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Application of DSD Mechanism to Robot Hand
Chiharu Ishii,Yosuke Nishitani,Hiroshi Hashimoto 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Recently, the development of a versatile robot hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism which is called “double-screw-drive mechanism” was applied to a robot hand. The robot hands with two fingers and three fingers were built. For the robot hand with three fingers, each fingertip was controlled so as to track the elliptical orbit and experiment was carried out.The DSD robot hand succeeded in rotating the cap of the PET bottle and removing the cap from the bottle.
Yusuke Kamei,Chiharu Ishii 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operability of the minimally invasive surgery, development of haptic forceps teleoperation systems is required to help surgeon"s immersion and dexterity. Besides, motion scaling function which can adequately reduce and enlarge a movement of the forceps against a surgeon"s operation and a tactile sense to the surgeon under time delay, is necessary for safety. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, such a passivity based bilateral control that enables motion scaling in both position tracking and force tracking is proposed for the developed robotic forceps teleoperation system with constant time delay. Experimental works were carried out and results showed the effectiveness of the proposed control scheme.
Development of a particle simulator on cancer cell signaling network with PC cluster system
Makoto Ogawa,Takashi Nakakuki,Chiharu Ishii,Mitsuo Kobayashi 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In various cancer cells, over-expression or mutation of epidermal growth factor (EGF) receptors is experimentally observed, and induces abnormal activation of intracellular signaling proteins, followed by continuous cell proliferation via dysfunctional gene regulatory networks. Since the activation process of EGF receptors on cell membrane is complicated and not fully understood, it is still a challenging work to develop the mathematical model from the viewpoint of cancer therapy such as drug discovery. In this paper, we develop a particle simulator on EGF-induced activation of EGF receptors on cell membrane. The engine of our simulator is based on the Hybrid Null-event Monte Carlo algorithm. The advantage is that our simulator is capable of evaluating “lateral signaling” of EGF receptors, and directly comparing to the corresponding experimental data that shows a distribution of activated EGF receptors.
Frequency Analysis of intracellular signal transduction systems
Hiroki Ishiyama,Takashi Nakakuki,Chiharu Ishii,Mitsuo Kobayashi 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, we propose two analysis methods for a complicated and huge biological system. As a practical biological system, we employ a newly published signal transduction system with transcriptional control. For such a system, only few analysis tools such as parameter sensitivity analysis are available. First, we extend the concept of Bode diagram, including the effect of changes of both amplitude are frequency of input signal on output response. Next, we introduce the calculation of the L2-induced gain. Although it is difficult to find the nominal gain theoretically, we show that the distribution of the gain over various amplitudes and frequencies of input signal provides us some useful information in a biological system.