The Experts below are selected from a list of 102738 Experts worldwide ranked by ideXlab platform
T. Fukuda - One of the best experts on this subject based on the ideXlab platform.
-
From intelligent robot to multi-agent Robotic System
IEMC '03 Proceedings. Managing Technologically Driven Organizations: The Human Side of Innovation and Change (IEEE Cat. No.03CH37502), 2003Co-Authors: T. Fukuda, I. Takagawa, Y. HasegawaAbstract:The robot technology last decade had two streams of research, such as single but very intelligent robot and multiple agent type of robots. The robot research has been aimed at going to make a robot more flexible and more intelligent, using learning, adaptive and evolutionary capabilities. The work is mainly focused on the modelling and control enhanced by the computational intelligence, so that we can have robots how flexible and wide range of operation robot can engage in with less instructions. Sensor technology has also been improved to reduce the uncertainty, while actuator technology was assured to make the controller work as exactly as desired. On the other hand, the multiple autonomous Robotic System has also been studied for cooperative/competitive works in the frame work of a group Robotics, network robots, swarm intelligent Robotic System or collective intelligent Robotic System, believing that more robots, better work. One example is soccer robots. There are also lots of works in reality which might be carried out by multiple robots but single robots. But there are not many works which shows many intelligent robots work together in the real world. There are clearly many good works in both single and multiagent type of robots but apparently something missing in between them. Why is it difficult to make multiagent type of intelligent robots? we discuss this issue and show some future problems.
-
An intelligent Robotic System based on a fuzzy approach
Proceedings of the IEEE, 1999Co-Authors: T. Fukuda, N. KubotaAbstract:This paper deals with a fuzzy-based intelligent Robotic System that requires various capabilities normally associated with intelligence. It acquires skills and knowledge through interaction with a dynamic environment. Subsumption architectures, behavior-based artificial intelligence, and behavioral engineering for Robotic Systems have been discussed as new technologies for intelligent Robotic Systems. This paper proposes a Robotic System with "structured intelligence". We focus on a mobile Robotic System with a fuzzy controller and propose a sensory network that allows the robot to perceive its environment. An evolutionary approach improves the robot's performance. Furthermore, we discuss the effectiveness of the proposed method through computer simulations of collision avoidance and path-planning problems.
-
Intelligent Robotic Systems-from a single robot to multiple Robotic System
AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354), 1998Co-Authors: T. Fukuda, N. KubotaAbstract: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.
-
Cooperation of multiple robots in cellular Robotic System based on information sharing
Proceedings of IEEE ASME International Conference on Advanced Intelligent Mechatronics, 1997Co-Authors: Anhui Cai, T. Fukuda, F. AraiAbstract:Summary form only given. A Robotic System to cope with dynamic environments and multiple tasks is usually complex. Although the optimization of the whole Robotic System operation based on centralized control can be relatively easily realized, the fatal weaknesses with centralized-based control in complexity, flexibility, robustness, reliability, expandability, etc., are often exposed. So, we have proposed a distributed-approach based cellular Robotic System (CEBOT). Generally, the cooperation among multiple robots for task completion is mainly emphasized in CEBOT. Because the cooperation does not rely on centralized control mechanism but on autonomous actions of a robot unit, action decision and related efficiency of decisions of the robot unit for cooperation become the key of System operation. Problems of cooperation among multiple robots in CEBOT based on information sharing are described. Information sharing in three aspects (task descriptions, acquiring of robot states and acquiring of environment states) is discussed, and a hierarchical control architecture considering information sharing in three levels is proposed to enhance the efficiency of reasoning and planning for cooperative actions. Then, motion cooperation among multiple mobile robots in CEBOT is dealt with, based on information sharing about robot states and environment sensing. Finally, in order to confirm the effectiveness of motion cooperation among mobile robots based on information sharing, the experiments with a CEBOT prototype-CEBOT Mark-V are completed.
-
Distributed decision making of dynamically reconfigurable Robotic System
Proceedings of the 1997 IEEE RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 1997Co-Authors: T. Fukuda, T. KagaAbstract:Recently, the research of distributed autonomous Robotic System (DARS) has been attracting research interest. The main advantage of DARS is flexibility, comparing with central controlled System. Cellular Robotic System (CEBOT) is one of the distributed Robotic System which consists of heterogeneous robots and they can change their function by means of structure reconfiguration of Robotic units called "cell". In this paper, we consider distributed decision making where System is composed of large group and plural tasks and propose a method of decision making. We applied it to show adaptability of dynamically reconfigurable Robotic System.
