For the increase of the recent heart trouble, the robot which can always check a blood vessel is needed. In this study, we proposed to use muscular cell bio actuator getting energy from glucose in the blood for the driving force of the check robot in the blood vessel. For this purpose this time we inspected principle of the robot with insect dorsal vessel which is robust and manageable. We designed and fabricated robot driven by resistance with tube wall of slant hair. It moved with the speed of 137□m/min in a polyethylene tube. Then, it may be controled with electric pulse stimulation and hormone. In this result shows ability of a novel robot which inspects a blood vessel.

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In recent years, biological cell was utilized for an actuator because of its high energy efficiency. However cells are already established and was a limit in drive and shapes. In this paper, we focused on a molecule motor which causes for the movement of the cell motility. We proposed that integration of a biological molecule motor out of the living body was necessary for the manufacture of a rebuilt living body part. So we fabricated a microchannel for the integration of microtubles. The motility of the self-organized microtubles in the microchannel was confirmed. The movement was along the edge if the microchannel. This result suggested that microchannel could integrate a biological molecule motor in arbitrary size, shape for the assembly to rebuild a living body part.

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Cell differentiation is induced by mechanical and chemical factor onto cell membrane. The stimulation onto the cell membrane is transmitted ion and protein through the membrane to organelle of the cell. The membrane traffic is strategic point for understanding of cell activities. We proposed nano stimulation onto the cell membrane particle using electron beam induced polymerization of electrical conductive polymer PEDOT. The 10 keV electron beam was irradiated into cell culturing chamber containing with EDOT through 15 nm thick SiO_2 nanomembrane. The polymerization of PEDOT was succeeded in the cell culturing medium using transmembrane electron bombardment.

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Biological motility consisting of cell migration can be embedded in nano and micro mechanical systems. We have focused on the actin polymerization to employ its generative force as the driving force of a nano mechanical system. This self-organized driving force powered by the cells should be utilizable in a functionally designed nano or micro mechanical assembly. This paper describes locomotion of micro-parts driven by cell migration. Hopping movements of cells modulated the 2-D cell migration to a 3-D tilting movement of the micro-parts-on-cells. We also tried to create cell polarity induced by the micro-parts polarity.

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This is the second report of the tools we are developing to help new users of OpenRTM. There is an on-going government project which uses the OpenRTM Platform as a base framework for producing smart robotic software modules. Here, we present two tools that we hope would ease development of robotic systems that use the smart software modules developed for this project.

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We address the real-time robot control using Linux. The RT-Preempt Patch [1][2] renders Linux with a fully preemptible kernel. We call the system Realtime Linux. The advantages of Realtime Linux is that we can use most of the Linux libraries and create a real-time program API based on POSIX. The aim of this paper is confirming multithread real-time robot control using a multicore processor, considering processor affinity, i.e. each task is allocated to kin processor in preference to others at allocation time. More specifically, we consider an eye-in-hand robot system comprising a PA-10 robot arm and a USB camera under real-time control with a multicore processor by efficiently assigning the processor affinity. Results are demonstrated with data from a face tracking experiment.

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Modular component-based robot systems require not only an infrastructure for component management, but also scalability as well as real-time properties. Robot Technology (RT)-Middleware is a software platform for such component-based robot systems. Each component in the RT-Middleware, so-called "RT-Component" supporting particular robot functions, is based on Common Object Request Broker Architecture. Unfortunately, RT-Middleware cannot manage real-time information such as periods to guarantee real-time properties. This paper presents the real-time extension of RT-Middleware, which improves real-time performance than conventional RT-Middleware. Our real-time extended RT-Middleware manages the extended RT-Components, which can manage one or multiple tasks with same or different periods. Moreover, we add real-time information to General Inter-ORB Protocol packets for scheduling packets by priority. Experimental evaluations show that our real-time extended RT-Middleware improves schedulability than conventional RT-Middleware.

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In this paper, we discussed design guidelines of components for mobile robot using RT-Middleware. Recently, the mobile robot has been actively researched. However, when we develop the mobile robot systems, it is necessary to implement various algorithms such as localization and path planning. Therefore, it is essential to recycle algorithms for developing efficiently. If it can be achieved, the research and development of the mobile robot can be promoted. We considered the guideline for components of mobile robot through the development of guide mobile robot.

