Invited Session
Invited Session I October 21(MON), 2013 13:40~14:10
Title Robust dynamic optimization for chemical and biological processes.
Name Jong Min Lee
Affiliation Seoul National University
Abstract Decision making problems involved in the chemical process industry always include uncertainty to a certain degree. Such uncertainties may lead to the deterministic optimal solution not being proper when the objective function is a nonlinear function of uncertain variables, or nominal operations near constraints for economic reasons can exhibit frequent excursions into infeasible regions due to exogenous disturbances. This paper presents stochastic (dynamic) optimization techniques that have been recently developed suitable for chemical process operations or biomedical problems. The main idea is to use sampling to handle exponential growth of the number of scenarios and complex model structures in solving static or dynamic optimization problems. Examples including real-time optimization for an integrated chemical plant, optimal catalyst design, and prescription optimization are illustrated to show the benefits of proposed methods.
Resume 1996, BSc, Seoul National University, Chemical Engineering
2004, PhD, Georgia Institute of Technology, Chemical Engineering
2005-2006, Research Associate, University of Virginia, Biomedical Engineering
2006-2010, Assistant Professor, University of Alberta (Canada), Chemical & Materials Engineering
2010-Present, Assistant Professor, Seoul National University, Chemical & Biological Engineering

Invited Session II October 21(MON), 2013 13:40~14:10
Title Control strategies for self-paced treadmill waking for effective gait rehabilitation
Name Hyung-Soon Park
Affiliation Korea Advanced Institute of Science and Technology
Abstract Body Weight Supported Treadmill Training (BWSTT) has been widely used in gait rehabilitation post brain injuries such as stroke, cerebral palsy, spinal cord injury, traumatic brain injury, and etc. BWSTT is attractive as a gait rehabilitation setup due to its compactness, convenience, and controlled environment for guaranteeing safety; however, the effectiveness of treadmill training itself has not been proven to be superior to the conventional home-based therapy. One possible reason for not being better than the conventional therapy is that patients accommodate and soon habituate to the constant treadmill speed, and the training becomes automatic requiring little conscious engagement during typical BWSTT. Unlike the typical treadmill walking where users adjust their walking pace to the constant treadmill belt speed, the self-paced treadmill walking allows users to change walking speed voluntarily which is more similar to real world walking. Considering that the ultimate goal of gait training is to transfer walking skills learned from the training to the real world walking, the self-paced treadmill walking might have greater training effect than typical treadmill walking. This presentation will introduce different strategies for controlling self-paced speed of a treadmill. Various forms of feedforward and feedback control strategies, their characteristics, and potential implication in rehabilitation mecidine will be discussed.
Resume Dr. Hyung-Soon Park received PhD in mechanical engineering in 2004 from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea. He has been worked in the research area of rehabilitation engineering for past ten years. From 2004 until 2009, he worked as a research associate and a research scientist at the Rehabilitation Institute of Chicago, Chicago, IL. He has been a staff scientist at the Rehabilitation Medicine Department, Clinical Center at the National Institutes of Health, Bethesda, MD from 2009 until 2013. He is currently an associate professor at the mechanical engineering department at KAIST. His research interest focuses mainly on application of robotics and control technology on rehabilitation medicine, and biomechanics of human movement.

