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International Symposium on Micromechatronics and Human science (MHS)

作者： Azrena Abu Bakar Masahiro Nakajima Masaru Takeuchi Toshio Fukuda Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan Center For Micro-Nano. Mcchatronics Nagoya University Nagoya Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology Beijing China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

We present the fabrication of catalytic driven micro-nano robot by direct laser writing. The micro-nanorobot has a spiral design of 3,5, and 7 μm named D1, D2 and D3 respectively and a flat top design D4. The micro-nanorobot is catalytically driven in 6% hydrogen peroxide (H 2 O 2 ) from platinum catalytic area. The result shows that the spiral micro-nanorobot increased in speed except when the micro-nanorobot exhibits the drilling motion. It showed spinning motion, self-propulsion and drilling motion for micro-nanorobot D1, D2 and D3 respectively. The flat top micro-nanorobot has the highest speed and spinning motion was displayed. Future studies should include the actual pollutants in the environment and the effects of the drilling motion on its final content should be observed.

关键词： Platinum Spirals Substrates Educational institutions Writing Fabrication Spinning

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Cross-sectional imaging of C. elegans by SEM-CT using Environmental SEM for nanomanipulation

Cross-sectional imaging of C. elegans by SEM-CT using Enviro...

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IEEE Conference on Nanotechnology

作者： Masahiro Nakajima Masaru Takeuchi Naoki Hisamoto Toshio Fukuda Yasuhisa Hasegawa Qiang Huang Center For Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Nagoya University Nagoya Aichi Japan Institute for Advanced Research Nagoya University Nagoya Aichi Japan Intelligent Robotics Institute Beijing Institute of Technology Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

A novel technique was presented for a cross-sectional imaging of Caenorhabditis elegans (C. elegans) by Scanning Electron Microscope - Computed Tomography (SEM-CT) using Environmental-SEM (E-SEM) for nanomanipulation applications. In our previous works, a nanorobotic manipulation system was established inside the E-SEM for water-contained samples including biological organism with a real-time high resolution observation. However, the SEM image is two dimensional (2D) and surficial information from the secondly electrons. Hence, it is not able to evaluate the targeted structure inside the sample. In this research, we presented the cross-sectional observation of the sample by SEM-CT system which is used the X-ray generated by the electron beam of SEM. To improve the signal-to-noise ratio of CT imaging, we evaluated the following ways, 1) apertures for X-ray before/after irradiating the sample, 2) adjustment of emission currents of the electron beam, 3) iteration processing of captured images. To reduce the damage of C. elegans during observation, a method was used to immerse the C. elegans by a liquid oil. The proposed 3D imaging technique is useful to evaluate the 3D manipulation of the C. elegans, such as nano-injection application with functional micro-nano beads inside the C. elegans.

关键词： Nanobioscience X-ray imaging Apertures Scanning electron microscopy Electron beams

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Construction of Vascular-like Microtubes via Fluidic Axis-translation Self-assembly based on Multiple Hydrogels

Construction of Vascular-like Microtubes via Fluidic Axis-tr...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Tao YUE Masahiro NAKAJIMA Masaru TAKEUCHI Qiang HUANG Toshio FUKUDA Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 JAPAN Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology 5 South Zhongguancun Street Haidian District Beijing 100081 CHINA Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya 468-8502 JAPAN

ISBN: (纸本)9781479969357

Cellular vascular-like microtubes occupy an important position in tissue engineering for building in vitro tissue models. In this paper, we report a method of constructing three-dimensional (3D) multilayered vascular-like microtubes based on fluidic axis-translation self-assembly of two-dimensional (2D) microstructures inside microfluidic devices. The on-chip fabrication of cell (fibroblasts NIH/3T3) embedded 2D microstructures based on Poly (ethylene glycol) Diacrylate (PEGDA) and biodegradable material Gelatin Methacrylate (GelMa) were reported. A multilayered Polydimethylsiloxane (PDMS) microfluidic device was fabricated for conducting the fluidic self-assembly of 2D microstructures. The fluidic axis-translation self-assembly process was experimentally demonstrated. Multiple hydrogels embedded microtube was constructed. The fabrication of GelMa microstructures was demonstrated. The degradability of cell embedded GelMa microstructures was evaluated by long-term observation, and it shows the great potential of GelMa to be used for constructing cellular vascular-like microtubes.

