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Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

Journal of Donghua University(English Edition) 2010年第3期27卷 400-406页

作者：姚玉峰赵建文孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as ***,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix *** this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion *** an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion *** the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

关键词： wheeled mobile manipulator self-motion non-holonomic constraint redundancy

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Detecting CD20-Rituximab interaction forces using AFM single-molecule force spectroscopy

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Chinese Science Bulletin 2011年第35期56卷 3829-3835页

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 of Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing 48824 USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh 15261 USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071 China

The invention of atomic force microscopy(AFM) has provided new technology for measuring specific molecular interaction *** AFM single-molecule force spectroscopy(SMFS) techniques,CD20-Rimximab rupture forces were measured on purified CD20 proteins,Raji cells,and lymphoma patient B *** molecules were linked onto AFM tips using AFM probe functionalization technology,and purified CD20 proteins were attached to mica using substrate functionalization *** cells(a lymphoma cell line) or lymphoma patient cells were immobilized on a glass substrate via electrostatic adsorption and chemical *** topography of the purified CD20 proteins,Raji cells,and patient lymphoma cells was visualized using AFM imaging and the differences in the rupture forces were analyzed and *** results showed that the rupture forces between the CD20 proteins on Raji cells and Rituximab were markedly smaller than those for purified CD20 proteins and CD20 proteins on lymphoma patient B *** findings provide an effective experimental method for investigating the mechanisms underlying the variable efficacy of Rituximab.

关键词：原子力显微镜相互作用力单分子光谱 Raji细胞蛋白质纯化功能化技术 AFM探针

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MDL-Based Control Method for Mobile Robot with Randomly Varying Time-Delay

MDL-Based Control Method for Mobile Robot with Randomly Vary...

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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： Jianning Hua Yuechao Wang Ning Xi Hongyi Li Northeastern University at Qinhuangdao Qinhuangdao066004 State Key laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenya

Robotic teleoperation constitutes a key technique for networked manufacturing system. Since Internet is noisy and performance of telerobotic systems strongly depends on communication conditions, control strategies which could be used to distribute computation and communication resource properly and require less data transmission are required. Motion description language (MDL) is an appropriate solution. In this paper, comparison study between MDL-based and the traditional direct control method under randomly varying time-delay condition has been pursued which show that the MDL-based method has the ability to guarantee the stability of the whole telerobotic system under randomly varying time-delay condition. Furthermore, MDL-based method provides an uniform mathematical description on discrete control on the master site and continuous execution on the slave site. Simulation results indicate that the proposed method is promising for Networked Manufacturing development.

关键词： Mobile robots Internet Telerobotics Synchronization Delay effects Humans

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Deposition of carbon nanoparticles using optically induced dielectrophoretic force

Deposition of carbon nanoparticles using optically induced d...

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International Conference on Solid state Sensors and Actuators (TRANSDUCERS)

作者： S.E. Wang Z.L. Dong Y.L. Qu G.B. Lee W.J. L Chinese Academy and Sciences China The Graduate University of the Chinese Academy of Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Department of Engineering Science National Cheng Kung University Taiwan State Key Laboratory of Robotics Shenyang Institute of Automation CAS China

A new method which allows assembly of carbon nanoparticles (CNPs) into predesigned patterns by using optically induced dielectrophoretic (ODEP) force is presented in this study. Theoretical analysis of ODEP working principle and operational regimes are investigated. Moreover, experimental parameters including AC frequency and solution conductivity are optimized for manipulating micro/nano particles. Finally, experimental results clearly demonstrate that CNP patterns and arrays with arbitrary geometry (including a 16×16 array covering an area of 0.4×0.4 mm 2 ) can be successfully realized. Our results proved that ODEP is a highly-effective, low-cost, reconfigurable, and parallel manipulating approach for potential applications in fabricating CNPs sensors and micro-printing.

关键词： Nanoparticles Conductivity Amorphous silicon Force Optical sensors Optical imaging Optical device fabrication

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Deposition of carbon nanoparticles using optically induced dielectrophoretic force

Deposition of carbon nanoparticles using optically induced d...

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International Solid-state Sensors, Actuators and Microsystems Conference

作者： Wang, S.E. Dong, Z.L. Qu, Y.L. Lee, G.B. Li, W.J. State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Graduate University Chinese Academy of Sciences China Department of Engineering Science National Cheng Kung University Taiwan Centre for Micro and Nano Systems Chinese Univerisity of Hong Kong Hong Kong

ISBN: (纸本)9781457701573

A new method which allows assembly of carbon nanoparticles (CNPs) into predesigned patterns by using optically induced dielectrophoretic (ODEP) force is presented in this study. Theoretical analysis of ODEP working principle and operational regimes are investigated. Moreover, experimental parameters including AC frequency and solution conductivity are optimized for manipulating micro/nano particles. Finally, experimental results clearly demonstrate that CNP patterns and arrays with arbitrary geometry (including a 16×16 array covering an area of 0.4×0.4 mm2) can be successfully realized. Our results proved that ODEP is a highly-effective, low-cost, reconfigurable, and parallel manipulating approach for potential applications in fabricating CNPs sensors and micro-printing. © 2011 IEEE.

