|会 場：||佐賀大学 理工学部大学院棟 3階301講義室|
|日 時：||平成28年11月26日(土) 14:20-14:50|
|講 師：||Prof. Jangmyung Lee (Pusan National University, Korea)|
|題 目：||「Optimal Control of an Inverted Ball Driving Robot Based on Mecanum Wheel」|
This paper proposed a new algorithm to drive the ball robot precisely by designing a route with the least amount of slip. The patterns for the slip occurring based on the structure of the ball robot are analyzed to drive an optimal way which reduces the loss of torque caused by slip and increases the level of accuracy. Such a method is used to measure and utilize the direction for the occurrence of slip through the differences between the torque-delivering and the driving directions of the robot. Since the torque-delivering rate is same for every driving direction in theory, the measured graph is same as the one for the occurrence of slip. In order to avoid having such a case of inaccuracy and the occurrence of any torque-related problem, it is necessary to apply the driving-controlling method which can be used to move along the main driving axis at the angle of 0 or pi/4.
|日 時：||平成28年11月26日(土) 14:50-15:20|
|講 師：||Prof. Jinsung Park（Korea University, Korea）|
|題 目：||「The review of ultra-sensitive silver ions detection using various Methods」|
Heavy metal ions have a significant effect on human body and environment due to its nanotoxicity. As needs of high sensitivity toxic ion sensors are rising, this paper summarizes current high sensitivity Ag+ ion detection method. To detect Ag+, resonant frequency shift was measured using silver specific nucleotide coated oscillator. In other method, surface potential difference was measured via Kelvin probe force microscope (KPFM) based detection method which allowed high sensitive detection of Ag+. Herein, we review and discuss these novel methods to detect toxic ions.