关键词： Microstructure Fabrication Microfluidics Three-dimensional displays Self-assembly Assembly Biodegradable materials

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Model predictive 2DOF PID control for heat conduction system

Model predictive 2DOF PID control for heat conduction system

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2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013

作者： Nakamura, Ko Hagiwara, Yuji Li, Shaobo Kawabe, Tohru Division of Information Engineering Faculty of Engineering Information and Systems University of Tsukuba Ibaraki Japan NTT DATA Corporation Tokyo Japan Department of Computer Science University of Tsukuba Ibaraki Japan

Advanced control is needed to the heat conduction systems for high-quality manufacturing. Although PID controller has been so widely used for such systems conventionally, it shows difficult to realize the high-precision temperature control for the difference of heat conductive property caused by the operating temperature. Moreover, it is unavailable for the control with the constraints of temperature and input. Although MP-PID controller has been proposed in response to those problems, it still leaves room for improving the control performance. In this paper, we propose a MP-2DOF PID controller that applies MPC algorithm to 2DOF PID controller as an extension of MP-PID controller. This can optimize not only PID gains but also 2DOF parameters at beginning of each control period under consideration for the constraints. The effectiveness of the proposed method is verified by the numerical simulations.

关键词： Three term control systems

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Real-time fall and overturn prevention control for human-cane robotic system

Real-time fall and overturn prevention control for human-can...

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2013 44th IEEE International Symposium on Robotics, ISR 2013

作者： Di, Pei Huang, Jian Nakagawa, Shotaro Sekiyama, Kosuke Fukuda, Toshio Department of Micro-Nano Systems Engineering Nagoya University 464-0814 Aichi Nagoya Japan Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Science and Engineering Meijo University Nagoya Aichi Japan Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479911738

A intelligent Cane Robot(iCane) has been proposed to assist the elderly walking in daily life. As a nursing-care robot, the safety and dependability are the most important issues that should be investigated. For preventing the human subject from falling, the angle of human body and the acceleration of center of gravity(COG) should be less than some threshold. Although in a human-in-the-loop system, the human subject is regarded a uncontrollable object. However, while the user is falling over, the cane robot can move to a appropriately position and support the user for balance. As the prerequisite condition that the cane robot support the human balance, the stability of cane robot should be ensured firstly. According Newton-Euler Law, a dynamic model is proposed to present the stability of human-cane robotic system. A impedance control are used to achieve position, posture and force control of iCane for fall prevention. The simulation and experimental results show the performance of fall prevention by using iCane. © 2013 IEEE.

关键词： Accident prevention

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Neuromusculoskeletal model of human running based on muscle synergy

Neuromusculoskeletal model of human running based on muscle ...

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5th International Symposium on Measurement, Analysis and Modelling of Human Functions, ISHF 2013

作者： Aoi, Shinya Funato, Tetsuro Tomita, Nozomi Tsuchiya, Kazuo Dept. of Aeronautics and Astronautics Graduate School of Engineering Kyoto University Japan Dept. of Mechanical Engineering and Intelligent Systems Graduate School of Informatics and Engineering University of Electro-Communications Japan Dept. of Energy and Mechanical Engineering Faculty of Science and Engineering Doshisha University Japan JST CREST Japan

ISBN: (纸本)9781632660251

In the present study, we developed a neuromusculoskeletal model for human running and performed computer simulation of the running gait. We constructed the musculoskeletal part of the model based on biomechanical findings and constructed the nervous system model based on physiological findings of central pattern generators and muscle synergy. We investigated functional roles of the nervous system to produce the running gait and examined the dynamic characteristics during the running gait.

关键词： Physiological models

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Energy Efficient Run-Time Incremental Mapping for 3-D Networks-on-Chip

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Journal of Computer science & Technology 2013年第1期28卷 54-71页

作者： Xiao-Hang Wang Peng Liu Mei Yang Maurizio Palesi Ying-Tao Jiang Michael C Huang Intelligent Chips and Systems Research Centre Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou 511458 China Department of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China Department of Electrical and Computer Engineering University of Nevada Las Vegas Nevada U.S.A. Faculty of Engineering Kore University Catania Italy Department of Electrical and Computer Engineering University of Rochester Rochester New York U.S.A.

