Browsing by Author "Pan, CC"

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A novel potential-based path planning of 3-D articulated robots with moving bases
(2004-07-01)
Lin, CC
;
Pan, CC
;
Chuang, JH
;
資訊工程學系
;
Department of Computer Science
This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive forces and torques between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these forces and torques. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.
A novel potential-based path planning of 3-D articulated robots with moving bases
(2003)
Lin, CC
;
Pan, CC
;
Chuang, JH
;
資訊工程學系
;
Department of Computer Science
This paper proposes a novel path planning algorithm of 3-D articulated robots with moving bases based on a generalized potential field model. The approach computes, similar to that done in electrostatics, repulsive force and torque between charged objects. A collision-free path can be obtained by locally adjusting the robot configuration to search for minimum potential configurations using these force and torque. The proposed approach is efficient since these potential gradients are analytically tractable. In order to speedup the computation, a sequential planning strategy is adopted. Simulation results show that the proposed algorithm works well, in terms of collision avoidance and computation efficiency.
Sequencing and analysis of the large virulence plasmid pLVPK of Klebsiella pneumoniae CG43
(2004-08-04)
Chen, YT
;
Chang, HY
;
Lai, YC
;
Pan, CC
;
Tsai, SF
We have determined the entire DNA sequence of pLVPK, which is a 219-kb virulence plasmid harbored in a bacteremic isolate of Klebsiella pneumoniae. A total of 251 open reading frames (ORFs) were annotated, of which 37% have homologous genes of known function, 31% match the hypothetical genes in the GenBank database, and the remaining 32% are novel sequences. The obvious virulence-associated genes carried by the plasmid are the capsular polysaccharide synthesis regulator rmpA and its homolog rmpA2, and multiple iron-acquisition systems, including iucABCDiutA and iroBCDN siderophore gene clusters, Mesorhizobium loti fepBC ABC-type transporter, and Escherichia coli fecIRA, which encodes a Fur-dependent regulatory system for iron uptake. In addition, several gene clusters homologous with copper, silver, lead, and tellurite resistance genes of other bacteria were also identified. Identification of a replication origin consisting of a repA gene lying in between two sets of iterons suggests that the replication of pLVPK is iteron-controlled and the iterons are the binding sites for the repA to initiate replication and maintain copy number of the plasmid. Genes homologous with E. coli sopA/sopB and parA/parB with nearby direct DNA repeats were also identified indicating the presence of an F plasmid-like partitioning system. Finally, the presence of 13 insertion sequences located mostly at the boundaries of the aforementioned gene clusters suggests that pLVPK was derived from a sequential assembly of various horizontally acquired DNA fragments. (C) 2004 Elsevier B.V. All rights reserved.