Presentations -
about 205-
Yuko Nishimura, Ohmi Fuchiwaki
2024.12
Event date： 2024.12
Language：English Presentation type：Oral presentation (general)
Venue：Yokohama National University Country：Japan
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ピストンポンプによる液滴体積制御機能を付与した液架橋力グリッパの開発
渡部直人，渕脇大海
2024年度精密工学会秋季大会学術講演会 2024.9 精密工学会
Event date： 2024.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：岡山大学
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峯岸凜太郎，春原優太，渕脇大海
日本ロボット学会学術講演会 2024.9 日本ロボット学会
Event date： 2024.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：大阪工業大学
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津久井陽平，石丸清梧，峯岸凜太郎，渕脇 大海
日本ロボット学会学術講演会 2024.9 日本ロボット学会
Event date： 2024.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：大阪工業大学
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振動抑制に向けた機体搭載型センサによる小型精密自走機構の６軸計測
津久井陽平，石丸清梧，渕脇大海
日本ロボット学会学術講演会 2024.9 日本ロボット学会
Event date： 2024.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：大阪工業大学
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春原優太，峯岸凛太郎，渕脇大海
日本ロボット学会学術講演会 2024.9 日本ロボット学会
Event date： 2024.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：大阪工業大学
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振動ピペット2本による流れを利用した異形微小物の液中マニピュレーション法の探索
西村祐子、渕脇大海
2024年度精密工学会 第31回「学生会員卒業研究発表講演会」 2024.3 精密工学会
Event date： 2024.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京大学 本郷キャンパス
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杉山結菜、渕脇大海
2024年度精密工学会 第31回「学生会員卒業研究発表講演会」 2024.3 精密工学会
Event date： 2024.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京大学 本郷キャンパス
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関根千裕、渕脇大海
2024年度精密工学会 第31回「学生会員卒業研究発表講演会」 2024.3 精密工学会
Event date： 2024.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京大学 本郷キャンパス
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A Piezoelectric Stick-slip Manipulator for a Holonomic Precision Mobile Robot
R. Kinoshita, E. Kusui, H. Kusama, Y. Tsukui, R. Minegishi, Y. Sugiyama, Y. Sunohara, C. Sekine, and O. Fuchiwaki
10th International Conference of ASPEN 2023.11 ASPEN (Asian Society for Precision Engineering and Nanotechnology)
Event date： 2023.11
Language：English Presentation type：Oral presentation (general)
Venue：Hong Kong Polytech. Univ., Hong Kong Country：Hong Kong
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XYθ displacement sensor by four encoders for wide and precise measuring of holonomic robot
O. Fuchiwaki, M. Shiota, E. Kusui, Y. Tsukui, C. Sekine, and R. Kinoshita
10th International Conference of ASPEN 2023.11 ASPEN (Asian Society for Precision Engineering and Nanotechnology)
Event date： 2023.11
Language：English Presentation type：Oral presentation (general)
Venue：Hong Kong Polytech. Univ., Hong Kong Country：Hong Kong
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P制御による昇降足式ホロノミック自走ロボットの３軸精密位置決め
楠井英二，関根千裕，渕脇大海
2023年度精密工学会秋季大会学術講演会 2023.9 精密工学会
Event date： 2023.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：福岡工業大学
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四つのエンコーダにより構成されるXYθ変位センサの校正
塩田雅人，関根千裕，楠井英二，渕脇大海
2023年度精密工学会秋季大会学術講演会 2023.9 精密工学会
Event date： 2023.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：福岡工業大学
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XYθ精密自走機構搭載用圧電スティックスリップ型マニピュレータの開発
木下稜介，飯田遥平，草間弾，津久井陽平，春原優太，渕脇大海
2023年度精密工学会春季大会学術講演会 2023.3 精密工学会
Event date： 2023.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学 葛飾キャンパス
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高周波振動により発生するスクイーズ膜を用いた浮揚機構の開発
春原優太、渕脇大海
2023年度精密工学会 第30回「学生会員卒業研究発表講演会」 2023.3 精密工学会
Event date： 2023.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学 葛飾キャンパス
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ダブルノズル型液架橋力グリッパの画像FBを用いた自動制御システム
渡部直人、渕脇大海
2023年度精密工学会 第30回「学生会員卒業研究発表講演会」 2023.3 精密工学会
Event date： 2023.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学 葛飾キャンパス
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無線自走ロボット用の超音波アクチュエータ開発と光学マウスセンサの評価
峯岸凜太郎、渕脇大海
2023年度精密工学会 第30回「学生会員卒業研究発表講演会」 2023.3 精密工学会
Event date： 2023.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学 葛飾キャンパス
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Development of a Stick-slip manipulator for XYθ precision self-propelled mechanism
Kinoshita Ryosuke, Iida Yohei, Kusama Hazumu, Tsukui Yohei, Sunohara Yuta, Fuchiwaki Ohmi
Proceedings of JSPE Semestrial Meeting 2023.3 The Japan Society for Precision Engineering
Event date： 2023.3
Language：Japanese Presentation type：Oral presentation (general)
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星加 那音，藤井 元春，海江田 蒼，鳥居 丈瑠，渕脇 大海，樋口 丈浩
日本航空宇宙学会第 66 回宇宙科学技術連合講演会講演集 2022.11 日本航空宇宙学会
Event date： 2022.11
Language：Japanese Presentation type：Oral presentation (general)
Venue：熊本県、熊本市、熊本城ホール
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Capillary force gripper with a polygonal nozzle for pick & place and rotation of 1mm objects
E. Fukuchi, R. Sako, N. Watanabe, E. Kusui and O. Fuchiwaki
9th International Conference of ASPEN 2022.11 ASPEN (Asian Society for Precision Engineering and Nanotechnology)
Event date： 2022.11
Language：English Presentation type：Oral presentation (general)
Venue：Nangyang Tech. Univ., Singapore Country：Singapore
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E. Kusui, M. Shiota, R. Minegishi, E. Fukuchi, Y. Tsukui, Y. Sunohara, and O. Fuchiwaki
9th International Conference of ASPEN 2022.11 ASPEN (Asian Society for Precision Engineering and Nanotechnology)
Event date： 2022.11
Language：English Presentation type：Oral presentation (general)
Venue：Nangyang Tech. Univ., Singapore Country：Singapore
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液体金属のイオンゲルコーティングを用いた配線絶縁層の自己形成に関する研究
村上航輝，浅田珠里，宇佐美夏香，伊佐野雄司，神頭萌果, 松田涼佑，上野和英，太田裕貴，渕脇大海
日本機械学会第13回マイクロ・ナノ工学シンポジウム 2022.11 日本機械学会、マイクロ・ナノ工学部門
Event date： 2022.11
Language：Japanese Presentation type：Oral presentation (general)
Venue：アスティとくしま（徳島県徳島市）
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液体金属を用いたSMAワイヤ型アクチュエータの冷却およびシグモイド関数を用いた相変態モデルの近似
小川貴博，渕脇大海，藤田修二，井上幸人，武井智哉
日本機械学会第13回マイクロ・ナノ工学シンポジウム 2022.11 日本機械学会、マイクロ・ナノ工学部門
Event date： 2022.11
Language：Japanese Presentation type：Oral presentation (general)
Venue：アスティとくしま（徳島県徳島市）
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VSCMG 搭載小型衛星実験機における 準最短時間姿勢変更実験
海江田 蒼，藤井 元春，星加 那音，鳥居 壮瑠，渕脇 大海，樋口 丈浩
日本航空宇宙学会第 66 回宇宙科学技術連合講演会講演集 2022.11 日本航空宇宙学会
Event date： 2022.11
Language：Japanese Presentation type：Oral presentation (general)
Venue：熊本県、熊本市、熊本城ホール
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Double-Nozzle Capillary Force Gripper for Cubical, Triangular Prismatic, and Helical 1-mm-Sized-Objects
Kenta Tanaka, Takatoshi Ito, Yuki Nishiyama, Eri Fukuchi, and Ohmi Fuchiwaki
2022 IEEE International Conference on Robotics and Automation (ICRA) IEEE
Event date： 2022.5
Language：English Presentation type：Oral presentation (general)
Venue：Philadelphia, PA, USA
