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International Conference on Control, automation and Systems ( ICCAS)

作者： Lee Soo Jun YongKwun Lee Se-Han Lee Department of Mechanical Engineering Kyungnam University Masan South Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea School of Mechanical and Automation Engineering Kyungnam University Kyungnam South Korea

In this research, an equation of motion of a WIP (Wheeled Inverted Pendulum) running on an irregular terrain such as the inclined road is derived. The WIP becomes a popular platform for mobile robots which should be running on not only regular pavement but also irregular terrain. In order for the WIP to run on those roads there requires a robust controller which can be achieved from a fine equation of motion. This paper derives a planar (2D) equation of motion of the WIP based on Newton-Euler equation and equilibrium point changes of it with respect to those inclined roads. The changes mean that the reference point should be changed with respect to the inclined road conditions.

关键词： Equations Wheels Roads Mathematical model Acceleration Torque Force

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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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A path planning method for a shape-shifting robot

A path planning method for a shape-shifting robot

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World Congress on Intelligent Control and automation (WCICA)

作者： Tonglin Liu Chengdong Wu Bin Li Jinguo Liu Graduate School of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China School of Information Science & Engineering Northeast University Shenyang Liaoning China

A shape-shifting robot, which named “AMOEBA-I”, has diverse configurations. The accessibility of the robot can be reinforced in the narrow space by changing the configurations. In this paper, a path planning method is presented corresponding to the unique reconfigurable ability of the robot. This method can automatically adjust the computational cost according to the distribution of obstacles in robot's surrounding environment and can automatically select the configuration according to the width of the narrow space. So the robot can reach the target quickly and safely, and the unique accessibility of the shape-shifting robot is fully displayed. The deadlock situation is effectively solved by using the method of the boundary following. It has been validated through simulation results that the robot can change its own configurations to perform the path planning according to the environmental variation. As a result, the length of the path has been reduced effectively.

关键词： Robots Path planning Educational institutions automation System recovery Computational efficiency Information science

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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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Planar molecular dynamics simulation of Au clusters in pushing process

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International Journal of Nanomanufacturing 2010年第3-4期5卷 288-296页

作者： Mahboobi, Seyed Hanif Meghdari, Ali Jalili, Nader Amiri, Farshid Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box: 11365-9567 Tehran Iran Department of Mechanical Engineering Clemson University Clemson SC 29634-0921 United States Behsaz Fanavar Novin Robotics Research Group No. 2 Golestan St. Akbari St. Azadi Ave. Tehran Iran

Based on the fact that the manipulation of fine nanoclusters calls for more precise modelling, the aim of this paper is to conduct an atomistic investigation for interaction analysis of particle-substrate system for pushing and positioning purposes. In the present research, 2D molecular dynamics simulations have been used to investigate such behaviours. Performing the planar simulations can provide a fairly acceptable qualitative tool for our purpose while the computation time is reduced extremely in comparison to 3D simulations. To perform this study, Nose-Hoover dynamics and Sutton-Chen interatomic potential will be used to investigate the behaviour of the aforementioned system. Pushing of Au clusters on Au substrate has been chosen as illustrative examples. Dependency of the aforementioned behaviour on temperature has been investigated. Higher temperature affects the pushing success level considerably. In addition, the simulation was performed for Ag cluster as well to compare the performance to one for Au cluster. Copyright © 2010 Inderscience Enterprises Ltd.

关键词： Molecular dynamics

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Adaptive Neural Control for Nonlinear Distributed Time-Delay Systems with Delay-Dependent Control Gains

Adaptive Neural Control for Nonlinear Distributed Time-Delay...

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第二十九届中国控制会议

作者： HAN Thanh-Trung GE Shuzhi Sam Institute of Intelligent Systems and Information Technology(ISIT) and School of Automation Engineering University of Electronic Science and Technology of China Institute of Intelligent Systems and Information Technology(ISIT) and Robotics Institute University of Electronic Science and Technology of China

This paper addresses the problem of output tracking control for a class of nonlinear distributed time-delay systems whose control gains are delay-dependent and whose uncertainty involves both delay times and system *** intro-duce the framework of using delay-independent control to deal with unknown distributed delay dependence and using switching-based adaptive neural control to deal with unknown delay-dependent control *** control is designed in consideration of a Razumikhin norm condition on retarded functional state entailing efficiency with distributed delay dependence.

