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Research Interests: Mathematics, Computer Science, Wavelet, Parameter estimation, Sensors, and 15 moreModel Identification, Mobile Robots, Frequency-domain analysis, Kinematics, Statistical Methods, Mathematical Models, Interaction model, CART, Raw Data, Least Square Method, Least Squares Approximations, Laser Applications, Torque Control, Residual, and Force Control
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Carbon nanotubes (CNTs) have a potential to be efficient infrared (IR) detection materials due to their unique electronic properties. The ballistic electronic transport property makes the noise equivalent temperature difference smaller... more
Carbon nanotubes (CNTs) have a potential to be efficient infrared (IR) detection materials due to their unique electronic properties. The ballistic electronic transport property makes the noise equivalent temperature difference smaller compared to other semiconducting materials. In order to explore this potential application, CNT based IR detectors are fabricated by depositing the CNTs on the substrate surface and then aligning
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Abstract In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order... more
Abstract In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured task ...
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Atomic force microscopy (AFM) has been extensively used and AFM based nanomanipulation has also been studied for many years. But efficiency and accuracy of AFM based nanomanipulation are still major issues. In order to accurately control... more
Atomic force microscopy (AFM) has been extensively used and AFM based nanomanipulation has also been studied for many years. But efficiency and accuracy of AFM based nanomanipulation are still major issues. In order to accurately control the tip position, which is important to prevent the tip from missing the objects, the deformation of cantilever has to be compensated or eliminated
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Abstract The use of atomic force microscope (AFM) as a nanomanipulator has been evolving for various kinds of nanomanipulation tasks. Due to the bow effect of the piezo scanner of the AFM, the AFM space is different from the Cartesian... more
Abstract The use of atomic force microscope (AFM) as a nanomanipulator has been evolving for various kinds of nanomanipulation tasks. Due to the bow effect of the piezo scanner of the AFM, the AFM space is different from the Cartesian space. In this paper, different 3-D nanomanipulation tasks using AFM such as nanolithography, pushing and cutting are discussed. 3-D path planning are performed directly in the AFM space and the 3-D paths are generated based on the 3-D topography information of the surface represented in the AFM ...
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... 8]. Although lots of work has been done to investigate the photoconductivity of the ... Furthermore, it is very difficult to fabricate individual CNT based infrared detector arrays with the ... In this paper, a Schottky diode is... more
... 8]. Although lots of work has been done to investigate the photoconductivity of the ... Furthermore, it is very difficult to fabricate individual CNT based infrared detector arrays with the ... In this paper, a Schottky diode is fabricated by assembling an individual semiconducting CNT onto ...
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This paper presents a novel approach for solving the challenging problem in intelligent control of manufacturing systems. The proposed max-plus algebra model combined with event-based planning and control provides a mechanism to... more
This paper presents a novel approach for solving the challenging problem in intelligent control of manufacturing systems. The proposed max-plus algebra model combined with event-based planning and control provides a mechanism to efficiently integrate task scheduling, sensing, planning and real-time execution so that the task scheduling which usually deals with discrete types of events, as well as action planning which usually deals with continuous events, can be treated systematically in a unified analytical model. The unique feature of this approach is that interactions between discrete and continuous events can be considered in a unified framework. This feature allows the manufacturing system to intelligently cope with unexpected events and uncertainties so that the efficiency and reliability of the task schedule and action plan can increase significantly. A robotic manufacturing system is used to illustrate the proposed approach. The experimental results demonstrate the advantage...
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... REFERENCES [1] Sander J. Tans, Alwin RM Verschueren and Cees Dekker, Room-temperature transistor based on a single carbon nanotube, Nature, vol. 393, pp. 49 52, 1998. [2] JiangboZhang, Ning Xi, King Wai Chiu Lai, Hongzhi Chen,... more
... REFERENCES [1] Sander J. Tans, Alwin RM Verschueren and Cees Dekker, Room-temperature transistor based on a single carbon nanotube, Nature, vol. 393, pp. 49 52, 1998. [2] JiangboZhang, Ning Xi, King Wai Chiu Lai, Hongzhi Chen, Yilun Luo, and Guangyong Li ...
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This paper presents a new method for carbon nanotube based gas sensing. Instead of sensing the gas directly, the gas molecules are first ionized and then the ionized molecules are sensed by the single carbon nanotube based ion sensor. The... more
This paper presents a new method for carbon nanotube based gas sensing. Instead of sensing the gas directly, the gas molecules are first ionized and then the ionized molecules are sensed by the single carbon nanotube based ion sensor. The adsorption of ionized gas molecule on the carbon nanotube surface introduces electrons into the material and consequently changes the current
Research Interests: Materials Science, Carbon Nanotube, Adsorption, Gas Sensor, Nanotube, and 3 moreIonization, Ion, and Molecule
Abstract This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the... more
Abstract This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, ...
