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

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

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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

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

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.

关键词： Simultaneous localization and mapping Area measurement Robustness computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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An experimental study on imaging Burkitt's lymphoma cells by atomic force microscope

An experimental study on imaging Burkitt's lymphoma cells by...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Xiao, Xiubin Yuan, Shunzong Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation CAS 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 Lyphoma Military Medical Academy of Sciences Beijing 100071 China Graduate University of Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781424465439

Burkitt's lymphoma (BL) is a highly aggressive malignant tumor with high morbidity rate in children. Patients have different responses to the same therapy due to the molecular heterogeneity. Detailed observation of the surface structure of BL cells to locate the specific receptors (CD20) on the cell surface and measure the binding force between the CD20s and their cognate ligands (Rituximab) may give people a further understanding to BL cell's intrinsic properties and provide complementary approaches for the next generation of drug research and development. In this paper, we give an experimental study on how to obtain the morphology images of the BL cells both in air and liquid with atomic force microscope (AFM).The detailed procedures such as sample preparation of BL cells, parameter setting of AFM and so on, are presented, and the experimental results illustrate that the morphology image of the BL cell can be obtained in air or liquid respectively by using AFM. ©2010 IEEE.

关键词： Morphology

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An experimental study on protein-protein interaction using atomic force microscopy

An experimental study on protein-protein interaction using a...

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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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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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Measuring the physical properties of the lymphoma cells using atomic force microscopy

Measuring the physical properties of the lymphoma cells usin...

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2010 4th IEEE Nanotechnology Materials and Devices Conference, NMDC2010

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 of Military Medical Academy of Sciences Beijing 100071 China

ISBN: (纸本)9781424488964

Illuminating the underlying mechanism of drug action at single-cell and single-molecule levels is of great significance for the personalized treatment of diseases. In this paper, with the use of the atomic force microscopy (AFM), the mechanical property of the lymphoma cells was quantitatively measured and the CD20-Rituximab binding force was measured on the surface of the lymphoma cells by linking the Rituximab molecules onto the AFM tip. The results lay the foundation for the further study of the molecular mechanism of Rituximab anti-cancer effect. © 2010 IEEE.

关键词： Atomic force microscopy

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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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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