A. Ogawa - One of the best experts on this subject based on the ideXlab platform.
-
Micro autonomous Robotic System and biologically inspired immune swarm strategy as a multi agent Robotic System
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995Co-Authors: Norifumi Mitsumoto, T. Fukuda, K. Shimojima, A. OgawaAbstract:This paper presents both the hardware and the software architectures for the multi agent Robotic System. For the hardware architecture of the multi agent Robotic System, the authors show the programmable MARS (micro autonomous Robotic System). This robot can work for one of the agents of the multi agent Robotic System. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent System, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune System. The authors adopt the self and non-self recognition network of the immune System in their algorithm.
-
ICRA - Micro autonomous Robotic System and biologically inspired immune swarm strategy as a multi agent Robotic System
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995Co-Authors: N. Mitsumoto, Toshio Fukuda, K. Shimojima, A. OgawaAbstract:This paper presents both the hardware and the software architectures for the multi agent Robotic System. For the hardware architecture of the multi agent Robotic System, the authors show the programmable MARS (micro autonomous Robotic System). This robot can work for one of the agents of the multi agent Robotic System. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent System, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune System. The authors adopt the self and non-self recognition network of the immune System in their algorithm.
Byung-ju Yi - One of the best experts on this subject based on the ideXlab platform.
-
Robotic System for Searching Cracks beneath Bridge
2020Co-Authors: Je-keun Oh, Giho Jang, Youngjin Choi, Byung-ju Yi, Hai Won YangAbstract:�{ Abstract This paper proposes a Robotic System for searching cracks beneath bridges. This Robotic System for bridge inspection has been developed with aims of checking the safety status of a real bridge and gathering accurate data such as crack widths and lengths. The developed robot System is composed of the moving mechanism mounted on a specially designed car and the vision System for precise inspection. Especially, this paper emphasizes the System integration method to design and control the entire robot System. �{
-
System Design and Experiment of a Laryngeal Surgical Robotic System
2018 15th International Conference on Ubiquitous Robots (UR), 2018Co-Authors: Hyun-soo Yoon, Byung-ju YiAbstract:A laryngeal surgical Robotic System equipped with high quality 3-dimensional images and robot arms is developed to help the surgeon treat general diseases located at head and neck area. This paper is to describe a System configuration and demonstrate effectiveness of the laryngeal surgical Robotic System. A mechanical construction of this System is based on a novel stackable parallel mechanism architecture. The EtherCAT communication protocol is used for real-time control. In order to confirm the effectiveness of the laryngeal surgical Robotic System, experiments using phantom and cadaver were performed.
-
Image-Guided Dual Master–Slave Robotic System for Maxillary Sinus Surgery
IEEE Transactions on Robotics, 2018Co-Authors: Hyun-soo Yoon, Jin Hyeok Jeong, Byung-ju YiAbstract:The pathway to the maxillary sinus is anatomically curved and narrow. Thus, the conventional approach using a straight endoscope and surgical tools is difficult to diagnose and treat some blind regions of the maxillary sinus through the nostrils. Such cases are usually dealt with by an approach with an external incision that causes large invasive surgery. In order to approach the blind regions without any external incision, a new bendable device and an image-guided Robotic approach for the maxillary sinus surgery are required. This work reports design, development, and validation of an image-guided dual master-slave Robotic System for the maxillary sinus surgery. Initially, specifications of the Robotic System for sinus surgery are decided by analysis of the anatomical structure of the sinus. A method for determining the design parameters of continuum type salve robot is also presented. Based on the specifications and the design parameter determining method, a compact design of bendable dual slave Robotic System for inspection and biopsy operation of the maxillary sinus area is devised and workspace analysis for verifying the robot design is conducted. The performance of the dual master-slave System equipped with flexible devices is validated through several phantom tests. The results suggest that bendable end-effectors and navigation software are useful to navigate and treat blind regions inside general sinus areas as well as the maxillary sinus.
-
Design of endoscope holder mechanism and controller for a laryngeal surgical Robotic System
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017Co-Authors: Sang-hwa Kim, Jong-tae Seo, Jaehong Woo, Byung-ju YiAbstract:The objective of this paper is to describe the endoscope holder mechanism design and the controller configuration for the laryngeal surgical Robotic System. This System consists of a master device, a slave device, and a control PC. The endoscope holder mechanism was designed based on a stackable mechanism. The EtherCAT communication was used for overall real-time control of the laryngeal surgical Robotic System. The surgeon can remotely locate the slave device using this System.
Shigeru Kokaji - One of the best experts on this subject based on the ideXlab platform.