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An atomic force microscope (AFM) explores the topography of a sample surface using a micro-sized flexible cantilever, which works as a flexible robot arm. The flexible cantilever is controlled to keep vibrating when an AFM works in the... more
An atomic force microscope (AFM) explores the topography of a sample surface using a micro-sized flexible cantilever, which works as a flexible robot arm. The flexible cantilever is controlled to keep vibrating when an AFM works in the tapping mode. The cantilever is modeled as a flexible beam instead of a point mass system in this paper. The nonlinear interaction
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Carbon nanotube (CNT) is found to be an amazing material for nanoelectronics due to its unique properties. It provides the possibility of miniaturizing the traditional electronic elements. Recently, people have been focusing on exploring... more
Carbon nanotube (CNT) is found to be an amazing material for nanoelectronics due to its unique properties. It provides the possibility of miniaturizing the traditional electronic elements. Recently, people have been focusing on exploring its applications on optoelectronics because CNT is a direct bandgap material and its bandgap is inversely related to its diameter. Thus, it is ease for photon
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Research Interests: Engineering, Mechanical Engineering, Computer Science, Technology, Fault Detection, and 15 moreNanoparticles, Atomic Force Microscopy, Kalman Filter, Manufacturing Engineering, Nanomanipulation, Real Time, Force Sensor, Science Technology, Drift, Electrical And Electronic Engineering, Automation Control Systems, Engineering Manufacturing, Samples, scanning probe microscopes, and model error
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Research Interests: Engineering, Computer Science, Technology, Hybrid Systems, Motion control, and 15 moreSingularity, Mathematical Sciences, Automatica, Switching Control, Resolution, Science Technology, Lyapunov function, Robot Manipulator, Design and Implementation, Hybrid Control System, Autom, Automation Control Systems, Robotic Manipulators, Hybrid System, and Hierarchical Structure
Carbon nanotube (CNT) has been found to be one of the promising semiconducting materials for nanoelectronic sensors due to its unique electrical properties. Our group has developed a spectrum sensor using a single CNT and demonstrated its... more
Carbon nanotube (CNT) has been found to be one of the promising semiconducting materials for nanoelectronic sensors due to its unique electrical properties. Our group has developed a spectrum sensor using a single CNT and demonstrated its performance. In this paper, a steady and high-yield CNT band gap engineering will be developed and used to manufacture an appropriate CNT for
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In order to execute complicated tasks involving contact with the environment, the robot manipulator must have force control capabilities. Many strategies for performing constrained motion control have been developed. The major drawback of... more
In order to execute complicated tasks involving contact with the environment, the robot manipulator must have force control capabilities. Many strategies for performing constrained motion control have been developed. The major drawback of these strategies is that they can only provide for the control of the interaction forces along fixed task space directions. However, many applications necessitate interaction force control
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Nanomanipulation using Atomic Force Micro- scope (AFM) has been extensively investigated for many years. However, control of tip position during nanomanipulation is still a major issue because of the deformation of the cantilever caused... more
Nanomanipulation using Atomic Force Micro- scope (AFM) has been extensively investigated for many years. However, control of tip position during nanomanipulation is still a major issue because of the deformation of the cantilever caused by manipulation force. The softness of the conventional cantilevers also cause the failure of the manipulation of rela- tively large and sticky nano-object because the tip
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... As mentioned before, parylene C thin film was used as a conformal pin hole free insulating layer and oxygen barrier ... [4] L. Valentinia, I. Armentanoa, L. Lozzib, S. Santuccib, and JM Kenny, Interaction of methane with carbon... more
... As mentioned before, parylene C thin film was used as a conformal pin hole free insulating layer and oxygen barrier ... [4] L. Valentinia, I. Armentanoa, L. Lozzib, S. Santuccib, and JM Kenny, Interaction of methane with carbon nanotube thin films: role of defects and oxygen ...
