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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Arai T. Amano T. Fukuda H. Satoh Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Mechano-Infofmatics and Systems University of Nagoya Nagoya Japan Center For Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

ISBN: (纸本)0780365763

Recently, micromanipulation for bio-engineering has been developed. The purpose of this research is to develop the minute size knife for the cutting of the minute object such as the cell. In this paper, we report on the microknife that cuts off the object by using ultrasonic vibration of the sharp needle. We applied the multilayer piezoelectric actuator for generating the ultrasonic vibration for cutting. We developed the touch probe sensor for microknife by the PZT thin film which is made by the hydrothermal method. We evaluated the performance of cutting and the touch probe sensor by experiments.

关键词： Vibrations Probes Mechanical sensors Tactile sensors Thin film sensors Biosensors Needles Nonhomogeneous media Piezoelectric actuators Piezoelectric films

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microknife using ultrasonic vibration

Microknife using ultrasonic vibration

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International Symposium on micromechatronics and Human Science (MHS)

作者： F. Arai T. Amano T. Fukuda H. Satoh Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Mechano-Infofmatics and Systems University of Nagoya Nagoya Japan

ISBN: (纸本)0780364988

The purpose of this research is to develop a minute size knife for cutting of minute objects such as cells. We report on a microknife that cuts the object by using ultrasonic vibration of a sharp needle. We employed a multilayer piezoelectric actuator for generating the ultrasonic vibration for cutting. Also, we made a tactile sensor for the microknife by using PZT thin film made by the hydrothermal method. We evaluated the cutting performance and the tactile sensor by experiments.

关键词： Needles Laser beam cutting Piezoelectric actuators Tactile sensors microscopy Piezoelectric films Thin film sensors Laser theory Nonhomogeneous media Frequency

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Computational Intelligence for Mobile Robotic systems - Decision Making, Learning, and Planning –

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Journal of Robotics and Mechatronics 2000年第3期12卷 194-201页

作者： Fukuda, Toshio Kubota, Naoyuki Center for Cooperative Research in Advanced Science and Technology Dept of Mechano-Informatics and Systems Dept of Micro System Engineering Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Department of Human and Artificial Intelligent Systems Fukui University 3-9-1 Bunkyo Fukui910-8507 Japan

This paper describes recent topics of computational intelligence. The intelligent capabilities will be required for the various systems to adapt to dynamically changing environments. First, we introduce the computational intelligence including evolutionary computing, neural computing, and fuzzy computing. Next, some of the important problems including the system architecture, structured intelligence, emerging system, and implementation methods are discussed for mobile robotic systems from the viewpoint of coevolution. © 2000, Fuji Technology Press. All rights reserved.

关键词： Decision making

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Intelligent robotic systems: Adaptation, learning, and evolution

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Artificial Life and Robotics 1999年第1期3卷 32-38页

作者： Toshio Fukuda Naoyuki Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems and Department of Micro System Engineering Nagoya University Nagoya Japan Department of Mechanical Engineering Osaka Institute of Technology Osaka Japan

Living creatures have evolved and formed ecological systems by adapting to their dynamic environment. Robots also need an adaptability to the dynamic environment. This paper presents methodologies for adaptation, learning, and evolution in robotics. Further the intelligence of a robot emerges as a result of the synthesis of simultaneous processing of perception, decision making, and action. A robotic system requires the whole structure of intelligence, and acquires skill and knowledge through interaction with the dynamic environment by computational intelligence, including neural networks, fuzzy systems, and genetic algorithms.

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Adaptation, learning and evolution for intelligent systems

Adaptation, learning and evolution for intelligent systems

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Fukuda F. Kobayashi Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems and Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

Intelligent systems are required in knowledge engineering, computer science, mechatronics and robotics. This paper discusses the machine (system) intelligence from the viewpoints of adaptation, learning and evolution of living things. Next, this paper introduces computational intelligence including neural network, fuzzy system and genetic algorithm. Finally, this paper describe the sensor fusion system which selects sensor information adaptively.

关键词： Intelligent systems Computational intelligence Intelligent robots Learning systems Competitive intelligence Intelligent sensors Sensor fusion Knowledge engineering Computer science Mechatronics

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Computational intelligence for the robotics and automation

Computational intelligence for the robotics and automation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： T. Fukuda N. Kubota Center for Cooperative Research in Advanced Science and Technology Department of Mechano-Informatics and Systems & Department of Micro System Engineering University of Nagoya Nagoya Japan

This tutorial presents the idea of computational intelligence and its application to robotics and automation. Firstly, the basics for computational intelligence are introduced, including neural networks, fuzzy systems and evolutionary computation, and advanced methodologies are then shown in detail. Next, application examples are given and shown how they can improve the conventional methods and how they can solve problems in the field of intelligent systems of robotics and automation.

