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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Wenfeng Liang Shue Wang Yanli Qu Zaili Dong Gwo-Bin Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China Chinese Academy and Sciences China Chinese Academy of Sciences Beijing Beijing CN Center of Micro Nano Technology Research National Cheng Kung University Taiwan Centre of Micro and Nano Systems Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

Opticaldielectrophoresis(ODEP)has been explored experimentally with success in manipulating microscale objects in the last 5 years. However, not much theoretical analyses have been performed to understand its operating principles in depth and also determine its limitations as a tool to manipulate micro- and nano-scale objects. In this paper, we present our work on establishing an equivalent electrical model to analyze the important physical interactions when optically induced dielectrophoretic force is used to manipulate micron-sized polystyrene beads. Simulation results show that the ODEP manipulation of microbeads is frequency-dependent and that the electrothermal effect is negligible. Furthermore, the relationship between the frequency of the applied voltage and the maximum manipulation velocity of the microbeads obtained from simulation is consistent with our experimental measurements. In addition, simulation results also show that the minimum radius of a bead that can be manipulated exponentially decreases with respect to the size of the illuminated spot. For instance, when the illuminated spot size is 1 μm, ODEP can theoretically manipulate 100 nm beads - indicating that ODEP can be extended to manipulate nano-scale objects if the illuminated spot size can be significantly reduced.

关键词： Force Conductivity Electric fields Drag Simulation Nanobioscience

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Development of a novel ODEP chip using polymer photoconductive material and FTO electrode

Development of a novel ODEP chip using polymer photoconducti...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Shue Wang Zaili Dong Yanli Qu Lei Zhou Zhu Liu Wenli Zhou Shenglin Jiang Yan Yu G. B. Lee Wen J. Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electronic Science and Technology Huazhong University of Science and Technology China Wuhan National Laboratory of Optoelectronics Wuhan China Center of Micro Nano Technology Research National Cheng Kung University Taiwan Cent. for Micro and Nano Systems Chinese University of Hong Kong Hong Kong China

A novel ODEP (optical dielectrophoresis) chip using a polymer photoconductive material and fluorine doped tin oxide (FTO) conductive film is demonstrated to manipulate micron-sized polystyrene beads. Instead of using the traditional hydrogenated amorphous silicon (a-Si:H) as photoconductive layers, a thin film of a mixture of poly (3-hexylthiophene) (P3HT) and [6,6]-phenyl C61-butyric acid methylester (PCBM) photoconductive polymer is used in this novel ODEP chip. When the polymer layer is illuminated by a light beam, many electron-hole pairs are created, which increase the conductivity of the polymer. Consequently, localized non-uniform electric field can be generated when an AC bias is applied across the ODEP chip, and localized DEP forces are then generated. The distribution of electrical field induced by a ring-shaped optical electrode is simulated and the maximum trapping velocity is calculated according to Stokes' law for this ODEP chip. The effect of the polymer thickness to the magnitude of the generated DEP force has also been investigated. The maximum trapping velocity and the induced DEP force exerted on 20 μm polystyrene beads are estimated to be 77 μm/s and 15 pN, respectively. Finally, performance of the polymer-based ODEP chip is compared with an a-Si:H-based ODEP chip by trapping and sorting polystyrene beads with identical parameters. The experimental results indicate that the polymer photoconductive material used in our work is promising for rapid fabrication of ODEP chips for microparticles manipulation.

关键词： Force Charge carrier processes Optical imaging Optical films Electric fields Optical polymers

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Simulation Platform for Self-assembly Structures in MRI-guided Nanorobotic Drug Delivery systems

Simulation Platform for Self-assembly Structures in MRI-guid...

