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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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On asymptotic consensus value in directed random networks

On asymptotic consensus value in directed random networks

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IEEE Conference on Decision and Control

作者： Victor M. Preciado Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781424477456

We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where each agent can communicate with any other agent with some exogenously specified probability. While different aspects of consensus algorithms over random switching networks have been widely studied, a complete characterization of the distribution of the asymptotic value for general asymmetric random consensus algorithms remains an open problem. In this paper, we derive closed-form expressions for the mean and an upper bound for the variance of the asymptotic consensus value, when the underlying network evolves according to an i.i.d. directed random graph process.

关键词： Eigenvalues and eigenfunctions Switches Markov processes Silicon Upper bound Closed-form solution Convergence

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A real-time weighted-eigenvector MUSIC method for time-frequency analysis of electrogastrogram slow wave

A real-time weighted-eigenvector MUSIC method for time-frequ...

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

作者： Shujia Qin Lei Miao Ning Xi Yuechao Wang Chunmin Yang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China Chinese Academy and Sciences China Department of Electrical and Computer Engineering Michigan State University USA Gastrointestinal Department Air Force General Hospital USA

The surface electrogastrogram (EGG) records the electrical slow wave of the stomach noninvasively, whose frequency is a useful clinical indicator of the state of gastric motility. Estimators based on the periodogram method are widely adopted to obtain this parameter. But they are with a poor frequency domain resolution when the data window is short in time-frequency analysis, and have not taken full advantage of the slow wave model. We present a modified multiple signal classification (MUSIC) method for computing the frequency from surface EGG records, developing it into a real-time time-frequency analysis algorithm. Simulations indicate that the modified MUSIC method has better performance in resolution and precision in the sinusoid-like resultant signal frequency detecting than periodogram. Volunteer data tests show that the modified MUSIC method is stable and efficient for clinical applications, and reduces the danger of pseudo peaks for the diagnosis.

关键词： Multiple signal classification Time frequency analysis Frequency estimation Surface waves Algorithm design and analysis automation Real time systems

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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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IEEE Nanotechnology Materials and Devices Conference (NMDC)

作者： Yu Zhang Lianqing Liu Niandong Jiao Ning Xi Yuechao Wang Zaili Dong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

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.

关键词： Temperature Carbon Lattices Image edge detection Materials Scattering Green's function methods

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AFM tip on-line positioning by using the landmark in nano-manipulation

AFM tip on-line positioning by using the landmark in nano-ma...

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IEEE Nanotechnology Materials and Devices Conference (NMDC)

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

AFM has been proved to be a powerful nano-manipulation tool taking advantage of its ultra high resolution and precision. However the large spatial uncertainties associated with AFM tip positioning dual to the PZT nonlinearity and thermal drift are still challenging problems, which hinders its wide application especially in building complex structures In this paper, a probabilistic approach combined with the Kalman filter based localization algorithm is proposed to improve the accuracy of the tip positioning in the task space coordinate frame. A motion model based on the Prandtl-Ishlinskii (PI) model is established, the distribution of model error is statistically obtained through the experimental calibration process. In addition, to further reduce the tip position uncertainties, an environment measurement models is developed through sensing the landmark intermittently with local scanning method during manipulation. Both the simulations results and experimental results are presented to demonstrate the validity of the proposed method.

关键词： Kalman filters Position measurement Probabilistic logic Uncertainty Nanobioscience Accuracy Motion measurement

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A structured approach to fuzzy abduction based on contraposition property of propositional logic

A structured approach to fuzzy abduction based on contraposi...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Aruna Chakraborty Amit Konar Atulya K. Nagar Visiting Faculty in the M.Tech Course on Intelligent Automation and Robotics Jadavpur University Calcutta India Artificial Intelligence Laboratory Department of Electronics and Telecommunication Engineering Jadavpur University Calcutta India Department of Computer Science Liverpool Hope University Liverpool UK

The paper proposes a new approach to fuzzy abduction by extending the contraposition rule of propositional logic. The main difficulty of fuzzy abduction is due to the restriction of single antecedent clause in a fuzzy production rule. When more than one antecedent clause occurs jointly in a fuzzy rule, the membership value of the derived antecedent clauses become equal, which should not be the case in general. The paper overcomes this problem and demonstrates a simple but elegant method to compute premises in a multi-chained reasoning system.

关键词： Production Firing Cognition Fuzzy sets Electronic mail computer science

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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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 (NEMS)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Xiubin Xiao Shunzong Yuan Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy of 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 Lymphoma Hospital of Military Medical Academy of Sciences Beijing China

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.

关键词： Force Atomic force microscopy Drugs Surface morphology Humidity

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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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IEEE Nanotechnology Materials and Devices Conference (NMDC)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Xiubin Xiao Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and 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 Lymphoma Hospital of Military Medical Academy of Sciences Beijing China

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.

关键词： Force Atomic force microscopy Force measurement Atomic measurements Young's modulus

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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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IEEE International Conference on Nano/Molecular Medicine and engineering (NANOMED)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Xiubin Xiao Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Drug Research Shanghai Institute of Materia 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 Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

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.

关键词： Force Bones Atomic force microscopy Fluorescence Cells (biology) Scanning electron microscopy

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