关键词： Nanoparticles

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A novel velocity sensor based on electromagnetic induction

A novel velocity sensor based on electromagnetic induction

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IEEE SENSORS

作者： Haijun Han Yanjie Liu Tao Liu Yoshio Inoue Kyoko Shibata State Key of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kami Japan

ISBN: (纸本)9781424492909

A novel velocity sensor based on electromagnetic induction was proposed in this paper. It was composed of four small inductor chips with circular symmetrical distribution on the bottom of a printed circuit board (PCB) and an elastic body with a permanent magnet embedded into on the top of the PCB. The output voltage of each inductor chip will change when an object moves on the top of sensor and drives the permanent to follow with a specific speed. The principle of velocity measurement was derived and simulation was carried out to determine size of the magnet and size of the whole sensor. Then, a prototype was developed and velocity experiments were executed to evaluate properties of the prototype. The result shows that the prototype was capable of following the velocity curve of a motion platform and measuring the velocity vector of the platform with nonlinear errors of 8.1% and 11.9% along its x-axis and y-axis respectively when the speed was from 1mm/s to 9mm/s.

关键词： Prototypes Permanent magnets Robot sensing systems Velocity measurement Arrays Inductors

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Analysis of Time Zero Reset method for Virtual Slope Walking

Analysis of Time Zero Reset method for Virtual Slope Walking

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IEEE International Conference on robotics and Biomimetics

作者： Youbin Qiu Mingguo Zhao State Key Laboratory of Robotics and System (HIT) Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781457721366

In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.

关键词： Legged locomotion Angular velocity Limit-cycles Eigenvalues and eigenfunctions Mathematical model Stability analysis

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Rigid-flexible coupling dynamics analysis of a spot-welding robot

Rigid-flexible coupling dynamics analysis of a spot-welding ...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Haitao Luo Yuwang Liu Hongguang Wang Weijia Zhou State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China

This paper studied a dynamics simulation analysis method for a rigid-flexible coupling system of spot-welding robot. The 6R spot-welding robot multi-body dynamics model is created by FEA (finite element analysis) and MBD (multi-body dynamics) software. Based on rigid-flexible coupling analysis method, we analyze mechanics characteristic of upper arm and get the deformation of end measuring point, maximum stress position and stress curve, when spot-welding robot is moving under loads. The analysis method is intuitional and accurate, and can increase the accuracy of dynamic response analysis of parts under the dynamic loads. The simulation results are very important theoretical basis for structure design and optimization of the spot-welding robot.

关键词： Stress Couplings Robot kinematics Analytical models Finite element methods Mathematical model

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Research on kinematics of modular reconfigurable robots

Research on kinematics of modular reconfigurable robots

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Xinan Pan Hongguang Wang Yong Jiang Cen Yu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy and Sciences Beijing China

This paper mainly focuses on the kinematics of multi-branch modular reconfigurable robots. A method of generating the forward kinematics is proposed. Firstly, the robot is divided into joints and links, which are formed dyads subsequently. Secondly, module frames are defined and attached to each connector of modules. Thirdly, based on screw theory and Lie group and Lie algebra, the initial poses and twists of a multi-branch robot are obtained, and the kinematic equations of the robot are derived. An illustrative example and an experiment are implemented, respectively, and the results show that the method is valid and suitable for both single-open-chain robots and multi-branch robots.

关键词： Joints Kinematics Robot kinematics Connectors Equations Algebra

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Development of microfluidic based telemedicine for insulin detection

Development of microfluidic based telemedicine for insulin d...

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IEEE International Conference on Cyber Technology in Automation,Control,and Intelligent systems

作者： Yao, Ping Tung, Steve Zhan, Zhikun Hua, Jianning Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China Department of Mechanical Engineering University of Arkansas Fayetteville United States Department of Automation Engineering Northeastern University at Qinhuangdao Qinhuangdao China

ISBN: (纸本)9781612849102

This article describes a prototype microfluidic system for insulin detection and exchanging the results digitally with physicians located off-site. The integrated polydimethysiloxane (PDMS) microfluidic system uses two pneumatic micropumps and one micromixer for chemiluminescent immunoassay, and a developed communications infrastructure for transferring the digital information from the assay site to a remote place for assistance by a trained medical professional. The expert can then directly provide control and diagnosis via the Internet. The insulin detection protocol is based on coupling the highly specific double-antibody sandwich immunoassay with the sensitive chemiluminescence of Luminol-Hydrogen Peroxide (H2O2). The peak value of the luminous intensity, recorded automatically by a photometer, is used as an indicator for the insulin concentration of the sample tested. The calibration curves of the insulin measurement were quantified and the insulin detection limit meets the common requirement of current clinical studies of diabetes. The combination of PDMS microfluidic devices and a communication strategy for exchanging information obtained from the assays with off-site diagnosticians offers new opportunities for point-of-care type health monitoring, especially in rural areas where patients must travel great distances to physicians to obtain diagnostic information that might be obtained more cost effectively by local, less-trained personnel. © 2011 IEEE.

关键词： Insulin

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