Invited Session III October 22(TUE), 2013 13:40~14:10
Title Gangnam Style in Microbiorobotics: Biologically Inspired Microscale Robotic Systems
Name MinJun Kim
Affiliation Drexel University
Abstract Bacterial chemotaxis is the most widely studied to understand the cell's response to a stress environment. It's controlled by more than 40 genes in over 14 operons that produce proteins for the structural components of the flagella, the flagellar motor, transmembrane receptors, and signal transduction. The signal transduction pathway of Escherichia coli are closely related and provide a model for signal ransduction in other species. Inspired of bacteria, more importantly, we can develop a new class of robotics. Recently, as the field of engineered microscale robotics matures, a need for control of miniaturized systems has emerged. One approach is utilization of a live organism as an actuator. First, we will discuss the practical integration of bacterial flagellar motors to actuate microrobots for engineering works in microfluidic environments. The ability to integrate multiple levels of functionality with a control hierarchy will be highlighted to show the realization of bacteria-powered microrobots for single cell manipulation. We will also talk about bacteria-inspired robotic microswimmers with active propulsion. An external rotating magnetic field is generated by a set of electromagnetic coils in an approximate Helmoltz configuration. The magnetic field induces rotation in a flagella conjugated magnetic bead. The flagella act as both a fluidic actuator for device propulsion and as a coupler for a polystyrene bead, which is used in place of a targeted localized drug and therapy delivery system, such as a drug filled vesicle. Lastly, Tetrahymena pyriformis GL (T. pyriformis) will be introduced to show control of eukaryotes for microbiorobotics. By magnetizing ingested ferromagnetic nanoparticles (magnetite, Fe3O4), the swimming direction of individual cell becomes controllable using external time varying magnetic fields. Since endogenous motility of a cell and the artificial magnetotaxis are combined into one system, the motion of the artificial magnetotatic T. pyriformis is able to be finely controlled. Also, "Point to point" feedback control was performed in real time with a vision tracking system and two sets of electromagnets, showing controllability of single cell. For improved control of a position and orientation of a cell, a feasible path is planned by randomized roadmap tree (RRT) which is one of the fast path planning schemes. Combining the feedback control and the path planning scheme enables T. pyriformis to move to the target with the desired direction, which might be a basic movement for novel medical therapeutics.
Resume Dr. MinJun Kim is presently an associate professor at Drexel University with a joint appointment in both the Department of Mechanical Engineering & Mechanics and the School of Biomedical Engineering, Science & Health System. He received his B.S. and M.S. degrees in Mechanical Engineering from Yonsei University in Korea and Texas A&M University, respectively. Dr. Kim completed his Ph.D. degree in Engineering at Brown University, where he held the prestigious Simon Ostrach Fellowship. Following his graduate studies, Dr. Kim was a research fellow at the Rowland Institute in Harvard University. For the past several years, Dr. Kim has been exploring biological transport phenomena including cellular/molecular mechanics and engineering in novel nano/microscale architectures to produce new types of nanobiotechology, such as nanopore technology and nano/micro robotics. His notable awards include the National Science Foundation CAREER Award (2008), Louis & Bessie Stein Fellowship (2008), Drexel Career Development Award (2008), Human Frontier Science Program Young Investigator Award (2009), Army Research Office Young Investigator Award (2010), Alexander von Humboldt Fellowship (2012), and KOFST Brain Pool Fellowship (2013).

Invited Session IV October 22(TUE), 2013 13:40~14:10  Cancelled
Title Reconfigurable Endoscopic Capsule Minibots Using Modular Assembly: Testing Feasibility
Name Seung Shick Yoo
Affiliation Harvard Medical School
Abstract Ingestible capsule endoscopy is a less invasive method of imaging the gastrointestinal tract than traditional tube-guided endoscopic approaches, and it improves patient comfort. However, endoscopy capsules have limited capabilities such as lack of motion control and guidance. To overcome these limitations, we proposed a development of prototype model (4 x) that consists of four wirelessly-powered capsules with the ability to attach to one another once swallowed and assemble and reconfigure to execute more complex tasks, including the controlled locomotion. Rotational and angular servos were used to propel the capsule forward or backward as well as to bend the capsule for steering. A linear servo in the capsule is used to reposition a magnet for docking/undocking purposes. The capsules demonstrated the ability to be controlled and steered to be assembled. Specificity for docking was demonstrated among four capsules and the final assembly exhibited controlled locomotion and was capable of being steered around obstacles. The capsules were also capable of undocking, which is important elements for exiting the human body. These results demonstrate that it is possible to create a larger more complex robotic system from smaller robots that are ingestible, and showed the potential to lead to significant improvement in surgical as well as diagnostic procedures.
Resume 1994 B.S. (Biomedical Engineering), Departmental Honor, Johns Hopkins University 1999 M.B.A. (Marketing), University of Massachusetts, Boston 2000 Ph.D. (Radiological Sciences), MIT / Harvard-MIT, Division of Health Science & Technology 1999-2000 Consultant, Dep. of Neurology, Harvard Medical School, Children's Hospital, Boston 2000-2001 Research Fellow, Dep. of Radiology, Harvard Medical School, B&WH, Boston 2001-2004 Instructor, Dep. of Radiology, Harvard Medical School, B&WH, Boston since 2002 Collaborating Professor, Dep. of BioSystems, Korea Advanced Institute of Science and Technology, Daejeon 2004-2006 Assistant Professor, Dep. of Radiology, Harvard Medical School, B&WH, Boston since 2006 Associate Professor, Dep. of Radiology, Harvard Medical School, B&WH, Boston since 2011 Invited Professor in Nanomedicine, School of Nano-Bioscience and Chemical Engineering, UNIST, Ulsan since 2012 Invited Research Associate, Korea Institute of Science and Technology (KIST) since 2012 Invited professor, Inchon Saint Mary's Hospital, Catholic University of Korea.

ICCAS2013, ICCAS, 2013 13th International Conference on Control, Automation and Systems,
Kimdaejung Convention Center, Gwangju, Korea, Secretariat
Tel: +82-32-234-5801(Ext.3), Fax: +82-32-234-280, Email:
Institute of Control, Robotics and Systems (Business Registration Number : 220-82-01782, President : Jin Bae Park)
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