A novel on-chip environment measurement with functional gel-microtool was developed. Environment measurement gel-microtool was fabricated by connecting the gel-microbeads impregnated with indicators in a microchip. In this paper, Bromothymol blue (BTB) and Bromocresol green (BCG) were employed as pH indicators. BTB and BCG have the different indicator range. Rhodamine B is temperature sensitive fluorescent dye and is used for temperature measurement. Gel-microbead is made by salting-out of hydrophilic photo-crosslinkable resin and is manipulated by optical tweezers. Moreover, gel-microbead is polymerized by UV illumination and connected to other gel-microbead under an electrolyte solution. The connection of gel-microbeads is performed by contact of gel-microbeads under UV illumination. Environment measurement gel-microtool with an arbitrary shape is fabricated by connection of the gel-microtool impregnated with arbitrary indicator. Multiple environments measurement gel-microtool included with several indicators is realized by assembly of the gel-microbeads impregnated with different indicators. Environment measurement is performed by detecting the color and the fluorescence intensity of each gel-microbead. We succeeded in the on-chip fabrication of the environment measurement gel-microtools such as circular pH measurement gel-microtool and wide range pH measurement gel-microtool in a microchip.

The intravascular neurosurgery is one of the most successful minimally invasive surgery. However, the difficulty to operate a catheter inside the cranial blood vessels because of the complexity and narrowness of blood vessels checks increasing the number of well-skilled doctors. Moreover the X-ray camera, which is used during an operation, causes the X-ray exposure to a doctor. One of the solution to these problems is telesurgery system. A novel telesurgery system for intravascular neurosurgery is described in this paper. This system has three main components; 1) A micro force sensor which can be installed in the catheter tip, and it measures a contact force between the catheter tip and a blood vessel wall. 2) A catheter teleoperation system which enables a surgeon to perform a medical operation to a patient from a distant place. 3) A force display strategy to improve operability and safety during an operation. An in-vitro teleoperation experiment in the intravascular operating room is also performed and the effectiveness of the telesurgery system is confirmed.

In recent years, reinforcement learning has been used as one of methods for making decisions for autonomous robots. However, the algorithm for learning concludes a parameter, and has a fault that adaptation speed for unknown environment changes, according to the value of the parameter. Because of the fault, the robot with reinforcement learning is often delayed in adapting to environmental change. In this paper, we propose a method to reduce the adaptation delay. Our idea is to make it possible for the robot to know if environmental change has happened. We found that if the robot uses reinforcement learning with two different parameters, the correlation between the reinforcement values lowers due to environmental change. Thus, we use the correlation as an index showing environmental change. The effect is proved through computer simulation

ER joint realizes high-speed response and force restricted mechanism at the same time. We apply these properties to autonomic safety mechanism to protect from a collision accident. Then we prove stability of this system in case of the normal operations by Liapunov's direct method, and apply the system to micro-injector actually for showing the effectiveness of the mechanism.

DNA分子を搬送するのに,DNAの構造相転移を活用し,グロビュール状態でのDNA分子を誘電泳動力を用いて搬送する手法を紹介した.コイル状態のDNA分子よりもグロビュール状態のDNA分子の方が安定に搬送することができ,搬送には適しているといえる.また,本手法は電場のスイッチングにより,DNA分子の泳動方向を鋭敏に切り換えられる特徴があり,高速搬送が可能である.今後DNA分子の泳動速度と電場および環境条件との関係を定量的に評価する必要がある.また,将来的に巨大DNA分子をコンパクト化し,DNA分子を大きさ別に搬送し分離する必要がある.

The Crucial Information for Improving Manipulator Operation - No.1: In Case of Crane Operation M. Ikeda, M. Yoneda, F. Arai, T. Fukuda Pages 581-586 (1996 Proceedings of the 13th ISARC, Tokyo, Japan, ISSN 2413-5844) Abstract: Skilled rough terrain crane operators say that they take many sensory information for getting more precise movements of a machine. The first experiment in this paper reveals which sense is the most important factor for crane operation. By using a 25ton crane simulator, (visual, acoustical and tactile) information of an actuator speed was given to operators so as to assist their operation of stopping the load oscillation. The best result, both the task performance and the sensory evaluation of the operating feeling, is got by using the visual information feedback method. Then a new multi- display system is proposed that enables a crane operator to lessen the load oscillating amplitude very easily by adjusting the actuator operation lever position to the oscillating load position. (Patent pending) The second experiment demonstrates the effectiveness of this new multi-display system. Keywords: No keywords DOI: https://doi.org/10.22260/ISARC1996/0069 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley