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Biosyncretic robots have potential advantages associated with both living organisms and electromechanical systems. Skeletal muscle tissue is a candidate as bioactuators for biosyncretic robots because of its excellent contraction force... more
Biosyncretic robots have potential advantages associated with both living organisms and electromechanical systems. Skeletal muscle tissue is a candidate as bioactuators for biosyncretic robots because of its excellent contraction force and controllability. However, the low quality of myoblast (C2C12) differentiation into contractile myotubes and the lack of control research on biosyncretic robots are two of the main challenges in the development of biosyncretic robots. In this study, an approach with circularly distributed multiple electrodes (CEs) is proposed to improve C2C12 differentiation and to control the movement of a myotube-based biosyncretic crawling robot. To analyze the advantages of the proposed CEs, the electrical characteristics of CEs and a pair of traditional parallel stimulation electrodes (PEs) were simulated and compared with each other. Then, to determine the optimal electrical stimulation parameters and demonstrate the superiorities of the proposed CEs, electrical pulses with different parameters were used to stimulate two-dimensional and three-dimensional cells during culture with the proposed CEs and PEs. After this the control characteristics of the muscle tissue by the CEs were investigated from the relevance of pulse width-threshold voltage, voltage-contractility, frequency-contractility, and electric field direction-contractility by measuring the real-time responses of myotubes to different electrical stimulations. Moreover, to demonstrate the control of biosyncretic robots by the CEs, a biomimetic biosyncretic crawler actuated by myotubes was designed, fabricated, and controlled to move at different speeds by varying directions of electric field. This study not only provides a potential tool for the development and control of biosyncretic robots but is also informative for muscle tissue engineering and cardiomyocyte culture.
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The advent of atomic force microscopy (AFM) has provided a powerful tool for investigating the behaviors of single native biological molecules under physiological conditions. AFM can not only image the conformational changes of single... more
The advent of atomic force microscopy (AFM) has provided a powerful tool for investigating the behaviors of single native biological molecules under physiological conditions. AFM can not only image the conformational changes of single biological molecules at work with sub-nanometer resolution, but also sense the specific interactions of individual molecular pair with piconewton force sensitivity. In the past decade, the performance of AFM has been greatly improved, which makes it widely used in biology to address diverse biomedical issues. Characterizing the behaviors of single molecules by AFM provides considerable novel insights into the underlying mechanisms guiding life activities, contributing much to cell and molecular biology. In this article, we review the recent developments of AFM studies in single-molecule assay. The related techniques involved in AFM single-molecule assay were firstly presented, and then the progress in several aspects (including molecular imaging, molec...
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In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic... more
In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young's modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young's modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects.
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Transition metal dichalcogenides, particularly MoS2, have recently received enormous interest in explorations of the physics and technology of nanodevice applications because of their excellent optical and electronic properties. Although... more
Transition metal dichalcogenides, particularly MoS2, have recently received enormous interest in explorations of the physics and technology of nanodevice applications because of their excellent optical and electronic properties. Although monolayer MoS2 has been extensively investigated for various possible applications, its difficulty of fabrication renders it less appealing than multilayer MoS2. Moreover, multilayer MoS2, with its inherent high electronic/photonic state densities, has higher output driving capabilities and can better satisfy the ever-increasing demand for versatile devices. Here, we present multilayer MoS2 back-gate thin-film transistors (TFTs) that can achieve a relatively low subthreshold swing of 0.75 V/decade and a high mobility of 41 cm(2)·V(-1)·s(-1), which exceeds the typical mobility value of state-of-the-art amorphous silicon-based TFTs by a factor of 80. Ag and Au electrode-based MoS2 TFTs were fabricated by a convenient and rapid process. Then we perform...
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Hypoxia is prognostically important in colorectal cancer (CRC) therapy. Partial oxygen pressure (pO2) is an important parameter of hypoxia. The correlation between pO2 levels and expression levels of prognostic biomarkers was measured in... more
Hypoxia is prognostically important in colorectal cancer (CRC) therapy. Partial oxygen pressure (pO2) is an important parameter of hypoxia. The correlation between pO2 levels and expression levels of prognostic biomarkers was measured in CRC tissues. Human CRC tissues were collected and pO2 levels were measured by OxyLite. Three methods for tissue fixation were compared, including formalin, Finefix, and Finefix-plus-microwave. Immunohistochemistry (IHC) staining was conducted by using the avidin-biotin complex technique for detecting the antibodies to hypoxia inducible factor-1 (HIF-1) alpha, cytokeratin 20 (CK20), and cell proliferation factor Ki67. The levels of pO2 were negatively associated with the size of CRC tissues. Finefix-plus-microwave fixation has the potential to replace formalin. Additionally, microwave treatment improved Finefix performance in tissue fixation and protein preservation. The percentage of positive cells and gray values of HIF-1 alpha, CK20, and Ki67 were...