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In this paper, image processing RT-Components(RTCs) suite which is based on newly released OpenCV 2.0 beta is implemented on OpenRTM-aist-1.0-RELEASE. For encapsulation and modularity of image processing RTCs, a new data type for image data is introduced. Several types of image processing needs some information feedback such as clicked position, color and region by mouse events. In order to modularise image processing and image showing, the mouse event data-port is introduced and some RTCs are implemented by using is. RTC design guidelines are shown and discussed.

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In this paper, we describe the development of RT-Components for Personal Health Devices using the RT-Middleware implementation, OpenRTM-aist. In order to improve the quality of life in our homes coupled with high life demands and a quickly aging society, personal health devices will play an important role in ensuring that people continuously monitor their health and also take control of their own health by incorporating fitness activities in their daily life. OpenRTM-aist has been used as the implementation architecture.

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Component-based software is a major recent design trend in robotics. It brings many benefits to system design, implementation and maintenance. The management of such systems often depends on graphical tools. These tools are powerful and provide a rapid way to layout component networks. However, they also typically require considerable resources to run. This is not ideal in robotics, where low-resource environments are common. We have created a set of command-line tools for use with the OpenRTM-aist component-based robot middleware. The tools follow the UNIX philosophy of simplicity and aggregation. These tools allow whole component-based systems to be created, managed and monitored from a command-line. They are ideal for use in environments where a graphical interface is not available. By combining tools together using shell scripts, more complex functionality can be easily created.

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In this study, cardiomyocyte gels, which were consisted on cardiomyocytes and extracellular matrixes, were proposed as mechanical parts for a Wet Micro Robot. The drug stimulation and the control of the gel shape were evaluated to control the gel behavior. To control gel behavior, adrenaline, which excites cells, and nifedipine, which inhibits cell contractions, were added to the culture medium containing the gel. In the result, the contraction frequency was increased from 0.1Hz to 3.8Hz by the administration of adrenaline. In contrast, the contraction of the gel was stopped by the administration of nifedipine. Finally, the shape of cardiomyocyte gel was controlled by the PDMS mold shape. It was succeeded to fabricate the cardiomyocyte which had intersections and different cross section area from point to point.

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In this study, we proposed a reconstructed bio machine which was controlled by neural signals to understand biological systems. A PDMS micro hand was assembled with a living skeletal muscle gel. Rat skeletal cells were mixed with collagen gel to construct three-dimensional artificial tissues for the actuator of the bio machine. The skeletal muscle gel had similar properties with natural skeletal muscle tissues. The contraction displacement was determined by frequency of electrical stimulation. This micro hand was successful controlled by estimated neural signals from surface electromyogram (EMG). We could control the displacement of the PDMS micro hand by using EMG signal.

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This paper discusses a magnetically driven micro-remover for peeling of zona pellucida of swine oocyte in a microfluidic chip. Specific design and fabrication process of the micro-remover by utilizing a photolithography are shown. The developed experimental system is composed of a PC for system control, two linear stages for actuating a magnet, and a microscope with CCD camera for capturing observed image. We also show basic characteristics of the micro-remover by using the developed experimental system. Finally, based on a trajectory control of the magnet, the micro-remover is applied to manipulate an oocyte and achieved the peeling of zona pellucida of swine oocyte.

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This paper presents two innovative driving methodologies using magnetically driven microtools for precise cell manipulations and its automation systems. The magnetic analysis has been conducted to show the current MMT problem. Then, the new driving methodologies are introduced and backed up with FEM analysis and the experimental results. The positioning accuracy improves 3-10 times and the following response become 10 times higher. Using this methodology, the enucleation of oocytes is demonstrated for automation systems of on-chip nuclear transfer.

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This paper presents a novel method of cell coupling on a chip by using magnetically driven microtool (MMT). This MMT was made of Nickel and it is also has a function as electrode. The novelty of the chip is the electrode itself can be moved by external magnetic field using a spring structure. We proposed a new cell coupling chip which provides larger coupling force of cells by using a physical force by MMT in addition to the dielectrophoretic force. FEM analysis and an experiment confirmed its operation on a chip by external magnetic force. This chip contributes to the high throughput cell manipulation as well as electrical measurement.