In this paper, we propose a new approach to noncontact manipulation of DNA molecules by dielectrophoretic force using the idea of a Micro DNA Flow System. Such systems can be constructed by using microfabrication technology. First, we designed a simple microelectrode-flow system and carried out experiments. Experimental demonstration of DNA transportation using dielectrophoretic force and direct observation of the DNA molecule in a nonuniform electric field was carried out using fluorescence microscopy. Motion of the DNA molecule is modeled in terms of the electric field generated by the electrode design. We compared the motion of the DNA molecule which is theoretically predicted with the experimental results. We demonstrated a simple electrode design and the possibility of transportation of DNA molecules based on the Micro DNA Flow System.

In this paper, we propose a new methodology on noncontact transportation of DNA molecules by dielectrophoretic force together with the Micro DNA Flow System. We utilize the conformational transition in the higher oder structure of DNA for transportation. Such systems can be constructed by using Microfabrication technology. At first, we designed a simple micro electrode-flow system and carried out experiments. Experimental demonstration of DNA transportation in the globule state using dielectrophoretic force and direct observation of the DNA molecule in a non-uniform electric field were carried out with fluorescence microscopy. Motion of the DNA molecule is modelled in terms of the spatial gradient in the electric field depending on the electrode design. We discuss the experimental result on the motion of the DNA molecule compared with theoretical prediction. We show that transportation of DNA with the state of compacted globule is profitable in the future practical application for the separation of giant DNAs such as human gene.

Methodology of R & D of micro-nano-robots (MNR) based on modelling of dissipative equations of MNR-motion is described. Control of micro systems in which the dominating distrurbances are thermal and quantum noises is considered. Quantum interaction can be considered only between the object and the system of observation. Control through a physical fields, micromanipulators, and so on can have a continuos classical significance. By quantum interaction the errors of microcontrol can be still low of natural thermal fiuctuational levels. The problem of the physical limit accuracy of micro control on the basis of concrete, but rather general, examples is discussed.

Micro manipulation is required for assembly and maintenance of micro machines and their parts. If the objects to be handled are miniaturized, interactive forces between micro particles and grip surface become dominant. We proposed a handling strategy of micro objects based on physical phenomena in the micro world. In this paper, we propose the adhesion-type micro endeffector. This endeffector is designed to pick up a micro object by adsorption force. In order to pick up the micro object, the endeffector temperature is increased to exceed room temperature before touching the object. After contact with the object, its temperature is decreased and positive pressure is generated inside the micro hole. To release this pressure, the endeffector temperature is increased again. This system realizes quick response due to its scale advantage as long at it is miniaturized in micro order. We made a prototype endeffector by Si surface micromachining. We analyzed the performance of this endeffector and conducted experiments. Finally, the effectiveness of the proposed method is shown.

Micromanipulation is required for assembly and maintenance of micromachines and their parts. If the handled objects are miniaturized, interactive forces between microparticles and gripper surface become dominant. Attractive forces such as van der Waals forces, forces caused by liquid bridges and electrostatic forces in the air cannot be neglected. It is necessary to consider the physics of these forces in the micro world in controlling and manipulating micro-objects. We propose a handling strategy for micro-objects based on the physics in the micro world. Attractive forces are modeled and their reduction methods are presented. We show experimental results of reducing these forces. Based on the proposed reduction methods, we present a new micromanipulation strategy.

In this paper, we propose a new approach to noncontact transportation of DNA molecules by dielectrophoretic force and the idea of the Micro DNA Flow System. Such systems can be made by using Microfabrication technology. At first, we designed a simple micro electrode-flow system and carried out experiments. Experimental demonstration of DNA transportation using dielectrophoretic force and direct observation of the DNA molecule in a non-uniform electric field was carried out with fluorescence microscopy. We showed a simple electrode design and the possibility of noncontact transportation of DNA molecules based on Micro DNA Flow System. We consider the possibility of the Micro DNA Flow System as one of the biomanipulation and automation systems for DNA sequencing in future.

The age of space development is approaching, and development of space robots is becoming increasingly important. We have developed a small mobile robot on an H-type space truss structure to perform maintenance tasks on the space structure. This robot has two hands which can hold the truss, and moves on the truss by the inch worm mechanism. The remarkable feature of this robot is the compact extension mechanism. It is connected with pantographs in series. This mechanism enables the realization of a high rate of expansion with light weight. In this paper, we present the mechanism and control method of this robot and results of mobility experiments obtained under the gravity compensation system.