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Development of an artificial fish microrobot

Development of an artificial fish microrobot

引用

International Symposium on micromechatronics and Human Science (MHS)

作者： Shuxiang Guo T. Fukuda K. Oguro Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan AIST Osaka National Research Institute AIST Ikeda Osaka Japan

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. In this paper, we propose a new prototype model of an underwater microrobot utilizing ICPF (Ionic Conducting Polymer Film) actuator as the servo actuator. Biomimetic fish-like propulsion using ICPF actuator as a propulsion tail fin for microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a boat is 40 mm in length, 10 mm in width and 2 mm in thickness. There is a pair of fins. Characteristic of the underwater microrobot is measured by changing the frequency of input voltage from 0.1 Hz to 5 Hz. The experimental results indicate that the swimming speed of proposed underwater microrobot can be controlled by changing the frequency of input voltage.

关键词： Marine animals Actuators Prototypes Propulsion Frequency Low voltage Safety Polymer films Servomechanisms Biomimetics

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Group behavior control for MARS (micro autonomous robotic system)

Group behavior control for MARS (micro autonomous robotic sy...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Fukuda H. Mizoguchi K. Sekiyama F. Arai Center for Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan Department of Mechano-Informatics and Systems Graduate School of Engineering University of Nagoya Japan Department of Management and System Science Science University of Tokyo Japan

We present the design of our small robot MARS (micro autonomous robotic system) and basic experiments of group behavior pattern. MARS is small mobile autonomous robot. The robot has sensors, battery and infrared light communication device. In addition, the robot can get programs from the host computer (programmable). We focus on group behavior design (cooperation, competition coordination etc.) to use real robot MARS and we try to realize the phase change of the group behavior pattern. One of our ultimate dream is designing life-like robotics systems, such as ant or fish societies.

关键词： Control systems Mars Robot kinematics Robot sensing systems Infrared sensors Communication system control Mobile robots Batteries Optical fiber communication Mobile communication

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A new ID acquiring method for personal identification system with fingerprint

A new ID acquiring method for personal identification system...

引用

International Symposium on micromechatronics and Human Science (MHS)

作者： T. Fukuda F. Arai J. Tsuruno K. Itoigawa Center for Cooperative Reserch in Advanced Science & Technology University of Nagoya Nagoya Japan Department of Micro System Engineering University of Nagoya Japan Department of Mechano-Infomatic & Systems University of Nagoya Japan Tokai Rika Company Limited Aichi Japan

More secure and convenient personal identification systems are needed in many places. Biometrics, such as a retina, voice, fingerprint etc., is a solution for these requests. We propose a new personal identification system, which uses fingerprint image and micromechanical key. This system provides a more convenient method for users and keeps high-level security. This paper describes the system structure and hardware specifications. Also, we explain a fabrication method of these system components by MEMS techniques. We simulated the fabrication processes to make components of the system. Then we made a prototype of the micromechanical key.

关键词： Fingerprint recognition Image matching Capacitive sensors Capacitance Sensor arrays Fingers Optical sensors Biometrics micromechanical devices Humans

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Distributed control of flexible transfer system (FTS) using learning automata

Distributed control of flexible transfer system (FTS) using ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Fukuda K. Sekiyama Y. Hasebe Y. Hasegawa S. Shibata H. Yamamoto Y. Inada Center for Cooperative Research in Advanced Science and Technology Department of Management and System Science Science University of Tokyo Chino Nagano Japan Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Nagoya Japan Mechatronics Technology Section Advanced Industrial Systems Technology Department Technology Research and Development Center Tokyo Engineering Corporation Narashino Chiba Japan

This paper proposes a flexible transfer system (FTS) as one of the self-organizing manufacturing systems. The FTS is composed of autonomous robotic modules, which transfer a palette carrying an object. Through the self-organization of a multilayer strategic vector field corresponding to a task, the FTS can generate quasi-optimal transfer path in fully distributed way. We apply the learning automata for path generation algorithm. Simulation is conducted to evaluate the basic performance of the system and the results show the feasibility of application. Also, the developed hardware is explained.

关键词： Distributed control Learning automata Production systems Centralized control Assembly systems Transportation systems engineering and theory Technology management engineering management Educational institutions

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Intelligent robotic systems-from a single robot to multiple robotic system

Intelligent robotic systems-from a single robot to multiple ...

引用

International Workshop on Advanced Motion Control (AMC)

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

There have been a lot of works on the improvement of the robotic performance. Nowadays a robot can work well under given constraints and environments. But the performance of a single robot might be limited and some needs more complex performance. To cope with the complex works, there are several approaches, such as more sophistication of a single robot and multiple robotics with different levels of capacities. In this paper, the multiple robotic system approach will show more flexibility and adaptability to various tasks and environments. The robots with different capacities, such as Cellular Robotic system (CEBOT), are one of the distributed autonomous robotic systems and consist of the heterogeneous system, thus can create intelligence for wider tasks. This paper describes these characteristics of the robotic system depending on the level.