Research Interests: Immunohistochemistry, Humans, Female, Male, Keratin, and 5 moreAged, Middle Aged, Oxygen, Prognosis, and Colorectal Neoplasms
ABSTRACT Pose estimation problem is a key problem for a mobile robot system. In this paper, a new pose estimation method for the mobile robot is presented based on 2D (two dimensional) laser range finder. To get the increments between... more
ABSTRACT Pose estimation problem is a key problem for a mobile robot system. In this paper, a new pose estimation method for the mobile robot is presented based on 2D (two dimensional) laser range finder. To get the increments between reference scan and current scan, a scan matching algorithm based on 1D Fourier Transform is presented. It is different from other methods. Because of 1D Fourier-transform-based and point-point matching, it is no need to extract features from environment and have high anti-noise and low computational cost. To get the pose of the mobile robot in the world coordinates, a pose estimation model is proposed. Finally, the proposed method is tested on the experimental platform in an indoor environment. The experimental results demonstrated its effectiveness.
The gastric slow wave and the spike potential can correspondingly represent the rhythm and the intensity of stomach motility. Because of the filtering effect of biological tissue, electrogastrogram (EGG) cannot measure the spike potential... more
The gastric slow wave and the spike potential can correspondingly represent the rhythm and the intensity of stomach motility. Because of the filtering effect of biological tissue, electrogastrogram (EGG) cannot measure the spike potential on the abdominal surface in the time domain. Thus, currently the parameters of EGG adopted by clinical applications are only the characteristics of the slow wave, such as the dominant frequency, the dominant power and the instability coefficients. The limitation of excluding the spike potential analyses hinders EGG from being a diagnosis to comprehensively reveal the motility status of the stomach. To overcome this defect, this paper a) presents an EGG reconstruction method utilizing the specified signal components decomposed by the discrete wavelet packet transform, and b) obtains a frequency band for the human gastric spike potential through fasting and postprandial cutaneous EGG experiments for twenty-five human volunteers. The results indicate ...
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In this paper, we propose an evolutionary model to investigate how an econ-omy can evolve from a system of barter to monetary trade, while regarding the latter as involving reciprocal altruistic behavior. We use a replicator equation to... more
In this paper, we propose an evolutionary model to investigate how an econ-omy can evolve from a system of barter to monetary trade, while regarding the latter as involving reciprocal altruistic behavior. We use a replicator equation to describe how bounded rational agents shift their strategies, and in doing so, present an alternative solution to the "start problem" raised by Dowd (2001).
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Atomic force microscope (AFM) based nanomanipulation has been extensively investigated for many years. However, the efficiency and accuracy of the AFM based nanomanipulation is still a major issue due to the nonlinearities and... more
Atomic force microscope (AFM) based nanomanipulation has been extensively investigated for many years. However, the efficiency and accuracy of the AFM based nanomanipulation is still a major issue due to the nonlinearities and uncertainties in nanomanipulation operations. The deformation of the cantilever caused by manipulation force, in our experience, is one of the most major nonlinearities and uncertainties. It causes
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... nji ji ji nn a d , ... 76-85, Feb 2008 [27] Q. Yang, S. Jagannathan and EW Bohannan, Block Phase Correlation-based Automatic Drift Compensation for Atomic Force Microscopes, Proceedings of 2005 5th IEEE Conference on Nanotechnology,... more
... nji ji ji nn a d , ... 76-85, Feb 2008 [27] Q. Yang, S. Jagannathan and EW Bohannan, Block Phase Correlation-based Automatic Drift Compensation for Atomic Force Microscopes, Proceedings of 2005 5th IEEE Conference on Nanotechnology, Nagoya, Japan, July 2005 ...
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Cell stiffness is closely related to human health and diseases. Measuring the mechanical property of individual cells may help us to understand the mechanism of diseases at cell level and provide new methods for disease diagnosis and... more
Cell stiffness is closely related to human health and diseases. Measuring the mechanical property of individual cells may help us to understand the mechanism of diseases at cell level and provide new methods for disease diagnosis and personalized treatment. In this paper, the poly-l-lysine was used to immobilize Burkitt's lymphoma (BL)cells onto the glass substrate for being imaged in fluid by atomic force microscopy (AFM). In near-physiological environment, with the use of AFM, the high resolution morphology image of BL cells was obtained and the mechanical property of BL cells was measured. The detailed processes of the sample preparation and computing the Young's modulus of BL cells from force curves were presented. The experimental result indicated that the Young's modulus of BL cells fixed by glutaraldehyde was about 1MPa. These results may provide useful knowledge for understanding the mechanism of lymphoma and the application of AFM to cancer diagnosis.