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Development of a Non-redundant Vibration Suppressed Inchworm Holonomic Mobile Robot
Yohei Tsukui, Ohmi Fuchiwaki
2022.3
Event date： 2022.3
Language：Japanese Presentation type：Oral presentation (general)
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超小型ピラミッド型VS-CMG姿勢制御装置の試験機開発(JSASS-2021-4123))
星加那音,及川航平,藤井元春,海江田蒼,渕脇大海,樋口丈浩
日本航空宇宙学会第 65 回宇宙科学技術連合講演会講演集,オンライン開催 2021.11 日本航空宇宙学会
Event date： 2021.11
Language：English Presentation type：Oral presentation (general)
Venue：オンライン開催
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振動ピペットによる局所流動発生デバイスの開発とガラス球の挙動の調査(MN1-10P2-3)
大石拓巳, 渕脇大海
日本機械学会第12回マイクロ・ナノ工学シンポジウム 2021.10 日本機械学会、マイクロ・ナノ工学部門
Event date： 2021.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：オンライン開催
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画像FBを用いた液架橋力マニピュレータによる微小物の精密位置決め(MN1-10P2-9)
迫涼平, 伊藤貴俊, 西山優希, 福知絵梨, 渕脇大海
日本機械学会第12回マイクロ・ナノ工学シンポジウム 2021.10 日本機械学会、マイクロ・ナノ工学部門
Event date： 2021.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：オンライン開催
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PVAリフトオフを用いた超柔軟材料上の液体金属配線加工技術の創出(MN1-11A3-2)
村上航輝，橘大毅，栃内亮太，伊佐野雄司, 中村史香，松田涼佑，倪思捷，桑原正貴, 上野和英，三木則尚，太田裕貴，渕脇大海
日本機械学会第12回マイクロ・ナノ工学シンポジウム 2021.10 日本機械学会、マイクロ・ナノ工学部門
Event date： 2021.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：オンライン開催
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ダブルノズル型液架橋力グリッパによる１ｍｍサイズの立方体,三角柱,螺旋コイルのピック&プレースの実現(MN1-09A3-2)
西山優希, 田中健太, 伊藤貴俊, 迫涼平, 福知絵梨, 渕脇大海
日本機械学会第12回マイクロ・ナノ工学シンポジウム 2021.10 日本機械学会、マイクロ・ナノ工学部門
Event date： 2021.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：オンライン開催
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Kengo Tanabe, Masato Shiota, Eiji Kusui, Ohmi Fuchiwaki
The Japan Society for Precision Engineering
Event date： 2021.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：Build. of Engineering, Kobe University
In this paper, we describe the sequential position control of holonomic inchworm mechanisms using four encoders with a centimeter-scale range and sub-μm-scale resolution. We have developed an XYθ position sensor using four encoders and an integrated 2-degrees-of-freedom (2-DoF) scale with submicron resolution, microsecond cycle, and over a 1 cm2 measurement range. The position sensor is designed for simultaneous XYθ position control of a holonomic mobile robot in the centimeter to submicron range. The sensor is designed to be sufficiently compact for mounting on a centimeter-sized robot for closed-loop control of the robot. To measure the XYθ displacements simultaneously, we proposed an integrated 2-DoF scale for the four encoders. To investigate this feasibility, we placed the scale as a measurement target on the top of an inchworm mobile mechanism. In our experiments, we demonstrated star-shaped translational navigation by sequential position control. We also investigated the close-up trajectories to examine detailed behavior with submicron resolution. This study is an important step towards the automatic control of a flexible and precise mobile mechanisms.
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Masato Shiota,Kengo Tanabe,Eiji Kusui,Kanta Iiduka,Ohmi Fuchiwaki
The Japan Society for Precision Engineering
Event date： 2021.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：Build. of Engineering, Kobe University
In this paper, we describe the verification of θ axis measurement performance of the XYθ position sensor composed of four encoders and integrated 2-degrees-of-freedom (2-DoF) scale. In previous study, we have evaluated the measurement performance in XY axes displacements for the XYθ position sensor, however we have not evaluated that of θ axis. As interesting application, the motion compensation has also been applied to reduce the positioning error of a holonomic inchworm mechanism during rotating movement under the open loop control.
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Precise Positioning Control of XYθ axes PID Control for Piezo-driven holonomic mobile Robot
Kusui Eiji, Shiota Masato, Shibuya Eisuke, Tanabe Kengo, Fuchiwaki Ohmi
The Japan Society for Precision Engineering
Event date： 2021.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：Build. of Engineering, Kobe University
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Development of Alternating Three-Point Contact Gait Type Holonomic Mobile Robot
Masaki Suzuki, Ryoma Takahashi, Yohei Iida, Kanta,Iiduka, Hazumu Kusama, Ohmi Fuchiwaki
The Japan Society for Precision Engineering
Event date： 2021.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：Build. of Engineering, Kobe University
In this letter, we describe the newly developed mobile robot that uses alternating tripod gait inspired from insect's walking. As shown in Fig.1, alternating tripod gait is a walking method that alternates between two pairs of three-point grounding, and the posture can always be stabilized by three-point grounding. Our research aims to develop mobile robots for the multiaxial and micro manipulation. The proposed mobile robot composes four piezoelectric actuators for XYθ 3DoF driven and one piezoelectric actuator for leg lifting motion. The characteristic of piezoelectric actuator is high resolution and high responsiveness, which enables fast and precise positioning of the robot. In this study, we first proposed a mechanical model to imitate the principle of alternating tripod gait. Second, we have manufactured the robot by designing based on FEM analysis and quantitative data, and finally we have evaluated the positioning accuracy of the robot. We determine the repeatability as a ratio of the standard deviation of the final points to the average path length. The proposed mobile robot achieves maximum velocities of 11.5mm/s, 19.3°/s, minimum stride 23.5µm, 0.0663°, and repeatability of 1.4% 0.3% at 1Hz driven.
Index term–Alternating Tripod Gait, Piezoelectric Actuator, Holonomic, Mobile Robot -
Yohei Iida, Ryoma Takahashi, Hazumu Kusama, Ohmi Fuchiwaki
The Japan Society for Precision Engineering
Event date： 2021.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：Build. of Engineering, Kobe University
In recent years, a high-speed and highly accurate positioning device has been required in various situations such as mounting small electronic components on electronic devices and manipulating egg cells in artificial insemination. In our laboratory, we are developing a self-propelled robot for manipulation. However, the stride and speed are not enough. To solve this problem, we have developed an XYθ displacement expansion mechanism to be mounted on a self-propelled robot. The mechanism was designed by FEM analysis, and the dynamic characteristics of the mechanism were confirmed by performing frequency response analysis. An operation experiment was conducted with the manufactured mechanism, and the performance was evaluated by comparing with the analyzed values.
