检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Biomimetics

作者： Yong Jiang Ning Xi Qin Zhang Yunyi Jia Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing China

ISBN: (纸本)9781457721366

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.

关键词： Feature extraction Three dimensional displays Cameras Mobile communication Image color analysis Manipulators Object recognition

来源：评论

学校读者我要写书评

暂无评论

Adaptive and Repetitive Controller for Robotic Manipulators with Slowly Updating Scheme Using B-Spline Shape Function

Adaptive and Repetitive Controller for Robotic Manipulators ...

引用

IEEE International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781457721366

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.

关键词： shape functions Repetitive controllers Self tuning splines (mathematics) Scheme Robot Manipulator adaptive capacity memory requirements Control Architecture Manipulators Unknown parameter Linear Combination

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Osamu Tabata Xiubin Xiao Weijing Zhang State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Micro Engineering Kyoto University Kyoto Japan Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

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.

关键词： Force Surface topography Atomic force microscopy Surface morphology Suspensions

来源：评论

学校读者我要写书评

暂无评论

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

Feature referenced tip localization enhanced by probability ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

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.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

来源：评论

学校读者我要写书评

暂无评论

Research on the reconstruction of fast and accurate AFM probe model

引用

Chinese Science Bulletin 2010年第24期55卷 2750-2754页

作者： YUAN Shuai DONG ZaiLi MIAO Lei XI Ning WANG YueChao 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 USA

The AFM image will be distorted due to the tip-broadening effect. It may be mathematically represented as the effect of the tip's convolution on the real image. As a result, the true geometry of the sample surface can not be obtained. If the tip shape could be known accurately, such distortion can be eliminated with the adoption of disconvolution operation. It is of practical significance in the accurate reconstruction of the AFM image. Among the current tip modeling algorithms, the blind tip estimation algorithm based on mathematical morphology is widely applied. However, it takes much time and has difficulties in defining the optimal noise threshold. In view of the above problems, this paper proposes a new blind tip evaluation method to accelerate the speed of blind tip modeling calculation and realize the accurate reconstruction of the AFM image. The simulation and the experimental results demonstrate the feasibility and effectiveness of the above research method.

关键词： AFM探针原子力显微镜数学形态学图像效果模型几何形状精确重建建模算法

来源：评论

学校读者我要写书评

暂无评论

Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

引用

IEEE International Conference on Imaging Systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

来源：评论

学校读者我要写书评

暂无评论

Construction of 3D structure with virus using AFM based nanorobot

Construction of 3D structure with virus using AFM based nano...

引用

2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Changlin Liu, Lianqing Wang, Yuechao Xi, Ning Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences China Department of Electrical and Computer Engineering Michigan State University United States

ISBN: (纸本)9781424470334

Atomic Force Microscopy (AFM) is often considered as a manipulation tool only in 2D surface. Seldom documents report that it can transfer nano-objects in 3D space with high controllable precision. In this paper, we demonstrate that using developed AFM based nanorobot, viruses can be manipulated not only in 2D surface, but in 3D space. The experimental results show that a single virus can be picked up at a time and released to another special location by nanorobot. The theoretical analysis is presented to reveal the mechanism of a single virus' picking and releasing. A pyramidal structure is constructed with viruses to demonstrate the 3D manipulation capability of nanorobot. ©2010 IEEE.

关键词： Atomic force microscopy

来源：评论

学校读者我要写书评

暂无评论

Detecting CD20-Rituximab specific interactions on lymphoma cells using atomic force microscopy

引用

Science China(Life Sciences) 2010年第10期53卷 1189-1195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 AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA Department of Electrical and Computer Engineering University of PittsburghPittsburgh 15261USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071China Graduate University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China

Elucidating the underlying mechanisms of cell physiology is currently an important research topic in life sciences. Atomic force microscopy methods can be used to investigate these molecular mechanisms. In this study, single-molecule force spectroscopy was used to explore the specific recognition between the CD20 antigen and anti-CD20 antibody Rituximab on B lymphoma cells under near-physiological conditions. The CD20-Rituximab specific binding force was measured through tip functionalization. Distribution of CD20 on the B lymphoma cells was visualized three-dimensionally. In addition, the relationship between the intramolecular force and the molecular extension of the CD20-Rituximab complex was analyzed under an external force. These results facilitate further investigation of the mechanism of Rituximab’s anti-cancer effect.

关键词： atomic force microscopy single-molecule force spectroscopy CD20 antigen Rituximab

来源：评论

学校读者我要写书评

暂无评论

Cutting graphene using an atomic force microscope based nanorobot

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

The effects of vacancies on the transport properties of zigzag graphene nanoribbons

The effects of vacancies on the transport properties of zigz...

引用

2010 4th IEEE Nanotechnology Materials and Devices Conference, NMDC2010

作者： Zhang, Yu Liu, Lianqing Jiao, Niandong Xi, Ning Wang, Yuechao Dong, Zaili 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 Graduate School of Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781424488964

The transport properties of zigzag graphene nanoribbons (ZGNRs) with different patterns of vacancies are investigated by using density functional theory and nonequilibrium Green's function (NEGF) formalism. It is found that the transport properties are different with a different lattice type vacancy (A-type or B-type vacancy). The conductance of ZGNRs is more sensitive to an interior vacancy than an edge vacancy. More importantly, the pattern of interior vacancies has enormous influence on the electron transport around the Femi energy. As hexagon carbons are removed, the ZGNRs transform from metallic to semiconducting. Thus one can tune the electron properties of ZGNRs by patterning vacancies. © 2010 IEEE.

关键词： Vacancies

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：