical scenario that links perception to action in an iterative manner because human vision is not quantitative. Therefore, it's an interesting topic to develop a computational principle that imitates humanlike hand-eye coordination. This paper presents a developmental framework to address the first issue of mapping the visual sensory data into the hand's motion parameters in the Cartesian space. The authors extend their original model (1996, 1997) to the case of using a quadratic model with the attempt to achieve better performance. Hand-eye coordination involves the arm's kinematics modelling. Especially, the computation of inverse kinematics is not a simple process. We propose a new scheme, named as discrete kinematic mapping, to directly map the coordinates in task space into the coordinates in joint space at different levels of granularity that can be gradually refined through the development. This new approach may serve an evidence to explain why human brain can effortlessly undertake complex motions of the two arm/hand systems regardless the complexity of inverse kinematics.

关键词： robot kinematics Humans robot sensing systems Orbital robotics Motion control Servosystems Intelligent agent Intelligent robots Intelligent sensors robot motion

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DLR-Hand II: Next generation of a dextrous robot hand

DLR-Hand II: Next generation of a dextrous robot hand

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IEEE international conference on robotics and Automation

作者： Butterfass, J Grebenstein, M Liu, H Hirzinger, G Inst Robot & Mechatron DLR German Aerosp Res Ctr D-82230 Wessling Germany

ISBN: (纸本)0780365763

This paper outlines the 2nd generation of multisensory hand design at DLR. The results of the use of DLR's Hand I were analyzed and enabled - in addition to the big efforts made in grasping technology - to design the next generation of dextrous robot hands. An open skeleton structure for better maintenance with semi shell housings and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30N on the fingertip. Newly designed sensors as the 6 DOF fingertip force torque sensor and integrated electronics together with the new communication architecture which enables a reduction of the cabling to the hand to only 12 lines outline the electronics concept. The Cartesian impedance control of all the fingers completes the new hand with its 13 DOF to what it is: the next step to autonomous and humanoid grasping.

关键词： End effectors

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Research and development of HERO Mobile robot's controller

Research and development of HERO Mobile Robot's controller

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2nd international conference on Computer and Information technology (CIT'2001)

作者： Jin, R.-J. Chen, Y.-M. Wang, X.-W. Science and Technology Park Shanghai University Shanghai 200072 China

The HERO Mobile robot body is made of 8 joints, a PLC and a wireless communication device. It's controller is based on an advanced PC and control software system using the windows' multi-threads, wireless RS232 communication, WinSocket network programming interfaces and OpenGL simulative technology. The structure of hardware and software of the Mobile robot is introduced, and the functions of the modules of the software are also described. The control system can interpret robot task program and drive robot body running, according to the teaching instruction or program. This control system can also implement off-line programming. When robot running, a client PC in LAN can simulate the robot's current attitudes real-timely.

关键词： Interpret Multi-threads OpenGL Simulate Teach WinSocket

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2nd international Workshop on Computer Vision Systems, ICVS 2001

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2nd international Workshop on Computer Vision Systems, ICVS 2001

ISBN: (纸本)3540422854

The proceedings contain 20 papers. The special focus in this conference is on Architectures for Computer Vision Systems, Autonomous Driving and Real-Time Vision Modules. The topics include: A vision system for autonomous ground vehicles with a wide range of maneuvering capabilities;software architecture for real-time video processing;a handwriting recognition system based on visual input;towards robust multi-cue integration for visual tracking;real time visual cues extraction for monitoring driver vigilance;radar and vision data fusion for hybrid adaptive cruise control on highways;combining EMS-vision and horopter stereo for obstacle avoidance of autonomous vehicles;a stream-based real-time parallel vision system;a real-time vision module for interactive perceptual agents;a fault-tolerant distributed vision system architecture for object tracking in a smart room;identification of shapes using a nonlinear dynamic system;a system to navigate a robot into a ship structure and reconstructing textured CAD model of urban environment using vehicle- borne laser range scanners and line cameras.

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