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Kengo Tanabe, Masato Shiota, Eiji Kusui, Ohmi Fuchiwaki
SICE 2021 Society of Instrument and Control Engineers (SICE)
Event date： 2021.9
Language：English Presentation type：Oral presentation (general)
Venue：Web conference (Yotsuya Campus, Sophia University, Tokyo, JAPAN)
In this paper, we describe a XYθ three-axis displacement sensor using an optical encoder and its measurement performance. This sensor can measure X, Y, and θ displacement, and the measurement limit is 0.1 µm on the X and Y axes and 7.35 \times 10-4deg on the θ axis. In addition, we also describe a self-propelled mechanism driven by piezoelectric actuator will also be described. This mechanism is palm-sized and extremely compact, and can move freely on a ferromagnetic surface. An experiment that measures the behavior of the mechanism is also described for investigating the applications in bio-medical and MEMS fields
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振動ピペット近傍に生じる局所流動を応用した液中マイクロマニュピレーション
渕脇 大海 [Invited]
2020年度研究集会『生物流体力学におけるモデリング』 RIMS 共同研究 (グループ型)「生物流体力学における数理モデリング」( 代表 飯間信 (広島大学統合生 命科学研究科) 副代表 石本健太 (京都大学数理解析研究所))
Event date： 2020.12
Language：Japanese Presentation type：Oral presentation (invited, special)
Venue：京都大学数理解析研究所 420 号室／ Zoom (ハイブリッド形式
"顕微鏡視野内にとどめたまま微小物を操作する“事を、「視野内作業」と呼ぶ．本発表では，生物医療分野において、卵細胞を吸引固定するために用いられるホールディングピペットを振動させることで，柔軟な生体細胞の非接触での「視野内作業」を実現できる「液中マイクロマニピュレーション」について報告する。振動する円柱棒により生じる定常流の研究は,流体力学の分野では良く知られた研究である．本研究ではまず初めに、ピペット近傍に生じる流動パターンの振動数・振幅への依存性を調査し，次に直径100μｍのガラス球，卵細胞を対象物として，ピペット先端付近への微小物の引き寄せ，垂直軸回りの回転，水平軸回りの回転に応用した場合の，微小物の位置，回転軸の軌跡について報告する．
最後に、XYθ軸を独立に動作可能な、昆虫サイズの「精密自走ロボット」に振動ピペットを搭載し，二本の振動ピペットを適当な位置姿勢に配置することで，「卵細胞の引き寄せ」、「姿勢の精密位置決め」を、効率的かつ連続的に行うための作業手法について報告する．
本技術は，操作対象物の形状，電気特性、磁気特性、光学特性、柔軟性への依存性が極めて低いため，様々な微小物の精密操作法としての応用可能性がある． -
Development of a Δ-type Mobile Robot Driven by Three Standing-Wave-Type Piezoelectric Ultrasonic Motors
J. Zhou, M. Suzuki, R. Takahashi, K. Tanabe, Y. Nishiyama, H. Sugiuchi, Y. Maeda, O. Fuchiwaki
IROS 2020 IEEE, 日本ロボット学会(RSJ)
Event date： 2020.10
Language：English Presentation type：Oral presentation (general)
Venue：Online
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Attempt of high-speed cooling of SMA actuator by dropping small droplet
Eisuke Shibuya, Ohmi Fuchiwaki
Event date： 2020.10
Language：Japanese Presentation type：Oral presentation (general)
It is important to miniaturize actuators to realize mm-scale microrobots. SMA actuators are lightweight, deformed flexibly, and have enough force and stroke for the microrobots. However, a cooling mechanism which is as small and lightweight as SMA actuators has not been realized thus far. In this report, we propose unique cooling mechanism using small droplets. The SMA coil is arranged vertically in the mechanism. A weight is attached to the bottom end of the coil. The droplets are dropped from the upper end of the coil for cooling it. We measure time change of the vertical displacement of the weight by a digital video camera. The fall time of the weight decreases down to 1/10 with 0.1mL cooling water, compared with the fall time with natural air-cooling.
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Electromagnetic Gel Actuator for in-liquid high-speed movements
Daiki Tachibana, Takashi Kozaki, Koki Murakami, Hiroki Ota, Ohmi Fuchiwaki
Event date： 2020.10
Language：Japanese Presentation type：Oral presentation (general)
Flexible and soft actuators composed of gels do not damage the human body or delicate objects. That is why there is high potential demand for the gel-based actuators. Most of conventional soft actuators are driven by air pressure and heat shrinkage of gel, but their response speed is too slow to satisfy their demand for their potential bio-medical applications. In this study, we propose a soft actuator that enables high-speed response by using electromagnetic force. It is composed of liquid metal for electric wires and gel for its substrate, and by changing the direction of the electric currents flowing in the liquid metal in magnetic field, various movements such as expansion and contraction, and omnidirectional translation can be realized in water.
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Forming Microdroplet and Pick & Place Experiment by Diaphragm Pump Type Capillary Force Gripper
Yuki Nishiyama, Ohmi Fuchiwaki
Event date： 2020.10
Language：Japanese Presentation type：Oral presentation (general)
Capillary force is attracting two objects while a liquid bridge is generated between them. By using the capillary force, it is possible to pick and place small objects having various shapes. In previous study, we have developed a mechanism for discharging a droplet. The mechanism is composed of a piston for pushing a liquid and a valve for preventing a back flow. However, it is difficult to discharge the droplet with a diameter of less than 1mm because the seal of the piston is not sufficient. In this study, we have improved the mechanism by replacing the piston pump to a diaphragm pump. In experiments, we have succeeded to discharge a droplet with a diameter of 0.5mm, half diameter of the previous mechanism. In pick-and-place experiments, we have evaluated the positioning errors of 1mm3 acrylic cubes and 0603 chip capacitors.
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Development of a Z axis displacement expansion mechanism for the alternating tripod gait type self-propelled mechanism
Ryoma Takahasni, Masaki Suzuki, Ohmi Fuchiwaki
Event date： 2020.9
Language：Japanese Presentation type：Oral presentation (general)
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Omnidirectional motion compensation by linear approximation of six piezoelectric displacements for precise inchworm mechanism
Kengo Tanabe, Masato Shiota, Ohmi Fuchiwaki
Event date： 2020.9
Language：Japanese Presentation type：Oral presentation (general)
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Development of Δ-type Self-propelled Robot Using Standing Wave Type Piezoelectric Ultrasonic Motor
Junitan Zhou, Ohmi Fuchiwaki
JSME
Event date： 2019.11
Language：English Presentation type：Poster presentation
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W. Hagiwara, T. Ito, K. Tanaka, R. Tokui, and O. Fuchiwaki
Capillary Force Gripper for Complex-Shaped Micro-Objects with Fast Droplet Forming by On-Off Control of a Piston Slider, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019) IEEE/RSJ
Event date： 2019.11
Language：English Presentation type：Oral presentation (general)
Venue：Macau
In this letter, we describe the newly proposed capillary force gripper that combines fast water refilling via the capillary phenomenon and fast droplet forming via the ON-OFF control of a piston slider. The capillary force is suitable for capturing and releasing heterogeneous and complex-shaped micro-objects because it is one of the most dominant forces in the microscopic world and acts on any shaped objects by the water flexible deformation. However, a water droplet easily evaporates and loses during every pick-and-place operations. To solve this problem, we developed a gripper that can quickly form droplets with simple control. In the experiments, we confirm that the gripper can generate a sufficient capillary force to grip a 1-mm3 micro-object for over 100 s. Furthermore, we realize the automatic pick-and-place of cube, cone, and semicylinder samples. We compare the positioning errors among them to discuss the feasibility, future prospects, and applications in electronics and MEMS fields.
