3 0 0 0 OA 細胞核の力学刺激応答計測を実現するバイオプラットフォーム
局所刺激計測を実現する可搬型マイクロハンドシステム,渦流を用いた非接触マニピュレーション,連続的力学刺激を与えるマイクロ流路,長時間追尾可能な観察システム,並びに蛍光画像と明視野画像を同時に取得できる顕微鏡を実現し,以下の新たな生物学的知見を見出した.細胞と細胞核への力学刺激応答計測により,細胞核は剛性が高く,複数の細胞内骨格の存在が示唆された.核刺激の強弱にともない遺伝子の発現パターンが変化することを見出した.線虫移動時の各部位の曲率を計測し,運動パターンの相違を定量的に明らかにした.連続的な力学刺激を正常細胞とがん細胞に与え,細胞変形能の相違を定量的に明らかにした.
- 著者
- 田窪 朋仁 吉岡 健伸 新井 健生 前 泰志 大原 賢一
- 出版者
- 一般社団法人日本機械学会
- 雑誌
- 日本機械学會論文集. C編 (ISSN:03875024)
- 巻号頁・発行日
- vol.75, no.759, pp.2996-3004, 2009-11-25
Leg-wheel hybrid locomotion on rough terrain for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot's support and swing legs change as a tripod gait to cross over the obstacle. We define the three dimensional model of the motion on a slope for stability estimation, and its analysis indicates that the maximum obstacle height depends on the robot's height and the slope gradient. Even if the slope is steep, the robot can climb over a higher step on it by moving the robot's center of gravity (COG) based on the analysis. The experimental results on ASTERISK H confirm the advantage of proposed motion by comparing to the fixed COG motion.
1 0 0 0 OA 高解像度NDTグリッドマップを用いた環境地図生成
- 著者
- 田窪 朋仁 上撫 琢也 前 泰志 新井 健生 大原 賢一
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- 日本機械学会論文集C編 (ISSN:18848354)
- 巻号頁・発行日
- vol.78, no.793, pp.3186-3201, 2012 (Released:2012-09-25)
- 参考文献数
- 12
A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven effectively for the pairing data. In addition, outlier elimination process is implemented to the scanning for sub-grid scale objects. The scanning data from Laser Range Finder(LRF) have error but its set of detected small objects can be clustered to determine the Center of Mass(CoM) and the outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other points. Experimental result shows the effectiveness of the proposed convergence algorithm and the outlier elimination method.
1 0 0 0 OA 多脚ロボットの回転歩容による移動適用範囲の拡大
- 著者
- 上川 健司 新井 健生 前 泰志 田窪 朋仁 井上 健司
- 出版者
- 一般社団法人 日本ロボット学会
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.28, no.2, pp.231-240, 2010 (Released:2012-01-25)
- 参考文献数
- 16
- 被引用文献数
- 1 3
This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm “rotational gait” that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.
- 著者
- 山本 雅人 井上 健司 前 泰志 新井 健生
- 出版者
- 一般社団法人日本機械学会
- 雑誌
- ロボティクス・メカトロニクス講演会講演概要集
- 巻号頁・発行日
- vol.2004, 2004-06-18