Browsing by Author "Fan, CC"

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An approach to simplify the learning space for robot learning control
(1998-04-01)
Young, KY
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Fan, CC
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電控工程研究所
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Institute of Electrical and Control Engineering
Although learning controllers are considered to be capable of generalization, most robot learning control schemes either need to include conventional controllers, or need to repeat the learning process each time a new trajectory is encountered. The main reason for this deficiency is that the learning space for executing general motions of multi-joint robot manipulators is too large. in this paper, we propose an approach, motivated by the equilibrium-point hypothesis in human motor control, to simplify the learning space when learning controllers are used to govern robot motions. In the proposed approach, the motion command is formulated in the form of three square pulses in alternate directions with adjustable heights and widths. When the motion command is specified in this simple form, the learning space for dealing with variations exhibited in different movements is dramatically simplified. Thus, we can then implement a fuzzy system for robot motion control, which generates appropriate controlled parameters for the motion commands by using a reasonable number of rules. Theoretical analyses and simulations are performed to demonstrate the feasibility of the proposed approach. (C) 1998 Elsevier Science B.V.
Optimum magnetic bearing design considering performance limitations
(1996-09-01)
Hsiao, FZ
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Fan, CC
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Chieng, WH
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Lee, AC
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交大名義發表
Magnetic bearings are subject to three practical performance limitations: the peak force capacity, force slew rate limitation, and displacement sensitivity. In conventional designs, we usually first design a feasible bearing, and then investigate these three limitations. Unfortunately, one usually fails to design the most suitable magnetic bearing in actual cases. In this paper, a methodology for dealing with the performance limitations through the concept of optimum design is presented. The objective functions are to maximize the force slew rate limitation and to minimize the displacement sensitivity under several design constraints. Using the optimization solver software package, we developed a systematic method for determining the characteristics of magnetic hearings. By considering the performance limitations and design constraints, we achieve a better design than that produced using the conventional trial-and-error method.
The study of adhesive forces between the type 3 fimbriae of Klebsiella pneumoniae and collagen-coated surfaces by using laser tweezers
(2004)
Chan, CH
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Fan, CC
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Huang, YJ
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Peng, HL
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Hsu, L
Adherence to host cells by a bacterial pathogen is a critical step for establishment of infection. It will contribute greatly to the understanding of bacterial pathogenesis by studying the biological force between a single pair of pathogen and host cell. In our experiment, we use a calibrated optical tweezers system to detach a single Klebsiella pneumoniae, the pathogen, from collagen, the host. By gradually increasing the laser power of the optical tweezers until the Klebsiella pneumoniae is detached from the collagen, we obtain the magnitude of the adhesive force between them. This happens when the adhesive force is barely equal to the trapping force provided by the optical tweezers at that specific laser power. This study is important because Klebsiella pneumoniae is an opportunistic pathogen which causes suppurative lesions, urinary and respiratory tract infections. It has been proved that type 3 fimbrial adhesin (mrkD) is strongly associated with the adherence of Klebsiella pneumoniae. Besides, four polymorphic mrkD alleles: namely, mrkDv1, v2, v3, and v4, are typed by using RFLP. In order to investigate the relationship between the structure and the function for each of these variants, DNA fragments encoding the major fimbrial proteins mrkA, mrkB, mrkC are expressed together with any of the four mrkD adhesins in E. coli JM 109. Our study shows that the E. coli strain carrying the mrkDv3 fimbriae has the strongest binding activity. This suggests that mrkDv3 is a key factor that enhances the adherence of Klebsiella Pneumoniae to human body.