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3D HELICAL MICROMIXER BY LOST WAX CASTING
D. Tachibana, K. Matsubara, Y. Tanaka, H. Ota, and O. Fuchiwaki
Int. Conf. on Miniaturized Systems for Chemistry and Life Sciences (µTAS 2019) Chemical and Biological Microsystems Society (CBMS)
Event date： 2019.10
Language：English Presentation type：Oral presentation (general)
Venue：Congress Center Basel Basel, SWITZERLAND
This report demonstrates 3D micromixer with a helical flow by lost wax casting at micro-scale. The wax mold
was fabricated by high-resolution 3D printer. It is difficult to mix two liquids through a straight flow in
microchannels. In this study, the simulation result confirmed that the micro helical structure promoted mixing. To
demonstrate the simulation result, we fabricated microchannels with 3D helical structure in PDMS by the lost wax
casting. As a result, the mixing of liquids occurred as soon as the two liquids contacted. This report will present
an important advancement towards the realization of 3D micromixers. -
Precision XYθ Positioning Control of Inchworm Robot by 2DoF Optical Encoders
Kengo Tanabe, Hitoshi Funatsu, Ohmi Fuchiwaki
JSPE JSME
Event date： 2019.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：Shizuoka Univ. Hamamatsu Campus
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Analysis of Capillary Force between End of Circular Pipe and a Plane by VOF method
Kenta Tanaka, Wataru Hagiwara, Ryouta Tokui, Ohmi Fuchiwaki
ROBOMECH2019 JSME
Event date： 2019.6
Language：Japanese Presentation type：Poster presentation
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Takatoshi Ito, Wataru Hagiwara, Ryouta Tokui, Kenta Tanaka, Ohmi Fuchiwaki
ROBOMECH2019 JSME
Event date： 2019.6
Language：Japanese Presentation type：Poster presentation
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Wataru Hagiwara, Takatoshi Ito, Ohmi Fuchiwaki
JSME
Event date： 2018.10
Language：Japanese Presentation type：Oral presentation (general)
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Ryota Tokui, Wataru Hagiwara, Ohmi Fuchiwaki
ROBOMECH2018 JSME
Event date： 2018.6
Language：Japanese Presentation type：Oral presentation (general)
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ホロノミック自走機構のnmスケールのXYθ三軸並列サーボ制御法の開発
福元健太，庄野郁矢，渕脇大海
第35回 日本ロボット学会学術講演会 RSJ2017 日本ロボット学会
Event date： 2017.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：東洋大学 川越キャンパス（埼玉県川越市）
近年，スマートフォンやタブレット端末をはじめとした小型端末が広く普及しており，それらの端末の中には小型のチップ部品や，センサとしてMEMSデバイスが内蔵されている．近年これらの小型端末の多機能化に伴い内部部品の小型化も進み，マイクロマニピュレーション技術の重要性が増している．また，生体細胞やナノマテリアルの操作に至るまでマイクロマニピュレーション技術の応用は多岐にわたり，将来的に重要な技術となっている．そこで本研究室では，XYθの三自由度を持つインチワーム型自走式位置決め機構の開発と，機構のマイクロマニピュレーションへの応用の研究を行ってきた．本研究室の最終的な目標は様々なツールを搭載した本機構を作業エリアへ複数台配置し，協調作業を行うマイクロマニピュレーションシステムを開発することである．本研究ではBang-bang制御[2]の理想軌道を目標軌道とした3軸並列の状態フィードバック制御によって高速かつ精密な位置決め技術を確立することを目的としている．
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Hitoshi Fucnatsu, Ohmi Fuchiwaki
Event date： 2017.3
Language：Japanese Presentation type：Oral presentation (general)
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Kenta Fukumoto, Ohmi Fuchiwaki
Event date： 2017.3
Language：Japanese Presentation type：Oral presentation (general)
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Wataru Hagiwara, Ohmi Fuchiwaki
Event date： 2017.3
Language：Japanese Presentation type：Oral presentation (general)
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Experimental evaluation of wet-coil based pick and place method
Hitoshi Funatsu, Ohmi Fuchiwaki, Noriyuki Mouri, Kenichiro Imai, Yoshimi Tanaka
JSPE
Event date： 2016.9
Language：English Presentation type：Oral presentation (general)
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Fumiya Shono, Noriyuki Mouri, Takehiro Higuchi and Ohmi Fuchiwaki
2016 IEEE International Conference on Advanced Intellignet Mechatronics (AIM) IEEE
Event date： 2016.7
Language：English Presentation type：Oral presentation (general)
Venue：Banff, Canada
In this paper, we report the simulation result of a precise 3-axial servo controller for a positioning mechanism in an inchworm mobile mechanism. Also, we describe the design of bang-bang controller for θ-axis that is required for developing 3-axial controller. The inchworm mobile mechanism is composed of 6 piezoelectric actuators (PAs) and a pair of electromagnets (EMs). If one EM is fixed to a ferromagnetic floor, then another EM can position the X, Y, and θ axes by 6 PAs. In a previous study, we have developed 3-axial proportional-integral-derivative (PID) controls with a 50 nm resolution for the mechanism with 4 linear encoders to measure the 3DoF motion of the free magnet precisely However, we concluded that we require over 100 ms of settling time because of mutual coupling effects among the X, Y, and θ axes when using the PID controller. To be robust against the disturbance and also reduce settling time, we developed a new servo controller in this study. To achieve sufficient working efficiency, we aimed at establishing of 3-axial servo control on the nanometer scale that can realize a ±0.5 μm positioning repeatability, and less than 10 ms of settling time over a 50 μm×50 μm positioning range.
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F. Shono, N. Mouri, T. Higuchi and O. Fuchiwaki
2015 IEEE/SICE International Symposium on System Integration (SII) IEEE/SICE
Event date： 2015.12
Language：English Presentation type：Oral presentation (general)
Venue：Nagoya, Japan
In this paper, we describe the design of a precise 3-axial servo controller for an inchworm mobile mechanism and the simulation result of 1-axial control for validating the design. The inchworm mobile mechanism is composed of 6 piezoelectric actuators (PAs) and a pair of electromagnets (EMs). If one EM is fixed to a ferromagnetic floor, then another EM can position the X, Y, and Θ axes by 6 PAs. In a previous study, we have developed 3-axial proportional-integral-derivative (PID) controls with a 50 nm resolution for the mechanism with 4 linear encoders to measure the 3DoF motion of the free magnet precisely, however, we concluded that we require over 100 ms of settling time because of mutual coupling effects among the X, Y, and θ axes when using the PID controller. To be robust against the disturbance and also reduce settling time, we developed a new servo controller in this study. To achieve sufficient working efficiency, we aimed at establishing of 3-axial servo control on the nanometer scale that can realize a ±0.5 μm positioning repeatability, and less than 10 ms of settling time over a 50 μm×50 μm positioning range.
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O. Fuchiwaki, T. Yamagiwa, S. Omura, and Y. Hara
IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2015) IEEE
Event date： 2015.9
Language：English Presentation type：Oral presentation (general)
Venue：Hamburg, Germany
In this paper, we describe design and experimental results of repetitive calibration of an holonomic inchworm robot based on an inverse trajectory analysis of a tip of a probe for microscopic operations. The mobile robot has two U-shaped electromagnets and four piezoelectric actuators (PAs) for obtaining 3-degrees-of-freedom (3DoF) motion on well-polished ferromagnetic surfaces. We have proposed the kinematic model to get relationship among four input voltages to PAs and three displacements of the robot at a half step. We have also solved the inverse trajectory analysis of the probe to convert the motion errors of the probe into those of the robot. Moreover, we have proposed repetitive calibration formulas to calibrate 3DoF motion of the probe under a microscope simultaneously. In experiments, we have checked that the proposed formulas are surely working for decreasing the motion errors at straight motion although rotation around the tip is hard to calibrate because of its posture measuring error of an image processor. We discuss compact and flexible microscopic operations.
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Study of 3-axial servo control for inchworm mobile mechanism
Fumiya Shono, Ohmi Fuchiwaki
JSME
Event date： 2015.5
Language：Japanese Presentation type：Oral presentation (general)
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Study of tracking control method for inchworm mobile mechanism by using internal and external sensor
Yuuhei Hara, Ohmi Fuchiwaki
JSME
Event date： 2015.5
Language：Japanese Presentation type：Oral presentation (general)
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Design of alternate-tripod-type inchworm mechanism driven by piezoelectric actuators
Yoshiki SAITO, Wataru Eduka, Ohmi Fuchiwaki
Event date： 2015.3
Language：English Presentation type：Oral presentation (general)
Venue：Yokohama National Univ.
