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IEEE International Conference on robotics and Automation (ICRA)

作者： K.B. Yesin K. Vollmers B.J. Nelson Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology (ETH) Zurich

The active guidance of magnetic particles inside biological organisms for drug delivery, cell separation, and protein manipulation has been actively pursued in biomedical research for many years. Recent advances in the integration of magnetic materials in MEMS are enabling the convergence of these two technologies towards the realization of wireless magnetically guided biomedical microrobots. This paper discusses some of the fundamental design issues for a biomedical microrobot that is actively steered in body fluids using magnetic fields. The effects of miniaturization on magnetic, fluid drag, and gravity/buoyancy forces and on control stability are analyzed. The advantages of using hard magnetic materials and the state of the art in the integration of hard magnetic materials into MEMS devices are discussed. The analysis indicates that untethered microrobots capable of being navigated under external control within biological organisms including the human body is a realistic goal.

关键词： Magnetic analysis Magnetic liquids Magnetic separation Magnetic materials Biological systems Magnetic particles Drug delivery Cells (biology) Proteins Micromechanical devices

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Robust CAD model based visual tracking for 3D microassembly using image space potentials

Robust CAD model based visual tracking for 3D microassembly ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.B. Yesin B.J. Nelson Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

A CAD model based visual tracking system for the flexible automation of 3D microassembly processes is presented. The system achieves six degrees-of-freedom tracking of MEMS components in real-time (30 Hz). The experimental results indicate a 1/spl sigma/ precision of 1.0 /spl mu/m and a positioning accuracy of 2%. A major source of errors in model based tracking is due to ambiguous object configurations with closely spaced edges. We also present a real-time image space potential method that utilizes the readily available model information to reduce these errors and improve tracking robustness.

关键词： Robustness Microassembly Optical feedback Space technology Manufacturing Microscopy intelligent robots robotics and automation Micromechanical devices Microelectromechanical devices

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Guidance of magnetic intraocular microrobots by active defocused tracking

Guidance of magnetic intraocular microrobots by active defoc...

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2004 IEEE/RSJ International Conference on intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： K.B. Yesin K. Vollmers B.J. Nelson Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

Current laparoscopic techniques for intraocular surgery require that the vitreous humor is removed and at least three cannulas are inserted through the sidewalls of the eye. This paper investigates an alternate intraocular surgical technique based on the use of wireless microrobots guided by external magnetic fields. Issues investigated include the effects of magnetic and viscous drag forces faced by magnetic microrobots in the vitreous humor and the 3D visual servoing of these microrobots using a single microscope view. A new active defocused tracking method is proposed for visually servoing the microrobot along the optical axis of the microscope. This method uses a purposely defocused view of the microrobot to unambiguously resolve depth while servoing. Experimental results demonstrating the method with a microrobot visually servoed in 3D at 60 Hz using a single microscope view are presented.

关键词： Magnetic separation Magnetic fields intelligent robots Optical microscopy Retina intelligent systems Surgery Micromagnetics Humans Chemical technology

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MEMS FOR CELLULAR FORCE MEASUREMENTS AND MOLECULAR DETECTION

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International Journal of information Acquisition 2004年第1期1卷 23-32页

作者： YU SUN BRADLEY J. NELSON Department of Mechanical & Industrial Engineering University of Toronto Canada Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

MEMS technology and devices have proven their importance in facilitating single cell studies by providing quantitative information on cellular and sub-cellular levels. This paper reviews existing techniques for cellular and sub-cellular force measurement and molecular detection using MEMS-based devices. Literature on these techniques and sample devices is reviewed. The significance and limitations of various approaches are analyzed.

关键词： MEMS molecular biology cell membrane forces bio-agent detection

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Univariate marginal distribution algorithms for non-stationary optimization problems

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International Journal of Knowledge-Based and intelligent Engineering systems 2004年第3期8卷 129-138页

作者： Ghosh, Ashish Muehlenbein, Heinz Machine Intelligence Unit Indian Statistical Institute Kolkata 700 108 203 B. T. Road India GMD-German National Research Center for Information Technology Institute for Autonomous Intelligent Systems Sankt Augustin 53754 Schloss Birlinghoven Germany

The present work is an attempt to show an way of applying the univariate marginal distribution algorithm to nonstationary environments. The main idea used for this purpose is to introduce mutation (to increase diversity) as and when the environment or the optimization function changes. Simulation study is done on different time dependent versions of a function having simple but difficult landscape. Empirical studies reveal that for smaller shift in position of the optimum, the algorithm can trace this change almost instantaneously. But if the position of the optimum changes by a larger amount, the present algorithm cannot trace it. We also discuss the issue of performance measure for non-stationary environment, and propose a new measure called tractability in this respect. © 2004 - IOS Press and the authors.

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Robots on self-organizing knowledge networks

Robots on self-organizing knowledge networks

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Proceedings- 2004 IEEE International Conference on robotics and Automation

作者： Chong, Nak Young Hongu, Hiroshi Miyazaki, Manabu Takemura, Koji Ohara, Kenichi Ohba, Kohtaro Hirai, Shigeoki Tanie, Kazuo School of Information Science JAIST Ishikawa 923-1292 Japan Advanced Engineering Systems University of Tsukuba Ibaraki 305-8577 Japan Graduate School of Engineering Shibaura Institute of Technology Tokyo 108-8548 Japan Intelligent Systems Institute AIST Ibaraki 305-8568 Japan

In this work, we propose a new framework for better deployment and utilization of robots in our uncertain, unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with many challenges in the user programming, this work is to provide an open environment for building robot programming automatically, where we have robots learn how to accomplish commanded tasks interacting with the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided by the robot manufacturer. The main contributions of this work is to develop the knowledge integrator platform that we call Omniscient Organizer that generates the application programs and send them to the robot controller through networks. In the Omniscient Organizer, the object-related information downloaded from the object web server merges into robot control software based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform common household tasks such as clearing the table within the proposed framework.

