- March 9th, 2017
- Prof. Hermano Igo Krebs, MIT, USA
Prof. Eric Monmasson, University of Cergy-Pontoise, France
- Dr. Abderrahmane Kheddar, Montpellier Laboratory of Informatics, Robotics and Microelectronics, LIRMM, France
- March 10th, 2017
Dr. Eiichi Saito, Mitsubishi Electric Corporation, Japan
- Dr. Vincent Agache, French Alternative Energies and Atomic Energy Commission (CEA), France
Prof. Hermano Igo Krebs
He has been a Principal Research Scientist and Lecturer at MIT’s Mechanical Engineering Department since 1997. He also holds an affiliate position as an Adjunct Professor at University of Maryland School of Medicine, Department of Neurology, and as a Visiting Professor at Fujita Health University, Department of Physical Medicine and Rehabilitation (Japan), at University of Newcastle, Institute of Neuroscience (UK), at Osaka University, Mechanical Science and Bioengineering Department (Japan), and at Loughborough University, Rehabilitation Robotics of the The Wolfson School of Mechanical, Electrical, and Manufacturing Engineering (UK). He is a member of the Collegio dei Docenti of the PhD programme in Biomedical Engineering of the University Campus Bio-Medico of Rome, Italy (“Dottorato di Ricerca in Ingegneria Biomedica”). He is a Fellow of the IEEE. Dr. Krebs was nominated by two of IEEE societies: IEEE-EMBS (Engineering in Medicine & Biology Society) and IEEE-RAS (Robotics and Automation Society) to this distinguished engineering status “for contributions to rehabilitation robotics and the understanding of neuro-rehabilitation.” His work goes beyond Stroke and has been extended to Cerebral Palsy for which he received “The 2009 Isabelle and Leonard H. Goldenson Technology and Rehabilitation Award,” from the Cerebral Palsy International Research Foundation (CPIRF). In 2015, he received the prestigious IEEE-INABA Technical Award for Innovation leading to Production “for contributions to medical technology innovation and translation into commercial applications for Rehabilitation Robotics.” His goal is to revolutionize the way rehabilitation medicine is practiced today by applying robotics and information technology to assist, enhance, and quantify rehabilitation. He was one of the founders, member of the Board of Directors, and the Chairman of the Board of Directors of Interactive Motion Technologies from 1998 to 2016. He successfully merged it with Bionik Laboratories, a publicly traded company, where he serves as its Chief Science Officer and as a member of the Board of Directors.
Rehabilitation Robotics and Translational Biomedical-Engineering Ushers in the Aging Society
9:50〜10:40, March 9th, 2017 @Collaboration Complex, Keio Univ.
Robotic therapy is a flagship example of the benefits of human-robot collaboration. However, the 2010 and the 2016 American Heart Association guidelines for stroke care endorsed robotic therapy for the upper extremity (UE), but not for the lower extremity (LE). In 2010, the US Veterans Administration similarly endorsed robotic therapy for UE, but not for LE: "recommendation is made against routinely providing the [LE] intervention… At least fair evidence was found that the intervention is ineffective …". This apparent immaturity of LE robotic therapy reflects the fact that, to date, knowledge of human motor control has not been applied to LE robotic therapy. The present talk aims to address that problem. Knowledge of human sensorimotor control has matured to the point where a fundamental theory of walking is within reach. To enable the application of robotics to assist walking, we propose a competent model of human walking. By "competent model" we mean that it may only be a first approximation of a fundamental theory, but it is good enough to improve the design of robots and regimens for LE therapy. We will conclude with an application example demonstrating the concept.
Prof. Eric Monmasson
He received the Ing. and Ph.D. degrees from the Ecole Nationale Superieure d’Ingenieurs d’Electrotechnique d’Electronique d’Informatique et d’Hydraulique de Toulouse (ENSEEIHT), Toulouse, France, in 1989 and 1993, respectively. He is currently a full professor at the University of Cergy-Pontoise, France. He is also with the SATIE laboratory. His current research interests lies in digital control of power electronics and drives and FPGA-based industrial control systems. He was the chair of the technical committee on Electronic Systems-on-Chip of the IEEE Industrial Electronics Society (2008-2011). He is the chair of the number one technical committee of the International Association for Mathematics and Computers in Simulation (IMACS). He was the general chair of ELECTRIMACS 2011 Conference. He is an associate editor of IEEE Transactions on Industrial Electronics, IEEE Transactions on Industrial Informatics, IET Transactions on Power Electronics and Elsevier Transactions on Mathematics & Computers in Simulations (MATCOM). He is the coauthor of 3 books and more than 200 scientific papers.
Recent Advancements in FPGA-based Controllers for Embedded Power Systems
10:50〜11:40, March 9th, 2017 @Collaboration Complex, Keio Univ.