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Evaluation of vibration property of holonomic inchworm mobile mechanism
Ohmi Fuchiwaki, Akihiro Oi, Yuuhei Hara, Fumiya Shono
JSME
Event date： 2015.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：TIT, Ookayama Campus
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Feasibility study of a in-liquid micro motor propelled by bubbles
Kanae Harayama, Hiroyuki Aono, Ryota Imamura, Ohmi Fuchiwaki
JSME
Event date： 2014.10
Language：Japanese Presentation type：Oral presentation (general)
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Formulation and optimization of pulley-gear-type SMA heat engine toward microfluidic MEMS motor
H. Aono, R. Imamura, O. Fuchiwaki, Y. Yamanashi, K. F. Böhringer
IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2014) IEEE
Event date： 2014.9
Language：English Presentation type：Oral presentation (general)
Venue：Chicago, USA
In this paper, we modeled and analyzed the shape-memory-alloy (SMA) heat engine in steady state. The heat engine is composed of two pulleys, three gears, and an SMA coil spring. We formulated an expression that optimizes the relationship among the parameters for the maximum power and the torque of the heat engine. This article is the first to present the basic procedure to solve the optimal solution for the pulley-gear-type heat engines that are driven by an SMA coil spring. We also discuss the miniaturization of the heat engine to actuate the Bio MEMS and the micro TAS devices as fluidic MEMS actuators.
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R. Imamura, H. Aono, O. Fuchiwaki, Y. Yamanashi, K. F. Böhringer
ASPE/ASPEN Summer Topical Meeting Manufacture and Metrology of Freeform and Off-Axis Aspheric Surfaces ASPE, ASPEN
Event date： 2014.6
Language：English Presentation type：Oral presentation (general)
Venue：Hawaii, USA
In this paper, we have reported that design and development of a heat engine with SMA actuator as a proof of concept prototype of a propulsion device for an in-liquid micro robot. Recently, there are various micro manipulation technology and used in various applications. However, they still need too many energy and space compared with targeted micro objects themselves. It is also difficult to manipulate multiple objects simultaneously and individually. If we realize self-propelled micro robot which harvests energy in a liquid, we can contribute to realize the micro robots to move simultaneously and individually. If we can develop micro robots whose sizes are less than 1mm3, we can move them inside blood vessels. We can expand a possibility that those micro robots become useful tools for bio-medical applications. However developing of the micro robot has two main problems. First one is “sticky problem”. If objects become less than 1mm3, it is difficult for them to move freely because an electrostatic force, an interfacial force and a viscous drag force stick them. Second one is “energy source problem”. It is still very difficult to realize an effective battery whose size are less than 1mm3. Therefore, we suppose that those micro robots should harvest energy from their environment. If we examine the natural world, most of all microbes, for example water-flea and paramecium, live in a liquid. They are not only harvesting energy by eating food and/or absorbing sunlight, but also swimming freely in a liquid. This is because electrostatic and interfacial forces in a liquid become much less sticky than those in the air. That is why liquid is a suitable environment for the micro robot. However, there are only a few research activities for the self-propulsion micro robots which harvest energy in a liquid thus far. In previous research, we have analyzed unique in-liquid micro robot which propels by the comb actuator and harvests energy from the liquid by using the principle of the voltaic cell. But as a result of the calculation by simple linear model, we confirmed that it cannot obtain a sufficient amount of energy to move the micro robot. Therefore, we have proposed the micro robot which moves by a heat engine with coil-shaped shape memory alloy (SMA). The purpose of this study is design, and development of the proof-of-concept prototype of the heat engine less than 1cm3.We propose the mechanical model with 3 gears, 2 pulleys and the coil-shaped SMA and analyze in a steady state to formulate the output torque and generated force. We have selected one of the thinnest commercially available SMA actuator whose diameter is 0.05 mm. In several experiments, we have confirmed that the selected SMA actuator has much of stress hysteresis which generates much of non-linear errors from a coil-spring model. We have also evaluated an influence of a miniaturization of the engine to the force. We have discussed the future works of the heat engine to miniaturized less than 1 mm3 to apply to the in-liquid micro robot.
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Development of an integrated 3DoF inner position sensor by 4 encoders with 0.5μm resolution for precise holonomic inchworm robot
A. Oi, A. Ogawa, M. Yatsurugi, O. Fuchiwaki, T. Higuchi
ASPE/ASPEN Summer Topical Meeting Manufacture and Metrology of Freeform and Off-Axis Aspheric Surfaces ASPE, ASPEN
Event date： 2014.6
Language：English Presentation type：Oral presentation (general)
Venue：Hawaii, USA
Recently, portable devices such as smart phone
and tablet PC become popular and massproduced
at a low cost. Inside those portable
devices, there are numerous various parts such
as MEMS sensor and electronic chip parts with
less than 1mm3. Those tiny parts are mounted
precisely with 0.05mm assembling accuracy by
conventional Surface Mounting Technology
(SMT) placement machine. Inside the SMT
placement machine, multi-axes linear stages are
used for positioning of those electronic chip
parts. Those multi-axes linear stages have
sufficient positioning accuracy and velocity.
However, their weights are over 100kg and their
big inertia forces generate big vibration around
the SMT placement machine. In contrast, the
weight of electronic chip parts is less than 1mg,
so almost all energy of the SMT placement
machine is used for moving multi-axes stages.
There are a lot of research activities about
mobile wheeled robots. Those robots can move
wide area omnidirectionaly and they are
relatively lightweight compared with multi-axes
stages. However, it’s difficult for those robots to
realize precise positioning with micro to
nanometer accuracy because of their backlash.
In those ten years, we have developed 3-
degrees-of-freedom (3DoF) mobile mechanism
with less than 10nm positioning resolution. In
various experiments, we have concluded that
one of the breakthrough technologies for
practical use of them is how well we can obtain
sufficient positioning repeatability and accuracy.
Particularly, precision and accuracy of the last
one step is very important for precise work.
Visual feedback technology with CCD-camera is
powerful method to measure the robots’
positions, however the measuring speed is only
0.1 second if we use 500M-pixel-camera. That is
the reason why the visual feedback technology
is not good enough for controlling the robot high
speed because we cannot measure velocity with
sufficient resolution. Optical linear encoders
have attracting performances because their
measuring speed is very fast, over 1m/s, with
sufficient measuring resolution, less than 0.5micrometer.
However, there are almost no reports that show
the design of integrated three-degrees-offreedom
(3DoF) inner position sensors within
one step-motion for those precise mobile
mechanisms. In this research, we present a
newly proposed design of the integrated 3DoF
inner position sensor. We also explain how to
obtain 3DoF displacements from the four
measured distances. In experiments, we move
the robot 20micrometer-rectangular-shaped path with
0.5micrometer positioning resolution. We have
confirmed that the proposed inner sensor has
sufficient feasibility to improve the positioning
accuracy of the omnidirectional and holonomic
inchworm mechanisms. We also discuss about
the potential benefit of flexible, energy-efficient,
vibration-less, and multi-functional miniature
robots factory in bio-medical, nanoscience, and
chip-mounting technologies collaborated by
those compact mobile mechanisms. -
Experimental formulation of capillary force between an adhesional wetting surface and an immersional wetting end of rod
N. Mouri, O. Fuchiwaki, Y. Tanaka, Y. Koyata
ASPE/ASPEN Summer Topical Meeting Manufacture and Metrology of Freeform and Off-Axis Aspheric Surfaces ASPE/ASPEN
Event date： 2014.6
Language：English Presentation type：Oral presentation (general)
Venue：Hawaii, USA
Recently, miniaturization of portable devices and
their electronic parts has been remarkable.
Consequently, the need for micro manipulation
to make more complex and smaller devices is
increasing. One of major devices to pick up
micro electronic parts is a vacuum pick-up
nozzle which generates sufficient force and
contamination-free. However, it still has 4 main
problems. First, it can’t hold complex-shaped
objects such as wires and springs because of an
air leak. Second, it can’t hold less than 0.15mm
objects because it is difficult to control the
negative pressure when an inner diameter of the
nozzle becomes less than 0.1mm. Third, the
nozzle is not suitable for picking up fragile parts
because of a solid contact between the part and
the nozzle. Forth, it causes a sticky problem; the
micro objects are easily trapped by adhesive
forces, such as electrostatic force, interfacial
force, viscous drag force which is normally
negligible over cm-sized objects. Mechanical
tweezers is also major to pick up objects.