关键词： Robot programming

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Obstacle avoidance using image flow in an RT-Linux environment in a PC-104 platform

Obstacle avoidance using image flow in an RT-Linux environme...

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International Conference on Machine Learning and Applications (ICMLA)

作者： J.R. Deming S. Bruder Intelligent Systems and Robotics Group (ISRG) New Mexico Institute of Mining and Technology Socorro NM USA

Semi-autonomous to fully autonomous robots rely on some form of data collection to operate in their environment. This has traditionally been accomplished using sonar or infra-red sensors to measure the robot's proximity to nearby objects. The most recent of efforts rely on sophisticated sensors, such as LIDAR and stereo vision, and result in solutions which are both expensive economically and computationally. Furthermore, these approaches often provide an overflow of data requiring a great deal of processing. This paper discusses an alternative method using a single camera sampling images periodically to calculate the flow within an image and provide sufficient information to allow a small autonomous robot to navigate a corridor and react to obstacles. This method was implemented on a small robotic platform within an RT-Linux environment. Image data was collected using a CMUCam.

关键词： intelligent robots Robot sensing systems Cameras Robot vision systems Mobile robots intelligent systems Sonar Image sampling Image motion analysis Optical sensors

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An ontology for video event representation

An ontology for video event representation

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2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2004

作者： Nevatia, Ram Hobbs, Jerry Bolles, Bob Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA90089-0273 United States USC Information Sciences Institute 4676 Admiralty Wa Marina del ReyCA90292 United States SRI International 333 Ravenswood Avenue Menlo ParkCA94040 United States

Representation and recognition of events in a video is important for a number of tasks such as video surveillance, video browsing and content based video indexing. This paper describes the results of a "Challenge Project on Video Event Taxonomy" sponsored by the Advanced Research and Development Activity (ARDA) of the U.S. Government in the summer and fall of 2003. The project brought together more than 30 researchers in computer vision and knowledge representation and representatives of the user community. It resulted in the development of a formal language for describing an ontology of events, which we call VERL (Video Event Representation Language) and a companion language called VEML (Video Event Markup Language) to annotate instances of the events described in VERL. This paper provides a summary of VERL and VEML as well as the considerations associated with the specific design choices. © 2004 IEEE.

关键词： Ontology

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DYNAMIC ROLL-AND-RISE MOTION BY AN ADULT-SIZE HUMANOID ROBOT

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International Journal of Humanoid robotics 2004年第3期1卷 497-516页

作者： KUNIYOSHI, YASUO OHMURA, YOSHIYUKI TERADA, KOJI NAGAKUBO, AKIHIKO Department of Mechano-Informatics School of Information Science and Technology University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan Department of Mechano-Informatics School of Information Science and Technology University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan Department of Mechano-Informatics School of Information Science and Technology University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo113-8656 Japan Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology 1-1-4 Umezono Ibaraki Tsukuba305-8568 Japan

Whole-body dynamic actions under various contacts with the environment will be very important for future humanoid robots to support human tasks in unstructured environments. Such skills are very difficult to realize using the standard motion control methodology based on asymptotic convergence to the successive desired states. An alternative approach would be to exploit the passive dynamics of the body under constrained motion, and to navigate through multiple dynamics by imposing the least control in order to robustly reach the goal state. As a first example of such a strategy, we propose and investigate a "Roll-and-Rise" motion. This is a fully dynamic whole-body task including underactuated motion whose state trajectory is insoluble, and unpredictable perturbations due to complex contacts with the ground. First, we analyze the global structure of Roll-and-Rise motion. Then the critical points are analyzed using simplified models and simulations. The results suggest a non-uniform control strategy which focuses on sparse critical points in the global phase space, and allows deviations and trade-offs at other parts. Finally, experiments with a real adult-size humanoid robot are successfully carried out. The robot rose from a flat-lying posture to a crouching posture within 2 seconds. © 2004 World Scientific Publishing Company

关键词： Anthropomorphic robots

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Boundary element deformable object tracking with equilibrium constraints

Boundary element deformable object tracking with equilibrium...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Greminger Y. Sun B.J. Nelson Department of Mechanical Engineering University of Minnesota Minneapolis MN USA Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland

This paper presents a deformable object tracking algorithm based on the boundary element method (BEM). BEM differs from the finite element method (FEM) in that only the boundary of the object needs to be meshed for BEM. FEM requires that the interior of the object is meshed in addition to its boundary. This feature of BEM makes it attractive for computer vision problems. We present a deformable template that uses BEM to model deformations. This deformable template is registered to an image using an energy minimization approach. The BEM tracking algorithm presented in this paper constraints the tracking results to satisfy the condition of static equilibrium. This increases the robustness of the tracking results and enhances the usefulness of the forces obtained from the tracking procedure. We demonstrate the tracking performance of this algorithm for objects with linear and non-linear elastic properties. In addition, the results of tracking the deformations of a cell are presented.

关键词： Deformable models Boundary element methods Robustness Integral equations Robot vision systems intelligent robots Elasticity Stress Poisson equations Mechanical engineering

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