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International Symposium on Agents, Multi-Agent Systems and robotics (ISAMSR)

作者： Chengliang Liang Ning Ye Reza Malekian Ruchuan Wang College of Computer Nanjing University of Posts and Telecommunications Nanjing China Jiangsu High Technology Research Key Laboratory for Wireless Sensor Networks Nanjing China Department of Electrical Electronic and Computer Engineering University of Pretoria Pretoria South Africa Key Lab of Broadband Wireless Communication and Sensor Network Nanjing University of Post and Telecommunications Nanjing China

In this paper, we proposed a hybrid encryption algorithm in order to solve the security problems on lightweight data on the cloud storage service. This paper first improves the RSA algorithm in the cloud environment by increasing the length of the RSA key to an extent that it can quickly generate big primes. Then, we merge AES and RSA algorithms on the basis of the improved RSA algorithm. This is called a hybrid encryption algorithm which is suitable for security of the lightweight data in cloud storage environment in order to further enhance the confidentiality of data in the cloud. The experimental result shows that the hybrid encryption algorithm has advantages of fast encryption and decryption, more secure, and it is also able to settle the security problems of users' lightweight data in a certain extent.

关键词： Encryption Cloud computing Algorithm design and analysis Public key Access control

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Oximetry: Miniaturized Battery‐Free Wireless Systems for Wearable Pulse Oximetry (Adv. Funct. Mater. 1/2017)

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Advanced Functional Materials 2017年第1期27卷

作者： Jeonghyun Kim Philipp Gutruf Antonio M. Chiarelli Seung Yun Heo Kyoungyeon Cho Zhaoqian Xie Anthony Banks Seungyoung Han Kyung‐In Jang Jung Woo Lee Kyu‐Tae Lee Xue Feng Yonggang Huang Monica Fabiani Gabriele Gratton Ungyu Paik John A. Rogers Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Departments of Materials Science and Engineering Northwestern University Evanston IL 60208 USA Beckman Institute University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Departments of Biomedical Engineering Northwestern University Evanston IL 60208 USA Department of Electrical and Computer Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA Department of Civil and Environmental Engineering Northwestern University Evanston IL 60208 USA AML Department of Engineering Mechanics Center for Mechanics and Materials Tsinghua University Beijing 100084 China Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 South Korea Departments of Civil and Environmental Engineering Mechanical Engineering Materials Science and Engineering Center for Engineering and Health Skin Disease Research Center Northwestern University Evanston IL 60208 USA Department of Energy Engineering Hanyang University Seoul 133‐791 Republic of Korea Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute & Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA

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Imaging and mapping individual target proteins on clinical lymphoma cells by AFM 9

Imaging and mapping individual target proteins on clinical l...

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9th IEEE International Conference on Nano/Molecular Medicine and engineering, NANOMED 2015

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Wang, Wenxue State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

ISBN: (纸本)9781467396714

The wide applications of atomic force microscopy (AFM) in the past decade have contributed much to the field of cell biology, providing a lot of novel insights into cellular behaviors at the nanoscale. However, current AFM studies are commonly performed on cell lines cultured in vitro which are quite different from the cells in the human body. Directly investigating the physiological activities on tumor cells from clinical patients is of great significance for helping us to better understand the actual cellular activities taking place in the clinical environment. Under the fluorescence recognition of specific tumor cell surface marker, we have used AFM to investigate the binding affinity and nanoscale distributions of CD20 target protein directly on tumor cells prepared from the bone marrow of lymphoma patients. The results provide a new idea to develop closer links between laboratory study and clinical practice, which may have potential impacts on diverse fields such as drug evaluation and efficacy prediction. © 2015 IEEE.

关键词： Atomic force microscopy

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Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part I)

Control of wheeled mobile robots singularly perturbed by usi...