However, it also has the sticky problem. We
have focused on capillary force to pick up micro
objects. There are many study examples of
picking up micro objects by capillary force.
[1][2][3] We have developed a new device called
“Wet tweezers” to solve these problems over the
past few years. The wet tweezers can adapt to
complex-shaped objects because the liquid
changes its shape flexibly according to any
shape of the contact surface. And it doesn’t
have the sticky problem. We have already
checked that the wet tweezers can pick up
1mm-squared electronic parts. However, we
have not formulated the capillary force because
it has unique boundary condition. The capillary
force between two adhesional-wetting solids is
well-known. However, the wet tweezers makes a
liquid bridge between an adhesional-wetting
surface and an immersional- wetting end of the
rod. That is unique boundary condition because
“contact angle” is not exist at the end of the rod;
an edge angle of the meniscus at the end of the
rod can change due to a distance between the
adhesional-wetting surface and the end of the
rod. That makes the estimation of the amount of
the capillary force difficult because we need the
relationship among the distance, the capillary
force, and the edge angle experimentally and/or
theoretically. We have observed the shape of
liquid bridge and the capillary force measured by
electric balance simultaneously at the various
distances. Then, we have formulated the shape
by using geometrical approximation. To check
the accuracy of the formulation, we have
compared measured value of the capillary force
with the calculated value from the formula. We
have also discussed interesting experiments
using a gel-coated rod. [4] -
Modeling and analysis of a heat engine with coil-spring-shaped SMA for steady state performance and starting condition
H. Aono, R. Imamura, and O. Fuchiwaki, Y. Yamanashi, K. F. Böhringer
ASPE/ASPEN Summer Topical Meeting Manufacture and Metrology of Freeform and Off-Axis Aspheric Surfaces ASPE, ASPEN
Event date： 2014.6
Language：English Presentation type：Oral presentation (general)
Venue：Hawaii, USA
Recently, there are various micromanipulation
technologies [1,2,3]. However, they need wide
area compared with a size of their micro targets.
They are not able to manipulate large amount of
micro objects simultaneously and individually
because those micromanipulation have done by
an outside forces such as optical trapping forces
and electromagnetic forces. In many years,
people are desired to develop micro robots, less
than 1mm3, which move freely inside biomedical
bodies and blood vessels. If we can
develop the micro robots whose sizes are less
than 1mm3, it has high usability because several
robots can manipulate several objects
simultaneously and individually. They can carry
medicine and/or examine directly at disease
parts on-site. To move numerous micro robots
simultaneously and individually, we need add
energy harvester and self-propulsion capability
to the micro robot. However, there are two main
problems. One is “ Sticky Problem”,
robot are easily trapped by adhesive forces,
such as electrostatic force, interfacial force, and
viscous drag force which are normally negligible
over cm-sized objects. Another is energy source
problem because it is very hard to embed power
source with sufficient energy density in only
1mm3-sized body. Therefore, we believe the
micro robot should harvest energy from
environment. In the natural world, there are
many microbes lived in liquid, such as water flea
and paramecium. They move freely with
harvesting energy by eating foods and
absorbing solar energy in liquid. Those microbes
have already solved sticky problem because
electrostatic force and interfacial force are
dampen very well in a liquid and do not trap
microbes at all. That is the reason why we
believe we should move the micro robot in a
liquid. Conventional studies of the micro robot
have categorized flying-type in the air [4],
floating-type on the water surface, and
swimming-type in a liquid [5,6]. Last year we
have designed and analyzed unique design of
the in-liquid micro robot that is composed of a
voltaic cell as an energy harvester and a comb
actuator as a source of motion [7]. However we
have concluded we need over 2000V to move
the in-liquid micro robot with velocity of 0.1mm/s;
2V of the voltaic cell is not sufficient as the
energy source for the comb actuator. Recently
we have focused on a heat engine with Shape
Memory Alloy actuator (SMA actuator) with coilspring
characteristics [8,9]. In this article, we
have described the heat engine that is
composed of SMA actuator and two pulleys and
three gears. We have also calculated the motion
of the heat engine at the steady state and
formulate the starting condition. -
八釼学, 渕脇大海, 大井章生,樋口丈浩
IEEE Int'l. Conf. on Robotics & Automation (ICRA 2014) IEEE
Event date： 2014.5
Language：English Presentation type：Oral presentation (general)
Venue：Hong Kong
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浸漬－付着濡れ境界条件でのロッドと平板間に作用する液架 橋力の測定と定式化
毛利紀之，渕脇大海
2014年度ロボティクス・メカトロニクス講演会 日本機械学会
Event date： 2014.5
Language：Japanese Presentation type：Oral presentation (general)
Venue：富山国際会議場
In this paper, we have reported that experimental formulation of capillary force between an adhesional wetting surface and the immersional wetting end of a rod. We have developed “Wet tweezers” for picking and placing of tiny and complex shaped objects. The wet tweezers are composed of two movable rods and two thin tubes. Two rods penetrate the liquids in corresponding thin tubes. If we contact them to an object, we can pick it up by capillary force. The wet tweezers makes a liquid bridge between an adhesional-wetting surface and an immersional-wetting end of the rod. We have observed the shape of liquid bridge and the capillary force measured by electric balance simultaneously at the various distances. Then, we have formulated the shape by using geometrical approximation. To check the accuracy of the formulation, we’ve compared measured value of the capillary force with the calculated value from the formula. We also discuss interesting experiments using a gel-coated rod.
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Experimental system for measuring the vertical force of the solenoid actuator
Wataru Eduka, Ohmi FUCHIWAKI
JSME
Event date： 2014.5
Language：Japanese Presentation type：Oral presentation (general)
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Ryouta Imamura, Hiroyuki Aono, Ohmi FUCHIWAKI
JSME
Event date： 2014.5
Language：Japanese Presentation type：Oral presentation (general)
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Hiroyuki Aono, Ryouta Imamura, Ohmi Fuchiwaki
JSME
Event date： 2014.5
Language：Japanese Presentation type：Oral presentation (general)
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四つの小型エンコーダによる0．5μm の分解能を有する三軸精密距離計測システムの開発
大井章生，渕脇大海
2014年度ロボティクス・メカトロニクス講演会 日本機械学会
Event date： 2014.5
Language：Japanese Presentation type：Oral presentation (general)
Venue：富山国際会議場
Precision and accuracy of the last one step is very important for precise work. Visual feedback technology with CCDcamera
is powerful method to measure the robots’ positions, however the measuring speed is only 0.1 second if we use
500M-pixel-camera. That is the reason why the visual feedback technology is not good enough for controlling the robot
high speed because we cannot measure velocity with sufficient resolution. Optical linear encoders have attracting
performances because their measuring speed is very fast, over 1m/s, with sufficient measuring resolution, less than 0.5
μm. However, there are almost no reports that show the design of integrated three-degrees-of-freedom (3DoF) inner
position sensors within one step-motion for those precise mobile mechanisms. In this research, we present a newly
proposed design of the integrated 3DoF inner position sensor. We also explain how to obtain 3DoF displacements from
the four measured distances. -
超音波ドライバーの応用例「ディスペンサー及びウェットピンセット」
渕脇大海 [Invited]
PI第二回プライベートセミナー 日本PI
Event date： 2014.1
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京カンファレンスセンター
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Hiroyuki Aono, Ryota Imamura, Ohmi Fuchiwaki
JSME
Event date： 2013.11
Language：Japanese Presentation type：Oral presentation (general)
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Development of an inchworm mobile mechanism moved on non-magnetic surface by swithching of vertical inner force between two Y-shaped legs by solenoid actuators
Asian Society for Precision Engineering and Nanotechnology (ASPEN 2013)
Event date： 2013.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Development of Wet Tweezers based on capillary force for Complex-Shaped and Heterogeneous Micro-Assembly
IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2013)
Event date： 2013.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Design and development of in-liquid micro robot with self-energy harvesting and self-propulsion functions -Study of coupled model of fluid dynamics and electro circuit and design of proof of concept prototype-
Asian Society for Precision Engineering and Nanotechnology (ASPEN 2013)
Event date： 2013.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Motion Simulation of Debris Capture with Super Multi-link Space Manipulator
Int'l Symp. on Space Tech. and Sciences 2013
Event date： 2013.6
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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インチワー ム機構の内力切り替え用磁気アクチュエータの開発と非磁性体 面上での駆動実験
大井章生，渕脇大海
2013年度ロボティクス・メカトロニクス講演会 機械学会 ロボティクス・メカトロニクス部門
Event date： 2013.5
Language：Japanese Presentation type：Oral presentation (general)
Venue：つくば国際会議場
In this paper, we have reported that design and dynamic analysis of a 3 DOF mobile mechanism which moves on a table made by non-magnetic materials. Previous mechanism has a pair of Y-shaped electromagnets and six piezoelectric actuators. This mechanism runs on working table which is made by special ferromagnetic alloy, such as 3% silicon steel. In the mechanism, two horseshoe-shaped electromagnets and the table make a closed magnetic circuit to fix the ferromagnetic surface. However, we need high processing cost to polish the table. In this paper, we have developed the mechanism with solenoid actuators to make mechanism move on a table made by non-magnetic material. Design procedure, dynamic analysis, and chip mounting application are also discussed to cultivate the flexible, low-inertia, compact, and omnidirectional precise positioning.
