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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Xiao, Xiubin Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA 15261 United States Department of Lymphoma Military Medical Academy of Sciences Beijing 100071 China Graduate School of Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9781424470334

Elucidating the underlying mechanism of the cellular physiological activities at the molecular level is currently an important research topic in life sciences. The invention of the atomic force microscopy (AFM) provided new methods for acquiring new cognition about cellular chemical processes. With the use of AFM, the specific recognition interaction between CD20 antigen and rituximab antibody on B lymphoma cells was explored under near-physiological conditions. The high quality AFM images of B lymphoma cells were acquired and the CD20-rituximab complex binding force was measured by AFM single-molecule force spectroscopy (SMFS). The experimental results provide new insights for understanding the CD20-rituximab specific interaction and lay the foundation for the further investigation of the mechanism of rituximab. ©2010 IEEE.

关键词： Atomic force microscopy

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Virtual and augmented medical imaging environments: Enabling technology for minimally invasive cardiac interventional guidance

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IEEE Reviews in Biomedical engineering 2010年 3卷 25-47页

作者： Linte, Cristian A. White, James Eagleson, Roy Guiraudon, Grard M. Peters, Terry M. Biomedical Engineering Graduate Program University of Western Ontario Robarts Research Institute London ON N6A 5K8 Canada Imaging Research Laboratories Robarts Research Institute London Health Sciences Centre London ON N6A 5A5 Canada Department of Electrical and Computer Engineering University of Western Ontario Canadian Surgical Technologies and Advanced Robotics London ON N6A 5B9 Canada Canadian Surgical Technologies and Advanced Robotics London ON N6A 5A5 Canada

Virtual and augmented reality environments have been adopted in medicine as a means to enhance the clinician's view of the anatomy and facilitate the performance of minimally invasive procedures. Their value is truly appreciated during interventions where the surgeon cannot directly visualize the targets to be treated, such as during cardiac procedures performed on the beating heart. These environments must accurately represent the real surgical field and require seamless integration of pre- and intra-operative imaging, surgical tracking, and visualization technology in a common framework centered around the patient. This review begins with an overview of minimally invasive cardiac interventions, describes the architecture of a typical surgical guidance platform including imaging, tracking, registration and visualization, highlights both clinical and engineering accuracy limitations in cardiac image guidance, and discusses the translation of the work from the laboratory into the operating room together with typically encountered challenges. © 2008 IEEE.

关键词： Augmented reality

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Measuring the molecular force of Burkitt's lymphoma patient cells using AFM

Measuring the molecular force of Burkitt's lymphoma patient ...

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

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Xiao, Xiubin Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA 15261 United States Department of Lymphoma Military Medical Academy of Sciences Beijing 100071 China State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai 201203 China

ISBN: (纸本)9781612841533

The treatment of Non-Hodgkin's lymphoma (NHL) was revolutionized by the approval of rituximab in 1997. Rituximab is a CD20-directed monoclonal antibody (mAb). Despite the great success of rituximab in the treatment of B-cell NHL, the urgent need is to enhance the efficacy due to the markedly variable patient responses. Hence elucidating the molecular mechanisms of rituximab's anti-cancer effect is of great significance. In the past decade the atomic force microscopy (AFM) has proven to be a powerful tool for characterizing the morphological properties and measuring the physiological interaction forces of single cells and single molecules under native conditions. In this work, the AFM single-molecule force spectroscopy(SMFS) was applied to quantitatively measure the CD20-rituximab binding force on Burkitt's lymphoma patient bone marrow cells. The experimental results will facilitate further investigation of the molecular mechanisms of rituximab's anticancer effect. © 2010 IEEE.

关键词： Atomic force microscopy

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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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An Electric Ray Inspired Biomimetic Autonomous Underwater Vehicle

An Electric Ray Inspired Biomimetic Autonomous Underwater Ve...

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American Control Conference

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of NYU Brooklyn NY 11201 Vassar College Poughkeepsie NY 12604

ISBN: (纸本)9781424474264

The development of a novel Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicle (BAUV) inspired by the Pacific electric ray is addressed. The design and hardware implementation of experimental prototypes of the "RayBot" BAUV are described. Extensive observations of live electric rays provided key biological inspirations in the development of the BAUV. As part of the effort, a six degree-of-freedom impulse-based multi-body approach for modeling and simulation of BAUVs was also developed and validated through comparison with experimental data.

关键词： Torpedinidae Autonomous underwater vehicles underwater vehicles Biomimetics

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Cutting graphene using an atomic force microscope based nanorobot

Cutting graphene using an atomic force microscope based nano...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Yu Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili 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 Lansing MI 48824 United States Graduate School Chinese Academy of Sciences Beijing100001 China

ISBN: (纸本)9781424470334

Rapid progress in graphene-based applications is calling for an inexpensive technique for creating mass graphene components with specialized shapes, sizes, and edge structures. In this paper, an Atomic Force Microscopy (AFM) based mechanical cutting method is developed to approach this goal, through which we are able to structure trenches into multilayer graphene flakes with different directions, and generate different graphene shapes: graphene nanoribbons and triangles. Combining parallel multi-tip technology, this method makes it possible to fabricate large-scale graphene-based device at low cost and high efficiency. This research also reveals that the cutting force of graphene varies with different cutting directions, based on which a close-loop fabrication method with interaction force as real-time feedback may be developed for tailoring graphene into desired edge structures and shapes in a controllable high-precise way. ©2010 IEEE.