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作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federação Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil

In work reported here, it is proposed a method to reduce the effects of slipping and skidding in WMRs not exactly satisfying kinematic constraints. It is studied the case for WMRs whose kinematic constraints are violated owing to deformability or flexibility. To this end, it is considered the static-state linearization whose robustness will be based on singular perturbation methods and an auxiliary control law that is modeled on a suitable transformation for curvilinear coordinates. In results will be seen that the tracking error converges to small ball of the origin whose radius can be adjusted by a known function that depends on the slipping and skidding variations. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Mobile robots

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Trajectory control of wheeled mobile robots not satisfying ideal velocity constraints by using slipping and skidding variations: A singular perturbation approach 1

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11th Latin-American robotics Symposium on robotics, LARS 2014

作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory - Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federação Bahia Salvador40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Paraíba Campina Grande58429-970 Brazil

ISBN: (数字)9783662481349

ISBN: (纸本)9783662481332

Control of wheeled mobile robots (WMRs) on trajectory tracking problems has given rise to an abundant proposals at recent years. Normally, WMRs are subject to phenomena like sliding, deformability or flexibility, which are strongly associated with violation of velocity constraints. Here, we propose a method to reduce the effects of slipping and skidding in WMRs by using an auxiliary control law whose robustness is based on slipping and skidding variations. It is considered the control law based on state-feedback linearization whose robustness with respect to the deformability of wheel will be based on singular perturbation methods. The tracking problem is studied by using the auxiliary control law proposed in a feedforward loop. The results show that the law proposed is robust to slipping and skidding and that tracking error converges toward zero. © Springer-Verlag Berlin Heidelberg 2015.

关键词： Mobile robots

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Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part II)

Control of wheeled mobile robots singularly perturbed by usi...

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作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federacao Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil

关键词： Mobile robots

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Powered Upper-Limb Control using Passivity-Based Nonlinear Disturbance Observer for Unknown Payload Carrying Applications

Powered Upper-Limb Control using Passivity-Based Nonlinear D...

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IEEE International Conference on robotics and Automation

作者： Min Jun Kim Woongyong Lee Jae Yeon Choi Yong Sik Park Sung Ho Park Goobong Chung Kyung-Lyong Han I1 Seop Choi I1 Hong Suh Youngjin Choi Wan Kyun Chung the Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology (POSTECH) Pohang 790-784 Gyung-buk Korea the Korea Institute of Robot and Convergence (KIRO) Pohang 790-784 Gyung-buk Korea the POSCO Technical Research Laboratories Pohang 790-300 Gyung-buk Korea the Department of Electronics and Computer Engineering Hanyang University Seoul Korea the Department of Electronic Systems Engineering Hanyang University Ansan Korea

ISBN: (纸本)9781467380270

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications.

关键词： Observer Unknown DOB

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Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Autonomous robotic refueling of an unmanned surface vehicle ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： G. P. Scott C. G. Henshaw I. D. Walker B. Willimon Spacecraft Engineering Department Robotics researchers with the Naval Research Laboratory Washington DC Department of Electrical and Computer Engineering Clemson University Clemson SC

In an effort to improve sailor safety during underway replenishment on the open sea, a robotic refueling system has been developed to autonomously refuel unmanned surface vehicles (USVs). The Rapid Autonomous Fuel Transfer (RAFT) project has demonstrated a methodology that could be used on the open water to autonomously refuel Navy vessels at significant sea states. The prototype refueling system is made up of two robotic arms: a rigid and precise industrial robotic manipulator to pinpoint the location of the target fuel tank and a novel soft pneumatic arm (Octarm) to provide compliant and safe contact with the USV. At the end of the Octarm, a magnetic end effector was designed (patent pending) to transfer a refueling "puck" from the robotic system to the target fuel tank. Acting under manual control or autonomously through visual tracking techniques, the robotic refueling system was shown to effectively transfer fuel to the target US Navy Sea Fox vessel under sea state 3.25 conditions at the US Army Aberdeen Test Center. The results demonstrate the feasibility of using a robotic solution to allow autonomous shore-to-ship or ship-to-USV refueling. It also illustrates the benefits and challenges of future robotic ship-to-USV refueling operations. This represents the first demonstrated use of a robotic system for fluid transfer to vessels in active sea states. This paper describes the design, development, and demonstration of the prototype autonomous refueling system.

关键词： Fuels Manipulators Service robots Pneumatic systems Robot kinematics Vehicles

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An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

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FPAA-based Control of Bilateral Teleoperation Systems

FPAA-based Control of Bilateral Teleoperation Systems

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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