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液中小型推 進機構の力学・電気回路モデルによる連成解析とFEM解析 による機構の設計
青野弘幸，渕脇大海
2013年度ロボティクス・メカトロニクス講演会 機械学会 ロボティクス・メカトロニクス部門
Event date： 2013.5
Language：Japanese Presentation type：Oral presentation (general)
Venue：つくば国際会議場
In this paper, we have reported that design and analysis of an in-liquid micro robot with self-energy harvesting and self-propulsion functions. There are two problems to develop micro robots with 1mm3. Those are a sticky problem and an energy source problem. To investigate solutions of those problems, we look at the natural world and found out microbes are living in liquid. They harvest energy by eating foods and solar energy and move freely in liquid; they have already solved sticky problem and energy source problem. That is our motivation to research and develop micro robot which moves in liquid. In this report, we have proposed new concept of the robot composed of voltaic cell as energy harvester and comb actuator as its source of motion. We have estimated the dynamic motion of the robot by simple linear model. We have also conduct FEM analysis to check its performance.
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Design of an Integrated 3DoF Inner Position Sensor and 2DoF Feedforward Control for a 3DoF Precision Inchworm Mechanism
IEEE Int'l. Conf. on Robotics & Automation (ICRA 2013)
Event date： 2013.5
Language：The in addition, foreign language Presentation type：Oral presentation (invited, special)
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Flexible & multi-probing micro/nano processing organzied by 3-DOF miniature inchworm robots
Proc. of Int'l. Conf. on Emerging Advanced Nanomaterials(ICEAN)
Event date： 2012.10
Language：The in addition, foreign language Presentation type：Oral presentation (invited, special)
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Study of a transient response and a precise positioning control within 1 step motion by FF/FB control for a 3-DOF inchworm mobile mechanism
Proc. of the IUMRS Int. Conf. on Electronic Materials (IUMRS-ICEM 2012)
Event date： 2012.9
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Transient response analysis and FF/FB control with 0.05 micro meter resolution for 3-DOF Inchworm Mobile Mechanism
Proc. of the 2012 IEEE Int'l. Conf. on Mechatronics and Automation(ICMA2012)
Event date： 2012.8
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Development of a 3-DOF Mobile Positioning Mechanism with 6 Contact Points
Manabu Yatsurugi and Ohmi Fuchiwaki
Proc. of Asian Society for Precision Engineering and Nanotechnology(ASPEN2011)
Event date： 2011.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：Hong Kong
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Development of Dispenser for High-Viscosity Liquid and Pick & Place of Micro Objects Using Capillary Force
Proc. of Asian Society for Precision Engineering and Nanotechnology(ASPEN2011)
Event date： 2011.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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In-liquid micromanipulation by insect-sized precise robots
Ohmi Fuchiwaki
Capillary based microfluidics 2.0
Event date： 2011.10
Language：English Presentation type：Oral presentation (general)
Venue：William H. Foege building, UW, Seattle,
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Development of 3-DOF Inchworm Mechanism Organized by a Pair of Y-shaped Electromagnets and 6 piezoelectric Actuators- Design, Approximate Analysis by 3-DOF Simple Harmonic Vibration, and Experimental Results of Translational Motions-,
Proc. of the 2011 IEEE Int'l. Conf. on Intelligent Robots and Systems(IROS2011)
Event date： 2011.9
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Study of Positioning Accuracy for Miniature 3 DOF Inchworm Mechanism for Accurate & Flexible Microscopic Processing
Proc. of 2011 IEEE/ASME Int'l Conf. on Advanced Intelligent Mechatronics (AIM2011)
Event date： 2011.7
Language：The in addition, foreign language Presentation type：Oral presentation (invited, special)
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Development of the Precise Miniature Robot with 3 DOF - Improvement of Uniformity of Straight Motion and Maximum Speed
Proc. of the 4th Int'l. Conf. on Positioning Technology 2010 (ICPT 2010)
Event date： 2010.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Development of FF/FB Control Device for Precise Miniature Robot with 3 DOF
Proc. of the 4th Int'l. Conf. on Positioning Technology 2010 (ICPT 2010)
Event date： 2010.11
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Dynamical Analysis and Improvement of Velocity for 3 DOF Precise Inchworm Mechanism
Proc. of the 2010 IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2010)
Event date： 2010.10
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Automatic egg-cell gathering by two versatile miniature robots and a miniature pump on an inverted microscopy
Proc. of Int'l Conf. on Precision Engineering (ICoPE2010)
Event date： 2010.7
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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独立三自由度を有する自走式精密位置決め機構による精密作業～複数台による卵細胞の複合処理の試み～
2010年精密工学会春季大会
Event date： 2010
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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独立三自由度を有する自走式精密位置決め機構の改良～位置決め再現性の向上、速度向上の試み～
2010年精密工学会春季大会
Event date： 2010
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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独立三自由度を有する自走式精密位置決め機構の制御手法の研究―顕微画像を用いたＦＦ／ＦＢ制御の試み―
2010年精密工学会春季大会
Event date： 2010
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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卵細胞のマイクロ流体力学に基づく精密作業
渕脇大海 [Invited]
Fluid Power System ワークショップ
Event date： 2009.6
Language：Japanese Presentation type：Oral presentation (general)
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Feedback Nano Position Control for Micro Robot in XYθ directions with Micro Liner Encoders
Naoya HATA, Masahiro TAGUCHI, Hisayuki AOYAMA, Ohmi FUCHIWAKI
Int'l. Conf. on Positioning Technology (ICPT 2008)
Event date： 2008.11
Language：English Presentation type：Oral presentation (general)
Venue：Hamamatsu, Japan
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Development of a Positioning & Compensation Device for a Versatile Micro Robot
Proc. of the 2008 IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2008)
Event date： 2008.9
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Development of sub-pico litter dispensing mechanism with precise automatic optical positioning system
Yutaka Adachihara, Tomoyuki Ekko, Hisayuki Aoyama, Ohmi Fuchiwaki, Yuka Irie, Shunichi Dejima, Takashi Usuda
ISPE Int'l. Conf. on CAD/CAM, Robotics & Factories of the Future (CARS & FOF 2008) 2008.7
Event date： 2008.7
Language：English Presentation type：Oral presentation (general)
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Nano control for micro tilting semispherical stage supported by three piezo elements
Toshio Koizumi, Shunsuke Kanegae, Naoya Hata, Hidehiro Nomura, Yuka Irie, Ohmi Fuchiwaki, Hisayuki Aoyama
ISPE Int'l. Conf. on CAD/CAM, Robotics & Factories of the Future (CARS & FOF 2008)
Event date： 2008.7
Language：English Presentation type：Oral presentation (general)
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Multi-axial Micromanipulation Organized by Versatile Micro Robots and Micro Tweezers
Proc. of IEEE Int'l. Conf. on Robotics & Automation(ICRA2008)
Event date： 2008.5
