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NANOROBOTIC MANIPULATION OF CARBON NANOTUBES INSIDE A TRANSIMISSION ELECTRON MICROSCOPE

IFAC Proceedings Volumes 2006年第16期39卷 114-119页

作者： Lixin Dong Bradley J. Nelson Xinyong Tao Li Zhang Xiaobin Zhang Dominic R. Frutiger Arunkumar Subramanian Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland Dept. of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Laboratory for Micro- and Nanotechnology Paul Scherrer Institute CH-5232 Villigen-PSI Switzerland

Basic processes for nanorobotic manipulation of carbon nanotubes (CNTs) inside a transmission electron microscope are investigated experimentally. These processes are fundamental for the characterization of nanoscale materials, for the structuring of nanosized building blocks, and for the prototyping of nanoelectromechanical systems. Multi-walled CNTs, bamboo-structured CNTs, Cutipped CNTs, and quantum dots attached to CNTs have been used as test structures for manipulation.

关键词： nanorobotic manipulation transmission electron microscope carbon nanotube property characterization NEMS

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

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International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence Intelligent robots Fires Tracking Process control Communication system control Control systems Intelligent control Optical computing Intelligent systems

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Low cost two-axis solar tracker with high precision positioning

Low cost two-axis solar tracker with high precision position...

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International Symposium on Environment Identities and Mediterranean Area, ISEIMA

作者： A. Yazidi F. Betin G. Notton G.A. Capolino Center of Robotics Power Electrical Engineering and Control Systems of the University of Picardie Mitterrand Cuffies France Laboratory of Sciences for the environment University of Corse Ajaccio France Laboratory of Sciences for the environment university of Corse Centre de recherche de Vignola Ajaccio Corse

In this paper, the design of a low cost two-axis solar tracker is introduced. The aim is to obtain a high precision positioning of the cell. The control-board is able to support different control strategy such as classical techniques as PID algorithm or more advanced strategy such as fuzzy logic control (FLC). Using the error signal, the tracking capacities of the proposed approaches can be tested experimentally on the experimental prototype built in our laboratory.

关键词： Costs Solar radiation Photovoltaic systems Solar power generation Control systems Three-term control Fuzzy logic Testing Protection Student members

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Stability analysis and control law design for acrobots

Stability analysis and control law design for acrobots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xu-Zhi Lai Jin-Hua She S.X. Yang Min Wu School of Information Science and Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Hachioji Tokyo Japan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that are derived based on three Lyapunov functions are applied successively in three stages of motion control to achieve a suitable posture and increase the energy so as to make the acrobot move into the area around the unstable inverted equilibrium position, and to stabilize it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy

关键词： Stability analysis Motion control Lyapunov method Control systems Information science Intelligent robots Actuators Fuzzy control Intelligent systems Centralized control

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Generating apparatus for gas heat pump system using sensorless-controlled permanent magnet synchronous generator

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IEEJ Transactions on Industry Applications 2006年第5期126卷 541-546+2页

作者： Toba, Akio Fujita, Kouetsu Maeda, Toshihiro Kato, Tomohiko Electronics Technology Laboratory Fuji Electric Advanced Technology Co. Ltd. 1 Fuji-machi Hino Tokyo 191-8502 Japan Inverter Value Engineering Center Fuji Electric FA Components and Systems Co. Ltd. 5520 Minami-Tamagaki-cho Suzuka Mie 513-8633 Japan Energy Engineering Department Aisin Seiki Co. Ltd. 2-1 Asahi-machi Kariya Aichi 448-8650 Japan Fuji Electric Advanced Technology Co. Ltd. Japan Fuji Electric FA Components and Systems Co. Ltd. Japan Aisin Seiki Co. Ltd. Japan Fuji Electric R and D Co. Ltd. Japan Fuji Electric Advanced Technology Co. Ltd. Tokyo Japan Robotics Society of Japan Japan Fuji Electric FA Components and Systems Japan Inverter Design Section Mie Japan Fuji Electric FA Components and Systems Mie Japan Aisin Seiki Co.

A unique generating system for Gas heat pump system (GHP) is presented. The GHP is an air-conditioning system, in which the compressors are driven by a gas engine. The proposed system is applied to the outside unit of GHP to feed the electrical equipments inside. The system utilizes a permanent magnet synchronous generator, which is connected to the gas engine, to realize high-efficiency and small-size. The generator is controlled by a converter with sensorless control technology to eliminate the position sensor. Another major topic is the "free-run startup" technique to start the converter when the generator is rotating. The system configuration and principles of the techniques are set forth, followed by experimental results which show that the system works properly and successfully.

关键词： Heat pump systems

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Uncertainty vs Performance Trade-Offs in Robust Feedback Control: A Mimo Case Study

Uncertainty vs Performance Trade-Offs in Robust Feedback Con...

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IEEE Conference on Decision and Control

作者： J.F. Vasconcelos M. Athans S. Fekri C. Silvestre P. Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal EECS (emeritus) M.I.T. USA Research Associate Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK

ISBN: (纸本)1424401704;9781424401703

We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results

关键词： Uncertainty Robust control Feedback control MIMO Robustness Robust stability Frequency domain analysis Mathematical model Control systems MATLAB

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Reach and Grasp for an Anthropomorphic Robotic System based on Sensorimotor Learning

Reach and Grasp for an Anthropomorphic Robotic System based ...

