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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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A Complementary Modularized Ramp Metering Approach Based on Iterative Learning Control and ALINEA

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IEEE Transactions on Intelligent Transportation systems 2011年第4期12卷 1305-1318页

作者： Zhongsheng Hou Xin Xu Jingwen Yan Jian-Xin Xu Gang Xiong Advanced Control Systems Laboratory School of Electronic and Information Engineering Beijing Jiaotong University BJTU Beijing China Institute of Automation College of Mechatronics and Automation National University of Defense Technology Changsha China Department of Electrical and Computer Engineering National University of Singapore Singapore Automation Institute Chinese Academy of Sciences (CAS) Beijing China

Ramp metering is an effective tool for traffic management on freeway networks. In this paper, we apply iterative learning control (ILC) to address ramp metering in a macroscopic-level freeway environment. By formulating the original ramp metering problem as an output regulating and disturbance rejection problem, ILC has been applied to control the traffic response. The learning mechanism is further combined with Asservissement Linéaire d'Entrée Autoroutière (ALINEA) in a complementary manner to achieve the desired control performance. The ILC-based ramp metering strategy and the modified modularized ramp metering approach based on ILC and ALINEA in the presence of input constraints are also analyzed to highlight the advantages and the robustness of the proposed methods. Extensive simulations are given to verify the effectiveness of the proposed approaches.

关键词： Traffic control Mathematical model Convergence Learning systems Feedforward neural networks

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New simplified model for an under-actuated quadruped robot in bounding motion

New simplified model for an under-actuated quadruped robot i...

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International Conference on Control, Instrumentation, and automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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Fault detection for network-based nonlinear systems with communication constraints and missing measurements

Fault detection for network-based nonlinear systems with com...

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Asian Control Conference

作者： Dan Zhang Li Yu Qing-Guo Wang Department of Mechanical Engineering National University of Singapore Singapore Department of Automation Zhejiang United Key Laboratory of Embedded Systems Hangzhou Zhejiang University of Technology China Department of Electrical and Computer Engineering National University of Singapore Singapore

This paper is dealt with the fault detection problem for a class of network-based nonlinear systems with communication constraints and random missing measurements. The nonlinear plant is described by a Takagi-Sugeno (T-S) fuzzy time-delay model, it has multiple sensors and only one of them can access to the fault detection filter at each transmission instant. The measurement signal is missing randomly and the missing rate differs from one channel link to another. The goal is to design a fault detection filter such that, the estimation error between the residual and fault is minimized. By casting the addressed fault detection problem into an auxiliary H ∞ filtering problem of a stochastic switched fuzzy time-delay system, a sufficient condition for the existence of the desired fault detection filter is obtained. A numerical example is provided to illustrate the effectiveness and applicability of the proposed technique.

关键词： Fault detection Sensors Linear matrix inequalities Fuzzy systems Switches Delay Stochastic processes

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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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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Introduction

Communications and Control Engineering

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Communications and Control engineering 2011年第9780857292551期 1-15页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China

Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the related problems of stability and stabilization are briefly formulated and discussed. Examples and simulations are provided to exhibit the primary features of the problems with various switching mechanisms. © 2011, Springer-Verlag London Limited.

关键词： Stabilization

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Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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2011 IEEE International Conference on robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent 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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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

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information Sciences and Interaction Sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory. National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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