3-D Networks-on-Chip （NoC） emerge as a potent solution to address both the interconnection and design complexity problems facing future Multiprocessor System-on-Chips （MPSoCs）. Effective run-time mapping on such 3-D NoC-based MPSoCs can be quite challenging, as the arrival order and task graphs of the target applications are typically not known a priori, which can be further complicated by stringent energy requirements for NoC systems. This paper thus presents an energy-aware run-time incremental mapping algorithm （ERIM） for 3-D NoC which can minimize the energy consumption due to the data communications among processor cores, while reducing the fragmentation effect on the incoming applications to be mapped, and simultaneously satisfying the thermal constraints imposed on each incoming application. Specifically, incoming applications are mapped to cuboid tile regions for lower energy consumption of communication and the minimal routing. Fragment tiles due to system fragmentation can be gleaned for better resource utilization. Extensive experiments have been conducted to evaluate the performance of the proposed algorithm ERIM, and the results are compared against the optimal mapping algorithm （branch-and-bound） and two heuristic algorithms （TB and TL）. The experiments show that ERIM outperforms TB and TL methods with significant energy saving （more than 10%）, much reduced average response time, and improved system utilization.

关键词： energy efficiency Networks-on-Chip multiprocessor System-on-Chips run-time incrementa] mapping

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三维扫描树叶子节点和TSVs数量的优化方法

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中国科学：信息科学 2014年第10期44卷 1203-1215页

作者：刘军吴玺梁华国任福继合肥工业大学计算机与信息学院合肥230009 情感计算与先进智能机器安徽省重点实验室合肥230009 合肥工业大学电子科学与应用物理学院合肥230009 Department of Information Science&Intelligent Systems Faculty of EngineeringThe University of Tokushima

扫描树结构能够有效地减少集成电路的测试数据量和测试时间,降低电路的测试成本.为减少三维电路中扫描树的叶子节点和硅通孔数量,首先得出了扫描树中叶子节点的最小数量为最大相容组中所含扫描单元数量的结论,然后进一步得到了叶子节点... 详细信息

扫描树结构能够有效地减少集成电路的测试数据量和测试时间,降低电路的测试成本.为减少三维电路中扫描树的叶子节点和硅通孔数量,首先得出了扫描树中叶子节点的最小数量为最大相容组中所含扫描单元数量的结论,然后进一步得到了叶子节点取得最小值的充分必要条件.并在此基础上,提出了一种启发式算法来确定扫描树中相容组的连接顺序,使得叶子节点数量取得最小值的同时能够优化硅通孔的数量.实验结果表明了所提方法的有效性.

关键词：三维集成电路扫描树测试数据测试时间测试成本

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Parameter Tuning for Nacelle-based Passive Structural Control of a Spar-type Floating Wind Turbine

Parameter Tuning for Nacelle-based Passive Structural Contro...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Yulin Si Hamid Reza Karimi Huijun Gao Department of Engineering University of Agder Faculty of Engineering and Science Research Institute of Intelligent Control and Systems Harbin Institute of Technology

ISBN: (纸本)9781479902255

This paper deals with the modeling and parameter tuning of a spar-type floating wind turbine with a tuned mass damper (TMD) installed in nacelle. Firstly, a mathematical model for the system surge-heave-pitch motion is established based on first principles. Secondly, different parameter tuning methods are adopted to find the optimal TMD parameters for load reduction. Thirdly, nonlinear wind turbine simulations with different designs are conducted under different wind and wave conditions. The results show that TMD with small spring and damping coefficients will help to produce much load reduction in above rated condition. However, it may deteriorate system performance when the turbine is working below rated. In contrast, the design with large spring and damping constants will achieve moderate load reduction in both working conditions.

关键词： tuning Wind Energy Conversion systems turbines Damping ratio structure control Working Conditions Floating System performance LOAD damping constant waves Pitching motion

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