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Micro tasks dealing with live cells and tissues in bio science and technology require dexterous and skillful manipulation under microscope, and are mostly executed manually. Microfluidic cell manipulation techniques are being developed to achieve their automation to improve the manipulation productivity. We are developing a cell supply system, where devising efficient valve is the key issue. We propose a solenoid valve system to improve its breaking capability. The new valve has higher responsibility than our previous air actuated valve. We have integrated an automatic cell supply system with this valve and the experiments confirm successful cell supply.

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In this paper, the novel evaluation of local stiffness distribution for biological organism is presented using comb-nanoprobes. The local stiffness values are important to reveal and evaluate the cell condition depending on health, diagnosis, growth phase, and so on. We have been developed the nanorobotic manipulation system inside an Environmental-Scanning Electron Microscope (E-SEM). The deformation of the biological organism can be observed by E-SEM with real-time imaging. In this paper, the local stiffness distribution of Caenorhabditis elegans (C. elegans) is evaluated using comb-nanoprobes. We fabricated the comb-type silicon nanoprobes to measure the local stiffness distribution in each C. elegans. We also test the viability of C. elegans inside E-SEM from the motion of C. elegans before and after setting inside the E-SEM.

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We have developed a home management system based on RT-Middleware in "Project for Open Innovation Promotion by Utilizing Basic Robotic Technology" by NEDO. This system consists of embedded communication modules implementing RT-Middleware. In this paper, we introduce an architecture and functions of a home management system.

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Augmented Reality (AR) is technology to augment virtual computer generated image into image of real world environment. Recently some libraries for AR technology are available, and ARToolKit is the one of famous toolkit for AR. In this paper, ARToolKit RT-Component is developed for various AR systems. Reusability and modularity is discussed and, a component design and implementation is shown.

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To solve the software complexity and maintainability problems, component-based software development is widely adopted in various fields. A component framework for μITRON OS named TECS is a kind of static component system. On the other hand, RT-Component framework that has been developed is a kind of dynamic component system. Static component frameworks are suitable for low level software layer that requires real-time capability, safety and reliable quality. In this paper, we propose three architecture to integrate TECS components and RT-Components, and their advantages and disadvantages are discussed.

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We propose a concept of Open Sensor Networks that are constructed from Open Source Hardware, Open Source Software, Web Service, and Cloud Computing. In this paper, Open Source Hardware is hardware that is easily available at individual level. Therefore, developers without knowledge of the hardware can join and contribute to the sensor network developer groups. Furthermore, Open Sensor Networks provide the sensor information to developers as a web service. This paper introduces about the prototype RT sensor box and web system that we developed.

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We developed microhand system to manipulate micro objects or cells using RTC-light. Microhand system is composed with hinge mechanism, piezo-electric actuator, strain gage and measurement system, and man-machine interface device. The microhand system was composed as real time system using RTC-light module which is made with dsPic micro-computer.

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In this paper, we propose a 3D extension method to planar map information in 2D SLAM from visual information using RT middleware. Extension for 2D SLAM software is realized by cubic shaped object detection with stereo vision to detect 3D obstacle. 3D objects are described as primitive cube to apply another task such as manipulation. Experimental results shows 3D extension can detect obstacles that is impossible to detect by a 2D range sensor.

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This paper describes development of omnidirectional mobile robot system using RT-Middleware. This robot system consists of face detection, camera control, voice synthesis, omnidirectional move and localization. These are implemented as RT-component. Whole system is built by connecting these RT-components. Finally we show a case of development and operation of this system through a robot programming seminar for 3rd-grade undergraduate students at the department of mechano-informatics, the university of Tokyo.

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This paper discusses a real time measurement of the rigidity of the cell in the microchannel. We focus on the passing time of the cell in the microchannel as an index of the rigidity of the cell. Such a real time measurement requires a simple algorithm so that a high speed vision can quickly compute the position of the center of cells. The experimental system is composed of a PDMS microchannel, a phase-contrast microscope, a high speed labeling camera, and PC. From experimental results, we show that a high speed labeling camera can successfully trace the position of a cell in the microchannel.