-
automatic locomotion design and experiments for a modular Robotic System
IEEE-ASME Transactions on Mechatronics, 2005Co-Authors: Akiya Kamimura, Kohji Tomita, Satoshi Murata, Eiichi Yoshida, H Kurokawa, Shigeru KokajiAbstract:This paper presents a design method and experiments for whole-body locomotion by a modular robot. There are two types of locomotion for modular robots: a repeating self-reconfiguration and whole-body motion such as walking or crawling. For whole-body locomotion, designing a control method is more difficult than for ordinary robots because a modular Robotic System can form various configurations, each of which has many degrees of freedom. This study proposes a unified framework for automatically designing an efficient locomotion controller suitable for any module configuration. The method utilizes neural oscillators (central pattern generators, CPGs), each of which works as a distributed joint controller of each module, and a genetic algorithm to optimize the CPG network. We verified the method by software simulations and hardware experiments, in which our modular Robotic System, named M-TRAN II, performed stable and effective locomotion in various configurations.
-
M-TRAN: Self-reconfigurable modular Robotic System
IEEE ASME Transactions on Mechatronics, 2002Co-Authors: Satoshi Murata, Akiya Kamimura, Kohji Tomita, Eiichi Yoshida, Haruhisa Kurokawa, Shigeru KokajiAbstract:We present a concept of novel self-reconfigurable Robotic System made of homogeneous autonomous Robotic modules. Each Robotic module has only two DOF, however a group of this module is able to change its connective configuration by changing their local connections. A cluster of the modules, thus can metamorphose into arbitrary configuration according to the surrounding environment or desired specification. Not only this ability of structural metamorphosis, the combined modules have functionality of Robotic System which is capable of generating complicated motion. © 2001 Elsevier Science Ltd. All rights reserved.
-
Concept of self-reconfigurable modular Robotic System
Artificial Intelligence in Engineering, 2001Co-Authors: Satoshi Murata, Kohji Tomita, Eiichi Yoshida, Haruhisa Kurokawa, Shigeru KokajiAbstract:Abstract We present a concept of novel self-reconfigurable Robotic System made of homogeneous autonomous Robotic modules. Each Robotic module has only two DOF, however a group of this module is able to change its connective configuration by changing their local connections. A cluster of the modules, thus can metamorphose into arbitrary configuration according to the surrounding environment or desired specification. Not only this ability of structural metamorphosis, the combined modules have functionality of Robotic System which is capable of generating complicated motion.
-
Hardware design of modular Robotic System
Proceedings. 2000 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2000Co-Authors: Satoshi Murata, Akiya Kamimura, Kohji Tomita, Eiichi Yoshida, Haruhisa Kurokawa, Shigeru KokajiAbstract:In this paper we describe the hardware design of a novel self-reconfigurable Robotic System. We have classified previous studies on self-reconfigurable Robotic Systems into "lattice type" composed of spatially symmetric modules and "string type" like snake robots. The proposed System has both the advantages of simple operation of self-reconfiguration of the former and motion generation ability of the latter. Its simple structure and reliable operation allows us to construct large 3D self-reconfigurable structure which functions as a Robotic System such as a legged walking machine. We have examined its basic mechanical functions and verified its reliable operation of self-reconfiguration.
Norifumi Mitsumoto - One of the best experts on this subject based on the ideXlab platform.
-
Micro autonomous Robotic System and biologically inspired immune swarm strategy as a multi agent Robotic System
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995Co-Authors: Norifumi Mitsumoto, T. Fukuda, K. Shimojima, A. OgawaAbstract:This paper presents both the hardware and the software architectures for the multi agent Robotic System. For the hardware architecture of the multi agent Robotic System, the authors show the programmable MARS (micro autonomous Robotic System). This robot can work for one of the agents of the multi agent Robotic System. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent System, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune System. The authors adopt the self and non-self recognition network of the immune System in their algorithm.
-
Self-organizing micro Robotic System. (Biologically inspired immune network architecture and micro autonomous Robotic System)
Micro Machine and Human Science, 1995. MHS '95., Proceedings of the Sixth International Symposium on, 1995Co-Authors: Norifumi Mitsumoto, Toshihiro Idogaki, Toshio Fukuda, T. Hattori, Fumihito AraiAbstract:This paper proposes a control architecture of population balance for multiple Robotic System which draws its inspiration from biological immune network architecture. Our architecture organizes suitable population balance against dynamic environment independently of any centralized control, whilst each robot decides its action without a global world model. This group strategy, suitable population balance, is organized as a side-effect of the interactions of the individual robots in the world