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IEEE International Conference on robotics and automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Conference on Imaging systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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Correlation between impact-energy density and pain intensity during robot-man collision

Correlation between impact-energy density and pain intensity...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Borut Povse Darko Koritnik Tadej Bajd Marko Munih R & D Department for Automation Robotics and Electronic Instrumentation Dax Electronic Systems Company Trbovlje Slovenia Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia

This paper presents an investigation focused on cooperation of a small industrial robot and a human operator. During their cooperation the collision is expected only between the robot end-effector and the lower arm of the human worker. To ensure safe and comfortable human-robot interaction the impact must not cause any injury or considerable pain to the human operator. An investigation with human volunteers was performed, to study the impact between the robot and the man. To determine a safe range of the impact intensity with human subjects, a preliminary investigation was performed on one of the authors of this paper. During the experiment, the volunteers determined the pain they felt after each impact using a graphical user interface. In the experiments, the robot end-effector collided with the volunteer's lower arm perpendicularly at a constant deceleration. The point of impact was positioned midway between the wrist and the elbow on the dorsal aspect of the lower arm. The robot end-effector was displaced from the initial point toward the point of impact along a straight line. Several tests were carried out at maximal velocity, different robot decelerations, various end- effector shapes, and varying depth of stop point with regard to the arm surface. The impacts between robot end-effector and human arm were evaluated using a measuring system comprised of a force sensor and an optical measuring system. The goal of the investigation was to determine the correlation between the pain intensity felt during the impact and the impact energy density.

关键词： Pain Collision avoidance Humans Manipulators Service robots Robot sensing systems

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

关键词： Simultaneous localization and mapping Area measurement Robustness Computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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Investigation of a PDMS based micromixer for heterogeneous immunoassays of insulin

Investigation of a PDMS based micromixer for heterogeneous i...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems

作者： Zhan, Zhikun Qu, Yanli Wang, Shuai Dong, Zaili Srinivasan, Balaji Tung, Steve Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China Department of Mechanical Engineering University of Arkansas Fayetteville AR United States Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781424465439

An experimental study was carried out to evaluate the performance of a polydimethylsiloxane (PDMS) based micromixer for heterogeneous immunoassays of insulin. The detection method is based on coupling the highly specific double-antibody sandwich immunoassay with the sensitive chemiluminescence of the Luminol-Hydrogen Peroxide reaction. Both the immune and chemiluminescence reactions are conducted in the micromixer, and the resultant light emission is detected by a highly sensitive photometer. The behavior of the luminol based chemiluminescence is parabolic with respect to time, and the maximum light intensity is used here to represent the output of the reaction. The current results indicate that at an actuation pressure of 15psi, an actuation frequency of 30Hz leads to the best reaction result. At these operating conditions, the detection limit of insulin is about 10-14mol/L while the total reaction time of the insulin immunoassay in the micromixer is less than 5 minutes. ©2010 IEEE.

关键词： Chemiluminescence

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Insulin detection based on a PDMS microfluidic system

Insulin detection based on a PDMS microfluidic system

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4th IEEE International Conference on Nano/Molecular Medicine and Engineering, IEEE NANOMED 2010

作者： Zhan, Zhikun Yao, Ping Dong, Zaili Tung, Steve Hohnbaum, Jacob Srinivasan, Balaji Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China Department of Mechanical Engineering University of Arkansas Fayetteville AR United States Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781612841533

An integrated polydimethysiloxane (PDMS) microfluidic system which is composed of two pneumatic micropumps and one micromixer is developed for high-accuracy detection of insulin. The detection method is based on coupling the highly specific technique of 'double-antibody sandwich immunoassay' with the sensitive chemiluminescence of Luminol-Hydrogen Peroxide (H2O 2). The immune reactions and other related processes are carried out in the microfluidic system semi automatically. Sample transportation in the microfluidic system is accomplished by two pneumatic PDMS micropumps. Chemiluminescent measurement is conducted in a separate PDMS micromixer using a double-channel syringe pump to inject reagents. Light emitting from this mixer is detected by a highly sensitive photometer when the chemiluminescent regents flow through the mixer chamber. The results indicate that at an actuation pressure of 10psi, a mixer actuation frequency of 5Hz, and an injecting flow rate of 0.5 ml/min, the detection limit of the microfluidic system for insulin is about 10-10 M. © 2010 IEEE.

关键词： Insulin

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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