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We present a computer simulation method which reproduces gliding movements of Mycoplasma mobile cells on micropatterned surfaces. To this end, we analyzed gliding movements of Mycoplasma mobile cells. Based on the analyses, we performed computer simulations on gliding movements of Mycoplasma mobile cells on guiding tracks of microrotary motors.

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Recently, robotic studies based on biological materials have been attracting a lot of attention, because of its intrinsic abilities. Biological materials have some interesting capabilities in such a way that tissues as devices can be self-organized, adaptable, self-repaired, and so on. Such significant abilities are based on cellular behavior that reflects mechanical stimuli during the development of the tissues. Under this circumstance, in this paper, we intend to deal with development of a micro-actuator by exploiting mechanical stimulus response of muscle cells. To do so, we carry out the induction of differentiation into myofilaments from a cultured myoblasts C2C12 under the periodic stretching forces for 70 hours. As a result, interestingly, we found that induction of differentiation into myofilament-like calls are promoted under the mechanical stimulus.

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In this paper, we fabricate a thermal gel actuated probe which uses the volume change of the thermal gel as an actuator. The thermal gel actuated probe can be used for single cell analysis, especially single cell manipulation. The thermal gel actuated probe realizes spout and suction in several nano liters (nl) only to switch the heater turning on and off. It is difficult to realize solution spout and suction less than several dozen nl by the conventional probe type devices which use air or oil pressure. The volume change of the thermal gel was evaluated in this paper. The target single cell harvesting was demonstrated by this thermal gel actuated probe. It is considered that the thermal gel actuated probe can contribute to the single cell analysis from the aspect of single cell manipulation.

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Recently, toward the realization of micro/nano robots, the micro living organisms and the biomolecular motor have been used as the driving forces of the micro structures. To utilize these bio driving forces, firstly, it is needed to establish the methods to control the bio driving forces. In this paper, we try to control the delivery of the bacteria-driven micro structures by controlling the bacterial driving force with nano/micro pipette. We demonstrate the delivery control of the bacteria-driven 3 μm microbead by generating the local gradient of the attractant with 1 μm micropipette containing the attractant.

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In this report, localized mechanical stimulation method was proposed to investigate a single organelle functions. Intracellular nano-machine for a organelle and a cell function control were designed to stimulate a single organelle on mathematical model. The nano-machine would be fabricated by using stereo lithography of malti-photon absorption, and be injected it into cell using lipofection method. Then, nano-structures for fundamental research were fabricated, and liposome which enable to inject it into a cell were refined. The nano-structure was fabricated by using stereo lithography, and its scale was 500nm. The liposome was refined by droplet method using DOPC. At last, magnetic particles within liposome was driven under control by using magnetic force.

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Recently computer-aided diagnosis systems (CAD) have been used in a variety of medical fields. Even in the field of cardiovascular surgery, CAD system is effectively used in patient diagnosis. But for the patients suffering from aortic aneurysm, conventional CAD systems cannot provide adequate information cardiovascular surgeons, where it is difficult to estimate the statement of aortic aneurysm during operation even by using the latest CAD system and medical image. Because the posture of patient changes between in the scene of medical imaging room and in the operation theatre, the shape of aneurysm and/or aortic vessel issues deforms from 3-D image for diagnosis. And then we aim to make a new CAD system that can estimate the condition of aneurysm interactively deforms according to the posture of patient and the view point of surgeon. For the purpose of our study, this paper firstly introduces how to detect the volume data of aneurysm and/or aortic vessel issue from patient's computed tomography angiography (CTA) that is commonly used for diagnosing a patient with aortic aneurysm. Fuzzy based region growing method and various experimental results will be shown in this paper.