关键词： Adaptive Neural Control Distributed Time-delay Systems

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Synchronization of Multi-Agent Systems with Delayed Input Information from Neighbors

Synchronization of Multi-Agent Systems with Delayed Input In...

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2010 49th IEEE Conference on Decision and Control

作者： Shuai Liu Lihua Xie Frank L. Lewis School of Electrical and Electronic Engineering Nanyang Technological University Singapore 629798 Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas USA 76118

ISBN: (纸本)9781424477456

In this paper, we consider the synchronization of continuous multi-agent systems. We study two control protocols, without or with control input information from neighbors, and demonstrate the advantages and better performance of the latter protocol. In order to address possible communication delays for transmission of input signals, a control protocol based on delayed input information is also investigated. It is shown that the protocol guarantees the synchronization of the multi-agent system for any control input delay. Furthermore, the convergence rate in relation to the delay is revealed. Some numerical examples are given to demonstrate the effectiveness of the protocols.

关键词： control protocol control input Neighbor delay

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Tool wear forecast using Dominant Feature Identification of acoustic emissions

Tool wear forecast using Dominant Feature Identification of ...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Chee Khiang Pang Jun-Hong Zhou Zhao-Wei Zhong Frank L. Lewis Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore ASTAR Singapore Institute of Manufacturing Technology Singapore Singapore School of Mechanical and AeroSpace Engineering Nanyang Technological University Singapore Singapore Automation & Robotics Research Institute University of Texas Arlington Fort Worth TX USA

Identification and online prediction of lifetime of cutting tools using cheap sensors is crucial to reduce production costs and down-time in industrial machines. In this paper, we use the acoustic emission from an embedded sensor for computation of features and prediction of tool wear. A reduced feature subset which is optimal in both estimation and clustering least square errors is then selected using a new Dominant Feature Identification (DFI) algorithm to reduce signal processing and number of sensors required. Tool wear is then predicted using an ARMAX model based on the reduced features. Our experimental results on a ball nose cutter in a high speed milling machine show a reduction in 16.83% in mean relative error when compared to other methods proposed in the literature.

关键词： Predictive models Force Principal component analysis Sensors Approximation methods Vectors Machining

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Development of an inspection robot for 500 kV EHV power transmission lines

Development of an inspection robot for 500 kV EHV power tran...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hongguang Wang Fei Zhang Yong Jiang Guangjun Liu Xiaojie Peng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Graduate School of Chinese Academy of Sciences Beijing China Department of Aerospace Engineering Ryerson University Toronto Canada Northeast China Grid Company Limited Shenyang China

The developments in mobile robotics have increasingly played an important role in the inspection and maintenance work of Power Transmission Lines (PTLs). This paper presents the research and development of the inspection robots for 500kV PTLs in Shenyang Institute of automation, Chinese Academy of Sciences (SIACAS). An overview of the research work and the development of an inspection robot AApe-B, are introduced, respectively. The AApe-B can run on the Overhead Ground Wires (OGWs) and navigate different types of obstacles in remote and locally autonomous control mode. A novel dual-wheel-arm hybrid mechanism with the excellent locomotion and obstacle-navigation performance is designed, and obstacle navigation process is analyzed. An embedded control system which can withstand the strong electromagnetic interference has been developed. A lot of field experiments have been carried out, and the experimental results have shown that the inspection robot can reliably work during the 500kV Extra High Voltage (EHV) electromagnetic environment and possess the primary ability to implement the inspection task of the 500kV PTLs.

关键词： Inspection Navigation Poles and towers Mobile robots Manipulators Monitoring

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Design of the control station system for the search and rescue robot

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2010年第8 SUPPL.期31卷 245-248页

作者： Wang, Minghui Wang, Nan Li, Bin State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang 110016 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

According to the application requirements of search and rescue robots, the design criterion of control station system is proposed. Based on human-robot interaction, the architecture of this system is constructed. The control station system for the search and rescue robot is designed, which has some features such as multiple perceptive information, flexible control and strongly interaction. The experiments on the simulated disaster environment demonstrate that this control station system can control motion and exchange multi-channel information in the complex environment, which indicates the feasibility and validity in the fields of search and rescue.

关键词： Human robot interaction

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