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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Borut Povse Darko Koritnik Tadej Bajd Marko Munih R & D Department for Automation Robotics and Electronic Instrumentation Dax Electronic Systems Company Trbovlje Slovenia Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia

This paper presents an investigation focused on cooperation of a small industrial robot and a human operator. During their cooperation the collision is expected only between the robot end-effector and the lower arm of the human worker. To ensure safe and comfortable human-robot interaction the impact must not cause any injury or considerable pain to the human operator. An investigation with human volunteers was performed, to study the impact between the robot and the man. To determine a safe range of the impact intensity with human subjects, a preliminary investigation was performed on one of the authors of this paper. During the experiment, the volunteers determined the pain they felt after each impact using a graphical user interface. In the experiments, the robot end-effector collided with the volunteer's lower arm perpendicularly at a constant deceleration. The point of impact was positioned midway between the wrist and the elbow on the dorsal aspect of the lower arm. The robot end-effector was displaced from the initial point toward the point of impact along a straight line. Several tests were carried out at maximal velocity, different robot decelerations, various end- effector shapes, and varying depth of stop point with regard to the arm surface. The impacts between robot end-effector and human arm were evaluated using a measuring system comprised of a force sensor and an optical measuring system. The goal of the investigation was to determine the correlation between the pain intensity felt during the impact and the impact energy density.

关键词： Pain Collision avoidance Humans Manipulators Service robots Robot sensing systems

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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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Variance Analysis of Randomized Consensus in Switching Directed Networks

Variance Analysis of Randomized Consensus in Switching Direc...

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American Control Conference

作者： Victor M. Preciado Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104 Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104

ISBN: (纸本)9781424474264

In this paper, 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 Erdos-Renyi random graphs, where each agent can communicate with any other agent with some exogenously specified probability p. While it is well-known that consensus algorithms over Erdos-Renyi random networks result in an asymptotic agreement over the network, an analytical characterization of the distribution of the asymptotic consensus value remains an open question. In this paper, we provide closed-form expressions for the mean and variance of the asymptotic random consensus value, in terms of the size of the network and the probability of communication p. We also provide numerical simulations that illustrate our results.

关键词： Analysis of variance Algorithm design and analysis Closed-form solution systems engineering and theory Laboratories robotics and automation Convergence Numerical simulation computer networks Concurrent computing

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Control for discrete-time singularly perturbed systems with distributional properties

Control for discrete-time singularly perturbed systems with ...

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作者： Wang, Guoliang Zhang, Qingling Bian, Chuanxin Sreeram, Victor Institute of Systems Science Liaoning Province 110004 China Key Laboratory of integrated Automation of Process industry Ministry of Education Northeastern University Shenyang Liaoning Province 110004 China Department of Electrical and Electrical Electronic and Computer Engineering University of Vestern Australia 35 Stirling Highway Crawley. WA Australia 6009 Australia

In this paper, the H∞ control problem for discrete-time singularly perturbed systems (DSPSs) with distributonal probabilities is considered. Compared with traditional DSPSs there are two main differences. The first is the singularly perturbation parameter in our model may be in different intervals instead of a deterministic interval. The second is the occurrence between two DSPSs is random. Via using a stochastic varahlr satisfying some probabilistic property with known probability distribution. for the first time DSPSs switching stochastically are modeled into a new type of DSPSs with stochastic parameter matrices. Mean-square eiponrntial stablity condition where the bound of Ε can he checked is prrsented via a new approach. Basrd on the derived criterion, however, an Ε-independent switching controller satisfying H∞ performance is given in terms of linear matrix inequalities (LMIs) with equality constraints. An effective algorithm involving LMIs is suggested to solve the matrix inequalities characterizing the controller solutions. Finally illustrative examples are presented to show the benefits and the validity of the proposed approaches. © 2010 ISSN.

关键词： Probability distributions

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering 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 S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)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

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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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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita 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

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp Intelligent robots Control systems Laboratories

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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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

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

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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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