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

作者： S. Eskiizmirliler M.A. Maier L. Zollo L. Manfredi G. Teti C. Laschi Sorbonne Universite Campus Pierre et Marie Curie Paris ÃŽle-de-France FR INSERM-U742 Paris France Inserm U742 Paris France Université Pierre et Marie Paris France Campus Bio-Medico University Laboratory of Biomedical Robotics & EMC Roma Italy IMT Alti Studi Lucca PhD School in Biorobotics Science and Engineering Lucca Italy ARTS Lab-Advanced Robotics Technology and Systems Laboratory Scuola Superiore Sant'' Anna Pontedera Italy Scuola Superiore Sant'Anna (SSSA) ARTS Lab – Advanced Robotics Technology and Systems Laboratory Pontedera Italy

In this article, we present a neurobiologically inspired multinetwork architecture based on knowledge of cortico-cortical connectivity and its application on an anthropomorphic head-arm-hand robotic system to provide reach-and-grasp kinematics based on multimodal sensorimotor learning. The system incorporates artificial neural network modules (matching units) trained by the locally weighted projection regression (LWPR) algorithm that enables progressive learning from simple to more complex sensorimotor tasks. We report the actual performance of the system by comparing the simulation with the experimental results obtained by the implementation on the real world artefact

关键词： Anthropomorphism Robot sensing systems

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Multiple Impedance Control of Redundant Manipulators

Multiple Impedance Control of Redundant Manipulators

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IEEE Conference on robotics, Automation and Mechatronics

作者： S. Ali A. Moosavian Majid Mostafavi Department of Mechanical Engineering K. N. Toosi Univ. of Technology Tehran Tehran Iran KN Toosi University of Technology Tehran Tehran IR Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi Univ. of Technology Tehran Iran

The multiple impedance control (MIC) enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. A redundant manipulator exploits more degrees of freedom than those required to achieve the desired position and orientation of the end-effector. In this paper, the MIC law is extended to control cooperative redundant manipulators in the presence of impacts due to contact with the environment. Due to redundancy, the Jacobian velocity matrix is non-squared. However, in the proposed method the adjustment of robot behavior is done without calculation of inverse of this Jacobian matrix. The extended formulation of the MIC algorithm is presented, and a system of two cooperating redundant planar manipulators carrying a common object is studied. The obtained results show good tracking performance even in the presence of impacts due to contact with an obstacle, and also system flexibility. These results reveal the merits of MIC algorithm for object manipulation tasks with redundant arms, though it can be also implemented with obstacle avoidance strategies

关键词： Impedance Microwave integrated circuits Manipulator dynamics Robot kinematics Force control Arm Orbital robotics Control systems Jacobian matrices Automatic control

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Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot systems (DDT) Project in Japan

Introduction of Mission Unit on Information Collection by On...

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SICE Annual Conference

作者： Fumitoshi Matsuno Shigeo Hirose Iwaki Akiyama Takao Inoh Michele Guarnieri Naoji Shiroma Tetsushi Kamegawa Kazunori Ohno Noritaka Sato Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan. Tel : +81-466-30-0190 E-mail: akiyama@*** Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan. Tel : +81-03-5734-3177 E-mail: guarnieri@robotics.mes.titech.ac.jp Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Okayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 years project) launched by Ministry of Education, Culture, Spots, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms

关键词： Mobile robots Intelligent robots Earthquakes systems engineering and theory Intelligent systems Urban areas Robot sensing systems Humans System testing Laboratories

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The world of mushrooms - A transdisdplinary approach to human-computer interaction with ambient intelligence

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NTT Technical Review 2006年第12期4卷 17-24页

作者： Maeda, Eisaku Minami, Yasuhiro Miyoshi, Masato Sawaki, Minako Sawada, Hiroshi Nakamura, Atsushi Yamato, Junji Yamada, Takeshi Higashinaka, Ryuichiro NTT Communication Science Laboratories Atsugi-shi 243-0198 Japan Ambient Intelligence Research Group Media Intormation Laboratory NTT Communication Science Laboratories IEEE IEICE IPSJ Signal Processing Research Group Media Information Laboratory NTT Communication Science Laboratories ASJ Audio Engineering Society Recognition Research Group Media Information Laboratory NTT Communication Science Laboratories Institute of Image Information and Television Engineers Robotics Society of Japan Emergent Learning and Systems Research Group Innovative Communication Laboratory NTT Communication Science Laboratories ACM Scheduling Society of Japan Knowledge Processing Research Group Innovative Communication Laboratory NTT Communication Science Laboratories Association for Computational Linguistics

This paper provides an update to the January 2006 letter on "ambient intelligence", describing this year's achievements and the latest demonstration systems. The Ambient Intelligence Project (also known by the code name project Mushroom) aims to bridge the boundaries between technological fields and thus cover the entire field of communication science.

关键词： Human computer interaction

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