关键词： Graphene

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A prediction- and cost function-based algorithm for robust autonomous freeway driving

A prediction- and cost function-based algorithm for robust a...

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IEEE Symposium on Intelligent Vehicle

作者： Junqing Wei John M. Dolan Bakhtiar Litkouhi Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Robotics Institute and the Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA GM-CMU Autonomous Driving Collaborative Research Laboratory GM Research and Development Center Warren MI USA

In this paper, a prediction- and cost function-based algorithm (PCB) is proposed to implement robust freeway driving in autonomous vehicles. A prediction engine is built to predict the future microscopic traffic scenarios. With the help of a human-understandable and representative cost function library, the predicted traffic scenarios are evaluated and the best control strategy is selected based on the lowest cost. The prediction- and cost function-based algorithm is verified using the simulator of the autonomous vehicle Boss from the DARPA Urban Challenge 2007. The results of both case tests and statistical tests using PCB show enhanced performance of the autonomous vehicle in performing distance keeping, lane selecting and merging on freeways.

关键词： Cost function Robustness Traffic control Remotely operated vehicles Mobile robots Road vehicles Testing Vehicle driving Engines Microscopy

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Performance Evaluation of Three Schemes Applied to Bilateral Control of a Hydraulic Actuator Interacting with Deformable Environments

Performance Evaluation of Three Schemes Applied to Bilateral...

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IEEE International Conference on robotics and Biomimetics

作者： M. Esfandiari K. Zarei-nia W. K. Fung N. Sepehri Fluid Power and Telerobotics Research Laboratory University of Manitoba Department of Electrical and Computer Engineering University of Manitoba

ISBN: (纸本)9781424493197

In this paper, the effect of deformable environment to the performance of three bilateral teleoperation control schemes for hydraulic actuators are investigated through dynamic simulation. The considered schemes are Force Reflection, Position Error and Lyapunov feedback controllers. Two type of environments are considered, first is spring model and the second one is environment which is described by the Hertz contact model. Using a teleoperation platform, the master device is a PHANToM haptic device and the slave manipulator is a simulated hydraulic actuator. The master and slave are connected by the on-campus Intranet network setting with small and fairly constant communication delay. The stability and transparency of the overall system are evaluated according to the following criteria: (i) position tracking error of the slave manipulator;(ii) force tracking error of the master haptic device;and (iii) perceived stiffness of the environment at the master site.

关键词： Bilateral Teleoperation Stability Transparency Hydraulic Actuators Deformable Environments

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A 7-DOF haptics-enabled teleoperated robotic system: Kinematic modeling and experimental verification

A 7-DOF haptics-enabled teleoperated robotic system: Kinemat...

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

作者： Simon Perreault Ali Talasaz Ana Luisa Trejos Christopher D.W. Ward Rajni V. Patel Bob Kiaii Robotics Laboratory Department of Mechanical Engineering Laval University Quebec QUE Canada Department of Electrical & Computer Engineering University of Western Ontario Canada Lawson Health Research Institute CSTAR Canada Western University London ON CA

The purpose of this paper is to demonstrate the development of a novel 7-degree-of-freedom teleoperated robotic system that provides force reflection to the surgeon's hands while performing minimally invasive surgery and therapy (MIST). An endoscopic tool has been sensorized and modified for use as the end effector of this haptics-enabled system. In this paper, mathematical models required for controlling the main components of the system have been determined and experimentally validated. Several experiments have been performed with this MIST robotic system in order to compare its force exertion capabilities with those of the da Vinci system from Intuitive Surgical Inc. Force reflection from the slave to the master in the new system is also demonstrated experimentally.

关键词： Robot sensing systems Instruments Haptic interfaces Force Grippers Surgery

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RoboLeader: An agent for supervisory control of multiple robots

RoboLeader: An agent for supervisory control of multiple rob...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Jessie Y. C. Chen Michael J. Barnes Zhihua Qu US Army Research Laboratory MD USA Department Computer Science and Electrical Engineering University of Central Florida Orlando FL USA

ISBN: (纸本)9781424448920;9781424448937

We developed an intelligent agent, RoboLeader, that could assist human operators in route planning for a team of ground robots. We compared the operators' target detection performance in the 4-robot and 8-robot conditions. Results showed that the participants detected significantly less targets and had significantly worse situation awareness when there were 8 robots compared to the 4-robot condition. Those participants with higher spatial ability detected more targets than did those with lower spatial ability. Participants' self-assessed workload was affected by the number of robots under control, their gender, and their attentional control ability.

关键词： Supervisory control Testing robotics and automation Humans Intelligent agent Navigation Intelligent robots Path planning Laboratories Object detection

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