关键词： Computational intelligence Robotics and automation Competitive intelligence Intelligent robots Humans Intelligent systems Artificial intelligence Information processing Computational and artificial intelligence Evolution (biology)

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Re-grasping behavior acquisition by evolutionary programming

Re-grasping behavior acquisition by evolutionary programming

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1999 Congress on Evolutionary Computation, CEC 1999

作者： Hasegawa, Yasuhisa Mase, Kenichiro Fukuda, Toshio Department of Micro System Engineering Nagoya University Furo-cho 1 Chikusa-ku Nagoya 464-8603 Japan Department of Mechano-Informatics and System Engineering Nagoya University Furo-cho 1 Chikusa-ku Nagoya 464-8603 Japan Center for Cooperative Research in Advanced Science and Technology Nagoya University Furo-cho 1 Chikusa-ku Nagoya 464-8603 Japan

ISBN: (纸本)0780355369

The control of multi-fingered robot hands has been the subject of recent interest. To manipulate some object with it, it is necessary to determine the contact points and grasping forces at the fingertips, but it is difficult to optimize such manipulation parameters for performing effective manipulation. In this paper, we propose an acquisition method for re-grasping motion for a four-fingered robot hand using evolutionary programming (EP). In this case, EP determines not only when and where the fingers are moved, but also which finger is operated at the next contact point according to the attitude changes of object grasping with the grasping stability. Evolutionary programming is generally able to find an optimal solution without a supervisor after much iteration, which is almost impractical using a real robot. Therefore we control the real robot hand with the optimal controller that has been obtained in computer simulations. We show the effectiveness of the proposed acquisition method for the re-grasping motion with experimental results. © 1999 IEEE.

关键词： Iterative methods

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Re-grasping behavior acquisition by evolutionary programming

Re-grasping behavior acquisition by evolutionary programming

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Congress on Evolutionary Computation

作者： Y. Hasegawa K. Mase T. Fukuda Department of Micro System Engineering Nagoya Aichi Japan Department of Mechano-Informatics and System Engineering Nagoya Aichi Japan Center for Cooperative Research in Advanced Science and Technology Nagoya Aichi Japan

关键词： Genetic programming Fingers Grasping Robot programming Stability systems engineering and theory Computer simulation Humans Actuators Robot control

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Robot hand manipulation by evolutionary programming

Robot hand manipulation by evolutionary programming

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IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Fukuda K. Mase Y. Hasegawa Center for Cooperative Research in Advanced Science & Technology University of Nagoya Nagoya Japan Department of Mechano-Informatics and System Engineering University of Nagoya Nagoya Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

We propose a searching method of the grasping and manipulating an object in the 3D space by using a four-fingered robot hand, which is applicable to the real robot hand. To manipulate an object, it needs to teach contact points and forces of fingertip, but it is difficult to optimize each parameter for natural grasping. This paper shows the manipulation using evolutionary programming (EP) to optimize the motion of the fingers. In this case, EP determines not only when and where the fingers are moved, but also which finger is operated to the next contact point as the grasping attitude is changed. Moreover, the coding of individual is unique, which makes it easy to optimize the parameter. The result examines the effective in computer simulation in this paper but it would be applicable to a real robot hand.

关键词： Genetic programming Robot programming Fingers Grasping Orbital robotics Space technology systems engineering and theory Computer simulation Humans Actuators

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A comparative analysis of the topological structures of different LPC feature-based speech models

A comparative analysis of the topological structures of diff...

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International Joint Conference on Neural Networks (IJCNN)

作者： L.R. Palomar T. Fukuda E.P. Dadios Department of Electronics & Communications Engineering De La Salle University Philippines Department of Mechano-Informatics Engineering and Department of Micro-Systems Engineering University of Nagoya Nagoya Japan Department of Manufacturing Engineering and Management De La Salle University Philippines

Describes initial experimentations done on three LPC (linear predictive coding) derived feature-based speech models: the LPC-cepstrum, the LSP (line spectral pair) and the postfilter-cepstrum (PFL). A comparative analysis of the topological structures of these models is also given. The structures are basically self-organizing feature maps which accept these models as inputs and after training, used to distinguish between isolated word utterances and speakers. A small database of 5 utterances and 4 speakers is initially used. The performance index of isolated word recognition and speaker identification for all models are calculated based on a hit-and-miss ratio and are also discussed. Experimental results reveal that the three parameters are comparable in performance. The LSP has a slight edge over the other two feature vectors in distinguishing isolated words.

关键词： Speech analysis Linear predictive coding Cepstral analysis Speech recognition Speech coding Predictive models Speaker recognition Audio recording Pulse modulation Nonlinear filters

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