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Anatomical characteristics and monocular movements of chameleons are similar to higher primates because the eye of the chameleon has a central fovea, performs saccadic fixation movements, and obeys Listing's Law, but motor system and cognitive functions of the human differ completely from those of chameleons. Human vision has capability to adapt to visual stimulation with spatial inversion when the man wears glasses to give images upside down for long periods. As with the adaptation to vision with spatial inversion, giving a human oculomotor ability to control visual axes of both eyes arbitrarily as chameleons do will raise interesting question on adaption to provided two independent view fields. In this paper, we developed a portable device that provides two independent view fields to both eyes of human for long periods, using two CCD cameras independently controlled and a head-mounted display, which was named "Virtual Chameleon".

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Though we can measure internal shapes of various objects by using industrial X-ray CT in the industrial technology center of Wakayama prefecture, the image resolution of this system is not enough for internal shapes of small objects. Therefore we have developed mini-focus X-ray CT to measure small and non-metal objects with high accuracy. We have measured sample of small resin and verified the accuracy of this CT device.

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Recently, many AR applications are developed. They use AR to enhance visual information. In this study, as a application different from existing AR application, we newly develop three NUI (Natural User Interface) applications as the examples of Augmented Reality (AR). These applications recognize a hand and a marker using a web camera. In this way, user can operate CG. To realize the NUI, these applications use the AR library (ARToolkit) to detect the markers, and use the imaging library (OpenCV) to detect the hand. These applications also use Restricted EM algorithm to realize the NUI, even if the environment where camera can moves.

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Recently, the input devices, using the touch panel and the acceleration sensor, which achieve intuitive operation and offering enjoyment attract attention. On the other hand, joysticks are used as popular input device of mobile robots. They are superior in the point of efficient operation, but there is a limitation when thinking about other point of view like the enjoyment etc. In this research, we newly developed a pedal type input device to achieve intuitive operation and offer enjoyment for controlling mobile robots.

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We have realized bilateral communication control system applying two sets of active polyhedron, which achieve physical telecommunication. The control device for this system has been developed using PSoC microcontroller. The cylinder control method has been developed using "combined valve drive" for realizing low air consumption. The effectiveness of this method is confirmed by conducting position control experiments. Synchronizing control experiments of two sets of active polyhedron was carried out and it is confirmed that synchronization of motion is achieved between two sets of active polyhedron. As a result, the effectiveness of this device as the physical telecommunication is shown.

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In this paper, we develop and evaluate a controller system for UVMSs (Underwater Vehicle-Manipulator System). The joysthicks are mounted on arm control devices. As a result, operator can control arm and main body movement simultaneousty. However, coodinates of the joysthick are chenged. Duaring the operation so that the operability may be getting worse. We evaluate the operability experimentaly when the joysthick confirming that a difficalt-to-operate wrist posture exist. Finally, we demonstrete the simultaneous control using the controller.

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Teleoperated manipulator system is used as substitutes of humans under the extreme environment like nuclear plant, deep sea, space and etc. Those tasks are usually operated by well-trained specialists. As a result, the manipulators and its input devices are only required to have the functions to achieve the tasks effectively. In this study, we considered input movements of the operator as an exercise and teleoperated system is a system which translates exercise into work. Teleoperated manipulators have possibility of being used in the fields of exercise and entertainment, if input movements have proper load and are easy to understand for ordinary people. For that purpose, in this paper, new input device for manipulator was proposed.

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This paper deals with a multi-agent path planning problem for tracking humans in order to obtain detail information such like human behavior and characteristics. To achieve this, path of agents is planned based on a clustering method, that is, agents follow paths which minimize Kullback-Leibler (KL) divergence between the intensity of humans existing and the intensity of field of view of agents calculated from predicted human positions and planned paths of agents. When prediction of human movement is accurate, the long-term prediction of human position would improve the performance. Since the prediction is not always accurate, the number of prediction steps is determined according to the difference between the current prediction and the previous prediction of the future human position. We conducted computer simulation and results showed that our path planning method works well even under changing circumstances.

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Some manipulation tasks have a direction of motion and directions for which kinematic accuracy is required in the motion. We have proposed the index (KAIT: Kinematic Accuracy Index for Task-directions) that allows us to evaluate the kinematic accuracy of manipulators considering the task-directions. This paper deals with motion planning of a 3-DOF planar manipulator for a given task, as example of the application of the KAIT. First, the KNIT is explained briefly. Second, the geometrical relationship of the KNIT to the manipulability ellipsoid is represented. Third, some motions of the manipulator are evaluated on the basis of the KAIT and Yoshikawa's manipulability measure. Finally, from the comparison of the evaluated results and experimental results which are obtained by using the manipulator, we discuss the usefulness of the KAIT in determining the suitable motion of the manipulator for the given task.