Since their creation thirty years ago, Field Programmable Gate Array (FPGA) components allow designers creating specific hardware architectures that, most of the time, exceed the timing performances of their software counterparts. Of course this approach is also suffering from several pitfalls like more important power consumption or, at least up to now, a more difficult programming than standard microcontrollers. Recent technological trends tend to alleviate these limitations, proposing very powerful FPGA-based System-on-Chips. The purpose of this keynote is to present and discuss the recent trends in terms of FPGA-based industrial controllers. To this purpose, a special focus will be given on embedded power systems which represent a very important field of application which includes among others the more electric vehicles, the more electric aircrafts, the new distributed power generation systems… The presentation will be illustrated by many practical implementations. Specifically, the proposed keynote will cover the following points:
- • Introduction
- – State-of-the-art of digital controllers for industrial systems
- – Presentation of the recent advancements in and DSP and FPGA technologies
- – Why FPGA can be a good candidate for industrial control systems?
- o Contributions in terms of Control Performances
- o Contributions in terms of System Integration and integration of new functionalities
- • Proposed design methodology for FPGA-based controllers
- • Application to the field of embedded power systems
- – FPGA-based Current control and PWM strategies for power electronics & drives
- o Linear current control
- o Non-linear current control
- o Predictive current control
- – FPGA-based encoderless control of actuators
- o High frequency signal injection
- o Extended Kalman filter
- o Aircraft industrial examples
- – New trends on control algorithms and architectures
- o System-on-Chip (SoC) (r)evolution
- o Real-Time (RT) simulators for embedded power systems, application to fault tolerant control of grid-connected power converters
- o On-line parameter identification, application to the adaptive control of MPPT for PV panels
- o Dynamic reconfiguration of a PV field by means of a genetic algorithm-based on online optimization
- • Conclusions and perspectives
Dr. Abderrahmane Kheddar
He received the BS in Computer Science degree from the Institut National d'Informatique (ESI), Algiers, the MSc and Ph.D. degree in robotics, both from the University of Pierre et Marie Curie, Paris. He is presently Directeur de Recherche at the The National Center for Scientific Research (CNRS). He is leading the Interactive Digital Humans (IDH) team at the CNRS-University of Montpellier LIRMM, France. He was the Director of the CNRS-AIST Joint Robotic Laboratory (JRL), UMI3218/RL, Tsukuba, Japan (10/2008 to 12/2016) and since then he is acting as its Codirector. His research interests include haptics, humanoid robots and thought-based control and embodiment using brain machine interfaces. He is a founding member of the IEEE/RAS chapter on haptics (acting also as a senior advisor), the co-chair and co-founding member of the IEEE/RAS Technical committee on model-based optimization. He is presently Editor of the IEEE Transactions on Robotics, the Journal of Intelligent and Robotic Systems, among the founders of the IEEE Transactions on Haptics he served in its editorial board from 2007 to 2010 and served as an associate editor in other journals. He is an IEEE Senior Member, Member of the steering committee of the IEEE Brain Initiative, member of the National Academy of Technology of France, and Knight of the National Order of the Merit.
From Robotizing Humans' to Humanizing Robots
11:40〜12:30, March 9th, 2017 @Collaboration Complex, Keio Univ.
My talk first recalls some historical facts and key milestones of the robotic technology by underlining parallelisms and similarities of its evolutions with respect to that of the computers and computer science. I will show and explain the reasons on how and why robotic systems requirements have centered progressively toward human when robotics left progressively the automation field to invade services in various domains. This spreading of the robotic technology gave rise to novel challenging requirements in robotics design and usage that resulted in a deep renewal or robotic systems and impacted on various future societal and economical aspects. Robots are now being democratized and envisioned to not only substantially invade and improve classical service applications, but also be personal home assistants for frail persons. Paradoxically, human-centric robotics is entering back to the automation field renewing the vision of automation and assemblies together with practices of robots at work in various industries. On the more philosophical view, human-centered robotics concerns also the underlying question of “human augmentation”. The latter can be thought as related to a new robotic taxonomy that I define through a human-robot “distance” metric. Some conventional wisdom concerning robotic embodiment and the limitation of mind-controlled robotics systems will be discussed.
Dr. Eiichi Saito
He received the B.E. degree in system design engineering and the M.E. and Ph.D. degrees in integrated design engineering from Keio University, Yokohama, Japan, in 2011, 2012, and 2015, respectively.
From 2013 to 2015, he was a Research Fellow of the Japan Society for the Promotion of Science. Since 2016, he works at Advanced Technology R&D Center, Mitsubishi Electric Corporation. His research interests include motion control, wave system, and elevator system.
He received the IEEE Industrial Electronics Society Best Conference Paper Award in 2012.
System Design Based on Wave Modeling and Reflected-Wave-Rejection
9:30〜10:20, March 10th, 2017 @Collaboration Complex, Keio Univ.
