Research Activities in 2001
Cellular Robotic System (CEBOT)CEBOT is an abbreviation of Cellular Robotic System that
is a self-organizing robotic system proposed by myself. The CEBOT consists of
many robotic units with a simple function, named cell, The CEBOT can reconfigure
the whole system depending on given tasks and environments and organize
collective or swarm intelligence. The concept of the CEBOT is based on
biological organization constructed by enormous natural cells. Several
prototypes of the CEBOT has been developed and demonstrated under this project.
This research project includes the development of a new CEBOT system and several
issues related to mutual communication between cells, the optimum dynamic
knowledge allocation among cells, the reconfiguration strategy of the system and
the artificial-life such as the cooperative behavior modeling of ants. This
invokes many interesting research problems, such as dynamic decentralized
planning, dynamic distribution and coordinated control system as well as hard
ware systems. Many applications are under considerations: space, agricultural,
medical, and construction applications, including the distributed inspection,
monitoring, and surveillance system.
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Microrobotic System and Micromechatronics
This topic includes the analysis, the development and the
control of microactuators, micro mobile robotic system and micromanipulators.
Micro mobile robotics systems in a small pipe and micromanipulators with
multi-degrees of freedom have been developed in this laboratory. We have joined
the member of the advanced research center, which is one of the facilities of
Nagoya University and has three clean rooms and microfabrication facilities of
silicon, such as a Chemical Vapor Deposition Machine and Reactive Ion Etching
Machine. They are now available for the development of micromachine and
microrobotic systems. Our laboratory organizes the International Symposium on
Micromechatronics and Human Science regularly every year with the support by the
bity of Nagoya and other organizations. Micro Line Trace Robot and programmable
Micro Autonomous robotic System (MARS) is also produced based on the support by
them.
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FTS
Flexible Transfer System with Self-Reconfigurability
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 Dynamical
Route Planning besed on Global and Local Information for Urban traffic
Control
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| Bioinspired Robotic System Group |
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Coordinated Motion Control of Dual Manipulators
The target of this project is to develop a coordinated
motion control algorithm of manipulators based on the impedance model of each
arm. The algorithm is applicable to both manipulation of an object and relative
dynamic motion of RCC between two parts. It specifies the load, external force
distribution, the internal force applied to the object and apparent impedance of
the manipulated object.
Multi-fingerd Robot Hand
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Parallel Link Manipulator
Parallel link manipulator has high rigidity and positioning accuracy,
compared with conventional serial link manipulators and attracting great
attention. We have proposed calculation algorithm of forward kinematics and
inverse dynamics of parallel link manipulator, which is necessary for practical
use of parallel link manipulators.
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Robot applied under hazardous environment
The main purpose of this project is to develop a robotic system for
maintenance applications under unstructured environments. The wall-climbing
robot, the flying manipulator, the brachiation type of mobile robot, the pipe
inspection robot etc. have been proposed.
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Bracing Control of Redundant Manipulator
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Sensor Integration System
A new sensor integration technique using neural network and fuzzy inference
has been developed so far. The goal of this project is to develop a sensor
integration system for robotic applications in the aerospace industry.
Intelligent Human Machine Interface Considering InteractiveAdaptation
This project proposes Interactive Adaptation Interface
applied to an operation system of rough terrain crane. The system assists human
operation with various types of operational assistance information based on
sensor's output and an automatic control theory. The VR technology enables the
system to express more effective and easier to understand with visual display,
tactile display, auditory display, etc. The system has a function that infers
human's states (e.g. operational skill level) with Recursive Fuzzy Inference. To
apply this function, we focus on tactile display because the system can change
the strength of operational assistance. We made a VR crane simulator, which
includes the proposed operational assistance system. Operational experiments
were performed to confirm the effect of the proposed system. The aim of the
experiments is to suppress payload's swing with 2 DOF joystick. The joystick has
tactile display devices in its grip. Subjects control the joystick to suppress
payload's swing with referring tactile display which shows proper control
method. The results clearly show the effect of the proposed
operational
Telesurgery System for Intravascular Neurosurgery
Goal of this project is to develop a medical assistance
system which supports doctor's operation and decision making while a medical
treatment. Our target field is the intravascular neurosurgery using a catheter
that is a thin tube made of soft plastic. This softness of the catheter disturbs
operator's appropriate maneuvering and this causes fatigue of patients and
doctors and elongating of the operation time. Therefore, a novel medical
assistance system is needed. Our approach is; first: developing new surgical
devices using micro technologies and installing these devices in the
intravascular surgical tools. We have developed a small force sensor that is
installed in the tip of catheter. The diameter is 1.2 mm and the length is 5 mm.
This small force sensor measures the contact force between the catheter and
blood vessels. This information is an alternative tactile sensation that doctors
had never felt. Second: integrating these micro devices into teleoperation
system appropriately. Third: developing new control strategies that enable
doctors to operate intravascular surgical tools easily. The new sensation is
useful when the teleoperation system displays that information appropriately to
the operator. So a new control strategy is needed.
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Bio-Micro Manipulation System
This project aims at developing the manipulation system of micro objects such
as the biological cell, microbe and DNA molecule with directly contact
manipulation and non-contact manipulation. The biological cell is so small and
flexible that it is difficult to handle by the manipulator with fingers
directly. Therefore, non-contact manipulation with optical power and field power
such as electrostatic field is considered to be effective to handle it. This
project approaches to achieve the manipulation system by the constructing the
micromanipulator using optical and electric field power and operating system
using virtual reality technology.
Nanotechnology
The scope of this project is following. The theory and application based on
analysis and synthesis from the micro level to the nano level engineering
problems, including the material fabrication, device, machining, micro/nano
manipulation, micro/nano measurement, micro/nano actuation, simulation,
micro/nano robotics bio-medical science and industrial applications.
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Copyright (c) 2003 Fukuda Lab. Nagoya Univ. all rights reserved.
Multiple Robots System with
Environmental Construction
Capability
3D Micromanipulation System
