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Mediterranean Conference on Control and automation

作者： Groumpos, Peter P. Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras 26500 Rion Patras Greece

ISBN: (纸本)9781457701252

This paper investigates a hybrid methodology that combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for modeling and controlling Supervisory Control Systems. A mathematical description of Fuzzy Cognitive Maps (FCM) will be presented and new construction methods will be extensively examined. Synthesizing different FCM will be presented and explained with examples. The neural network nature of FCM will be briefly discussed. The problem of decision making process and a Decision Tree-FCM model is presented. A successful application of FCM theory in a medical problem (bladder tumor) is provided. © 2011 IEEE.

关键词： Fuzzy Cognitive Maps

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Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function

Adaptive and repetitive controller for robotic manipulators ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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Detecting CD20-Rituximab interaction forces using AFM single-molecule force spectroscopy

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Chinese Science Bulletin 2011年第35期56卷 3829-3835页

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 of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing 48824 USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh 15261 USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071 China

The invention of atomic force microscopy(AFM) has provided new technology for measuring specific molecular interaction *** AFM single-molecule force spectroscopy(SMFS) techniques,CD20-Rimximab rupture forces were measured on purified CD20 proteins,Raji cells,and lymphoma patient B *** molecules were linked onto AFM tips using AFM probe functionalization technology,and purified CD20 proteins were attached to mica using substrate functionalization *** cells(a lymphoma cell line) or lymphoma patient cells were immobilized on a glass substrate via electrostatic adsorption and chemical *** topography of the purified CD20 proteins,Raji cells,and patient lymphoma cells was visualized using AFM imaging and the differences in the rupture forces were analyzed and *** results showed that the rupture forces between the CD20 proteins on Raji cells and Rituximab were markedly smaller than those for purified CD20 proteins and CD20 proteins on lymphoma patient B *** findings provide an effective experimental method for investigating the mechanisms underlying the variable efficacy of Rituximab.

关键词：原子力显微镜相互作用力单分子光谱 Raji细胞蛋白质纯化功能化技术 AFM探针

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Fuzzy cognitive maps: basic theories and their applications in medical problems

Fuzzy cognitive maps: basic theories and their applications ...

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Mediterranean Conference on Control and automation (MED)

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion Greece

关键词： Mathematical model Fuzzy cognitive maps Equations Pragmatics Humans Analytical models Control systems

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Target object identification and localization in mobile manipulations

Target object identification and localization in mobile mani...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Jiang, Yong Xi, Ning Zhang, Qin Jia, Yunyi Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781457721373

How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform. © 2011 IEEE.

关键词： Cameras

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Development of a StandAlone Surgical Haptic Arm

Development of a StandAlone Surgical Haptic Arm

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Daniel Jones Andrew Lewis Gregory S. Fischer Electrical and Computer Engineering Worcester Polytechnic Institute (WPI) Robotics Engineering WPI Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering WPI

ISBN: (纸本)9781424441211

When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.

关键词： Haptic Device Component Touch telesurgery Arm spiral arm Slaves Learning Curve Latency

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Probing protein-protein interaction forces using single-molecule force spectroscopy

Probing protein-protein interaction forces using single-mole...

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2011 11th IEEE International Conference on Nanotechnology, NANO 2011

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 School 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 Affiliated Hospital Military Medical Academy of Sciences Beijing 100071 China

ISBN: (纸本)9781457715143

The invention of atomic force microscopy (AFM) provides new technology for measuring the molecular specific binding forces. With the use of AFM single-molecule force spectroscopy (SMFS), the CD20-rituximab binding forces were measured on purified CD20 proteins (CD20 segment protein and CD20 full-length protein) and on Burkitt's lymphoma Raji cells, respectively. With AFM probe functionalization technology, rituximabs were linked onto AFM tips. With substrate functionalization technology, purified CD20 segment proteins and CD20 full-length proteins were attached onto mica. Lymphoma Raji cells were immobilized onto glass substrate with electrostatic adsorption and chemical fixation. The differences of measuring the binding forces on purified proteins and on cells were analyzed. The experimental results indicate that the binding force between CD20 segment protein and rituximab were markedly larger than that of CD20 full-length protein and CD20 protein on lymphoma cells, providing an effective method for investigating the rituximab's mechanism. © 2011 IEEE.

关键词： Proteins

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Imaging and measuring the protein distribution of lymphoma cells using atomic force microscopy

Imaging and measuring the protein distribution of lymphoma c...

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6th IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2011

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Tabata, Osamu Xiao, Xiubin Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of 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 PA15261 United States Department of Micro Engineering Kyoto University Kyoto 606-8501 Japan Department of Lymphoma Affiliated Hospital of 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)9781612847757

Atomic force microscopy (AFM) has proven to be a powerful tool for imaging the topographic properties of biological samples and measuring the molecular specific binding forces at cellular and molecular levels. However, there are still great difficulties in using AFM to acquire images of mammalian suspension live cells due to the suspension growth manner and the softness of the cell membrane. In this paper, lymphoma live cells were trapped in microfabricated patterned pillars and then imaged by AFM in phosphate buffered saline (PBS) solution. In addition, the CD20 distribution on the lymphoma cell surface was visualized three-dimensionally by tethering rituximabs (anti-CD20 monoclonal antibody) onto the AFM tips. The experimental results indicate that immobilization with microfabricated patterned pillars provides a novel way for anchoring suspension mammalian cells, opening the way for further investigation of the molecular mechanisms of rituximab's anti-cancer effect. © 2011 IEEE.

关键词： Monoclonal antibodies

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Proposal of educational environments with mobile robots

Proposal of educational environments with mobile robots

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IEEE Conference on robotics, automation and Mechatronics

作者： Silas F. R. Alves Humberto Ferasoli Filho René Pegoraro Marco A. C. Caldeira João M. Rosário Wilson M. Yonezawa Laboratory of Integrated Automation and Robotics Mechanical Project Department Faculty of Mechanical Engineering State University of Campinas Campinas Sao Paulo Brazil Laboratory of Integration of Intelligent Systems and Devices Computer Department Sciences Faculty University of São Paulo State Bauru Brazil

This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was developed to allow the computer to process data from the sensors and actuators of the mobile robot. This architecture is adequate because of the acceptance of students in their use, since the environment is unrolled within a familiar platform to them.

关键词： Robot sensing systems computer architecture computers Mobile robots Educational robots

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