In order to realize rapid and accurate motion of machines and robots, vibration suppression of mechanical resonance is needed to be considered in control-system design. In the design, not only control law but also model of the mechanical resonant system is important. A two-mass resonant system is a simplest model and we can derive the simple controller by using the model. Although the controller can suppress the first-order resonance, it sometimes induces high-order vibrations, which is well-known as spillover problem. If a multi-mass resonant system is used as model of the resonant systems, we can obtain the controller for suppressing the high-order vibrations, but the control system becomes complex structure depending on the order of the model. As mentioned in the above, there is a tradeoff between suppression performance of high-order vibration and simplicity of the control structure.
To tackle the problem, this research proposes control system design based on wave modeling and reflected-wave-rejection control. In this research, a resonant system is modeled as wave equation which is one of a distributed parameter model. Additionally, based on a concept of wave transmission, a reflected wave rejection control is proposed to suppress the vibrations. The reflected wave rejection control has not only suppression performance of high-order vibrations but also a simple control structure which is composed of time-delay elements. The validity of the proposed method is verified by the simulation and experimental results.
Dr. Vincent Agache
He was born in 1977. He received the M.S. degree in electronics and the Ph.D. degree in electrical engineering from the Université des Sciences et Technologies de Lille, Lille, France, in 2000 and 2003, respectively. From November 2003 to January 2006, he was with the Laboratory for Integrated Micromechatronic Systems, The University of Tokyo, Tokyo, Japan, as a Japan Society for Promotion of Science Fellow involved in a project relative to MEMS/Scanning Probe Microscope tool co-integration. In February 2006, he joined the French Atomic Energy Commission (CEA)/Léti-MINATEC as a Researcher/Project Manager. He is currently in charge of Head of Joint Lab between CEA and DNA sequencing company; Project Manager in MEMS, Microfluidics. His research is mainly focused on design, fabrication, and characterization of MEMS/NEMS resonators for signal-processing applications. He has also investigated stiction phenomenon in NEMS and modeled the thermal oxidation process used for sharpening of silicon nanotips.
Suspended Microchannel Resonators (SMR) for metrology of liquids, cells and nanoparticles
10:20〜11:10, March 10th, 2017 @Collaboration Complex, Keio Univ.
The advances in micro- and nanofabrication technologies enable the preparation of increasingly smaller mechanical transducers capable of detecting the forces, motion, mechanical properties and masses that emerge in biomolecular interactions, fundamental biological processes, or in interaction with nano-objects. These nanomechanical systems have gained considerable relevance in the last decade, and are promising techniques for medical diagnosis, pharmacological research and environmental monitoring issues, because of their small size, high sensitivity and suitability for integration into miniaturized analytical systems and metrology equipment. Hence, they are relevant alternative to classical characterization techniques (Dynamic Light Scattering, flow cytometry) for cells and particles metrology in fluid, with applications in pharmaceutical, biological and environmental fields.
One of the most promising emerging nanotechnology-related approaches is based on micro- nanofluidic channel enclosed in a MEMS resonator, similarly to what is developed in MIT and LETI laboratories. This technology, known as Suspended Microchannel Resonator (SMR), has the ability to detect and accurately count particles, as small as 50nm, and reliably measure their buoyant mass (resolution down to the ag), and size. Since this concept is based on Archimedes’ principle, it can also discriminate solid particles and lighter “nano-objects” like nanobubbles. In this presentation, I will detail current development related to this new sensor paradigm, with performances amenable to detect nanoparticles from a few nm in diameter up to the micro-scale-, monitor cells growth rate for assessment of cellular responses to antibiotics and antimicrobial peptides , and give our perspectives for future developments.
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 T. P. Burg and S. R. Manalis, “Suspended microchannel resonators for biomolecular detection,” Appl. Phys. Lett., vol. 83, no. 13, pp. 2698–2700, Sep. 2003
 V. Agache, et al., an embedded microchannel in a MEMS plate resonator for ultrasensitive mass sensing in liquid, Lab on Chip, 11, 2598, 2011
 S. Olcum et al., Weighing nanoparticles in solution at the attogram scale, Proceedings of the National Academy of Sciences (2014)
 V. Agache et al., Hollow MEMS Plate Resonators for Mass Sensing in Liquid with Sub-ppm Frequency Stability in Air, Proceedings of mnc 2014, Fukuoka, November 4-7, 2014.
 C. Hadji, L. Virot, C. Picard, F. Baléras, and V. Agache, MEMS with an embedded fluidic microchannel for sensitive weighing of liquid samples, Proceedings of IEEE MEMS 2017, Las Vegas, USA, January 2017.
 N Cermak, S. Olcum, FF Delgado, SC Wasserman, KR Payer, M Murakami, SM Knudsen, RJ Kimmerling, MM Stevens, Y Kikuchi, A Sandikci, M Ogawa, V Agache, F Baléras, DM Weinstock, SR Manalis. High-throughput single-cell growth measurements via serial microfluidic mass sensor arrays, Nature Biotechnology, doi:10.1038/nbt.3666 (2016).