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The present paper proposes the throwing manipulation method which cannot only control the position and orientation of the rigid object at the final goal, but also make the object track the desired trajectory which minimizes the impact at landing to avoid damages to the object as much as possible. The throwing motion is dynamic and quick, and the contact state between the robotic arm and the object changes drastically in the throwing manipulation. These make it difficult to obtain the exact model and find appropriate control inputs to realize the throwing manipulation by experiments. Therefore, applying the iteration learning method to overcome these problems, we show experimentally that the proposed control method can gain the high positioning performance and the trajectory tracking performance.

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Transfer of container filled with liquid may generate sloshing, considered an undesirable effect in many systems. This research explores the use of input shaping technique to suppress sloshing on transfer of liquid container using multi-joint robot arm. By input shaping principle, acceleration command is shaped using two impulses in such a way to cancel each other's response. Position trajectory is then translated as joints' angles trajectory, which is then fed to Mitsubishi PA10-7C robot arm. Simple pendulum model with damping elements is applied to analyze sloshing phenomena. Experimental results show that the employed input shaping technique reduces sloshing during and after container transfer.

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A switching control based on fuzzy energy regions has been proposed for underactuated systems. Key points in the control method are the designing of fuzzy energy subregions to determine a partially stable controller and the designing of multiple partially stable controllers. Conventional researches have not verified the case of using redundant subregions and fuzzy partially stable controllers. In this paper, we discuss the designing of redundant number of subregions and fuzzy partially stable controllers. Designing parameters of subregions and controllers are explored by genetic algorithm (GA). The proposed approach is verified by some simulations applied to a two-link underactuated manipulator.

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In this paper, we show synchronized jumping control method of two hopping robots by using mutual entrainment of nonlinear oscillator. First, we analyze mutual entrainment of Van der Pol's equations. Next we describe phase control method between two equations, and jumping control method of a hopping robot by using forced entrainment. Finally, we show jumping control method by using mutual entrainment, and simulation result.

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The development of the recent robot industry has a remarkable. In the field of various industries, a robot working in place of human is expected. Therefore we have developed a small and five-fingered robot hand like a human hand. We built a hand/arm robot system with the developed robot hand and a robot arm in order to work various tasks. However, the hand/arm robot requires a lot of time to teach motion because the hand/arm robot has a lot of degrees of freedom. In this paper, We development teaching system for hand/arm robot by teleoperation. We show the effectiveness of the teaching system which we developed by an experiment.

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The objective of this paper is to understand how children obtain their spatial expression. As a experiment, we collected data by using the 3-D paint system in a kindergarten. The results are summarized as follows: 1) The children are able to use the system; 2) The system is useful to investigate children's developmental stage, and structure of spatial expression.

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Haptic interfaces require mechanical components to transmit forces to an operator. However, if illusion can display sense of force to an operator, it is possible to develop a novel haptic interface without any mechanical components. In this paper, in order to develop such a interface, a pseudo-haptics resulting from only visual effects is studied. Fisrt, a user interface using visual tracking with a camera was developed to acquire the position of user's hand. A virtual coupling was used to provide the illusion. An experiment was conducted with the developed interface to evaluate the pseudo-haptics resulting from visual effects caused by the proposed method. In the experiment, ten subjects pushed the spring in virtual reality space with and without the virtual coupling. The experimental results indicated that all subjects tended to feel stronger pseudo-haptic sensations with the virtual coupling.

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Dealing with control method of humanoid robots, including hobby robots. Generate the behavior of the robot in real time from the movement of the mouse and head Tracking AR. Without the knowledge and experience, we propose an intuitive interface to handle

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This paper describes technique to express shadows by a projector which harmonized with environment by using optical illusion which is called Craik-O'Brien-Cornsweet. This proposed method showed better results than the spotlight method which has been used to achieve shadow for a projector.

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