关键词： Intelligent robots Intelligent systems Intelligent structures Robot sensing systems Orbital robotics Intelligent sensors Humans Path planning Artificial intelligence Trajectory

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Schema representation in virus-evolutionary genetic algorithm for knapsack problem

Schema representation in virus-evolutionary genetic algorith...

引用

IEEE International Conference on Evolutionary Computation

作者： N. Kubota T. Fukuda Department of Mechanical Engineering Osaka Institute of Technology Osaka Japan 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 paper deals with a genetic algorithm based on virus theory of evolution (VE-GA). VE-GA simulates coevolution of a host population of candidate solutions and a virus population of substring representing schemata. In the coevolutionary process, the virus individuals propagate partial genetic information in the host population by virus infection operators. In this paper, we apply the proposed VE-GA to knapsack problems, and discuss the schema representation for solving the knapsack problem. Simulation results show that the virus infection explicitly uses effective schemata to search for optimal solutions, and the schema-based search can quickly increase the genotype frequency of effective schemata in the host population.

关键词： Genetic algorithms Computational modeling Optimization methods Evolutionary computation Computer simulation Mechanical engineering Genetic engineering systems engineering and theory Fuzzy systems Artificial neural networks

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Fuzzy scheduling problem in self-organizing manufacturing system

Fuzzy scheduling problem in self-organizing manufacturing sy...

引用

International Conference on Knowledge-Based Intelligent Electronic systems (KES)

作者： N. Kubota T. Fukuda F. Kojima Department of Mechanical Engineering Osaka Institute of Technology Asahi Osaka Japan 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

Deals with fuzzy scheduling problems including a path planning problem. We have proposed self-organizing manufacturing systems which are composed of autonomous modules. Each module decides output through the interaction with other modules, but the module does not share complete information concerning other modules. The manufacturing procedure can be divided into the sequence of three modules: tool locating module, scheduling module, and path planning module. We first solve the scheduling problem where the processing time is fuzzy. We solve the fuzzy scheduling problem by a genetic algorithm. After preplanning, the path planning module transports materials and products. Based on the processing time, the schedule module updates fuzzy processing time. We discuss the effectiveness of the proposed method through the computer simulation results.

关键词： Fuzzy systems Job shop scheduling Manufacturing systems Competitive intelligence Milling machines Path planning Artificial intelligence Computational and artificial intelligence Intelligent robots Genetic algorithms

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Adaptation, learning and evolution

Adaptation, learning and evolution

引用

International Conference on Knowledge-Based Intelligent Electronic systems (KES)

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 Department of Mechanical Engineering Osaka Institute of Technology Asahi Osaka 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 discusses structured intelligence integrating intuitive and logical inferences, planning, and learning.

关键词： Computational intelligence Intelligent robots Learning systems Competitive intelligence Intelligent systems Knowledge engineering Computer science Mechatronics Machine learning Neural networks

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Learning, adaptation and evolution of intelligent robotic system

Learning, adaptation and evolution of intelligent robotic sy...

引用

IEEE International Symposium on Intelligent Control (ISIC)

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 Department of Mechanical Engineering Osaka Institute of Technology Asahi Osaka Japan

The intelligent capabilities will be required to the robotics system more and more to adapt the system to dynamic environment. The system needs computational intelligence to cope with wider varieties of the tasks under constraints and environments than ever. Some of the important problems including the system architecture, structured intelligence, emergent system and implementation methods is discussed in this paper from the viewpoint of coevolution.

关键词： Intelligent robots Intelligent systems Competitive intelligence Computational intelligence Intelligent structures Orbital robotics Computer architecture Hardware Learning Artificial intelligence

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The design and development of a four-fingered robot hand (adjustment of grasping position by using slip motion on passive closure)

The design and development of a four-fingered robot hand (ad...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

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

We propose a technique of grasping and manipulating an object in three-dimensional space by using a four-fingered robot hand, which is applicable to a real robot hand. In our approach, we select the condition of the passive closure as grasping form with an object by the robot hand, and then simplify the necessities for grasping using passive closure. We move the object in parallel motion from that grasping condition by using the slip. Furthermore, we show the new four-fingered robot hand with tension-difference type torque sensors and characteristics. By using this way, for some objects with different shapes, we carry out experiments with this robot hand in practice. Last of all, we verify the proposed method and examine the result.

关键词： Grasping Robot sensing systems Orbital robotics Fingers Space technology Torque Sensor phenomena and characterization Humanoid robots Humans Friction

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