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Image Based Automatic Navigation with Three Micro Robots for Precise Operation
Proc. of 24th ISPE Int'l. Conf. on CAD/CAM, Robotics & Factories of the Future(CARS & FOF 2008)
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Development of the micro manipulation tools using micro liquid control for microscopic operations system
Proc. of the 3rd Int'l. Conf. on Positioning Technology 2008 (ICPT 2008)
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Precision Distance-Measurement of Versatile Piezo Driven Micro Robot Movement
Proc. of 24th ISPE Int'l. Conf. on CAD/CAM, Robotics & Factories of the Future(CARS & FOF 2008)
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Piezo driven micro robot with precise height adjustable four points contact legs
Proc. of 24th ISPE Int'l. Conf. on CAD/CAM, Robotics & Factories of the Future(CARS & FOF 2008)
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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リニアエンコーダを用いた超小型自走機械の精密位置決め
第20回電磁力関連のシンポジウム
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：別府ビーコンプラザ
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小型自走機械群による超精密生産機械システム―第110報 二枚の板バネを用いた四点接地機構の開発―
2008年度精密工学会春季大会
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：明治大学
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小型自走機械群による超精密生産機械システム―第111報 一歩内動作における自走機械の移動量測定―
2008年度精密工学会春季大会
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：明治大学
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小型自走機械による超精密生産機械システム 第112報 画像解析による自走機械3台の広域誘導
2008年度精密工学会春季大会
Event date： 2008
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：明治大学
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Microscopic Operation System Using Piezo Based Micro Robots
Atsushi OGURI, Daigo MISAKI, Ning ZHU, Ohmi FUCHIWAKI and Hisayuki AOYAMA
Int'l. Japan-Korea Seminar on Ceramics
Event date： 2007.11
Language：English Presentation type：Oral presentation (general)
Venue：Shizuoka, Japan
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Development of the Orthogonal Micro Robot for Accurate Microscopic Operations
Proc. of Int'l. Conf. on Mechatronics and Automation (ICMA 2007)
Event date： 2007.8
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Precise Micro Robot Bio-Cell Manipulation Based on the Microscopic Image Recognition
Mechatronics for Safety, security and Dependability in a New Era
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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小型自走機械群による超精密生産機械システム―第108報 永久磁石内蔵型ＸＹリニアステージを用いた顕微授精システム―
2007年度精密工学会春季大会
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：芝浦工業大学
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小型自走機械群による超精密生産機械システム―第109報 電磁石を用いた極微小液滴塗布機構の作成―
2007年度精密工学会春季大会
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：芝浦工業大学
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微小液滴塗布用光学式針先非接触検知機構の開発
2007年度精密工学会秋季大会
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
Venue：旭川勤労者福祉会館
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Versatile piezo driven micro robot for micro parts transportation
Asian Symposium for precision Engineering and Nanotechnology 2007 (ASPEN 2007)
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
-
Desktop Micro Robots Factory for Micro Production
Proceedings of the Int'l. Conf. on Engineering
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
-
Sub-pico Liter Dispensing Mechanism With Precise Optical Gap Detector
Proc. of ASPE2007 Annual meeting
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (invited, special)
-
3D Model Reconstruction With Non-contact Rotation Mechanism Using Micro Robots
Proc. of ASPE2007 Annual meeting
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
-
Desktop Micro Robots Factory for Micro Production
Proceedings of the 24th Int'l. Japan-Korea Seminar on Ceramics
Event date： 2007
Language：The in addition, foreign language Presentation type：Oral presentation (general)
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Micro Robot Manipulation System for Micro Object Observation and Manipulation
Daigo Misaki, Atushi Oguri, Naoto Chiba, Nomura Yoshihiro, Ohmi Fuchiwaki and Hisayuki Aoyama
Asia Int'l. Symposium on Mechatronics
Event date： 2006.12
Language：English Presentation type：Oral presentation (general)
Venue：Hong Kong
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Precise microscopic observation system based on the non-contact rotational mechanism using a micro robot
Daigo Misaki, Atushi Oguri, Ning Zhu, Ohmi Fuchiwaki and Hisayuki Aoyama
Int'l. Conf. on Positioning Technology (ICPT)
Event date： 2006.10
Language：English Presentation type：Oral presentation (general)
Venue：Jeju, China
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Non-Contact Bio Cell Manipulation by Nonlinear Micro Flow around the Vibrated Pipette on Micro Robot
Hisayuki Aoyama, Naoto Chiba, Ohmi Fuchiwaki, Daigo Misaki, Takashi Usuda
ASPE 2006 Annual meeting
Event date： 2006.10
Language：English Presentation type：Oral presentation (general)
Venue：Monterey, USA
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小型自走機械群による超精密生産機械システム―第105報 極微少液滴塗布機構の性能評価―
越湖智之，渕脇大海，青山尚之，見崎大悟，臼田孝
2006年度精密工学会秋季大会 精密工学会
Event date： 2006.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：宇都宮大学
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小型自走機械群による超精密生産機械システム―第106報 圧電変位拡大機構による高速化―
三上匡博，渕脇大海，青山尚 之，見崎大悟，臼田孝
2006年度精密工学会秋季大会 2006 精密工学会
Event date： 2006.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：宇都宮大学
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Development of Inertia Driven Micro Robot with Nano Tilting Table for SEM Operation
Yoshihiro Nomura, Ohmi Fuchiwaki, Hisayuki Aoayama
ASME/JSME Joint Conf. on Micromechatronics for Information and Precision Equipment (MIPE 2006) ASME/JSME
Event date： 2006.6
Language：English Presentation type：Oral presentation (general)
Venue：Santa Clara California
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Desktop Micro Machining System by Multiple Micro Robots
Hisayuki Aoyama, Ohmi Fuchiwaki, Daigo Misaki and Takashi Usuda
IEEE Int'l. Conf. on Robotics, Automation & Mechatronics (RAM2006) IEEE
Event date： 2006.6
Language：English Presentation type：Oral presentation (general)
Venue：Bangkok
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微小磁性柔軟体の形状制御
小図子武弘，青山尚之，渕脇大海，見崎大 悟，臼田孝
2006年度精密工学会春季大会 精密工学会
Event date： 2006.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学
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小型自走機械群による超精密生産機械システム―第104報 ピペット振動による局所流動を用いた新しい細胞操作方法の提案
千葉直人，野村英寛，渕脇大海，朴炳湖， 見崎大悟，臼田孝，青山尚之
2006年度精密工学会春季大会 精密工学会
Event date： 2006.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学
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小型自走機械群による超精密生産機械システム―第103報FB制御とFF制御を用いた作業システムの開発―
川井崇史，鈴木義昭，渕脇大海，青山尚之，見崎大悟，臼田孝
2006年度精密工学会春季大会 精密工学会
Event date： 2006.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学
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小型自走機械群による超精密生産機械システム―第102報 インチワーム式球面３自由度マニピュレーターの搭載―
伊藤 暁，渕脇大海，見崎大 悟，臼田孝，青山尚之
2006年度精密工学会春季大会 精密工学会
Event date： 2006.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学
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小型自走機械群による超精密生産機械システム―第101報 最小二乗法と逐次学習機能を用いたXYθ型移動機構の動作補正―
田中哲治，渕脇大海，見崎大 悟，臼田孝，青山尚之
2006年度精密工学会春季大会 精密工学会
Event date： 2006.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京理科大学
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電磁圧電インチウォーム小型直交XYリニアステージ
梅木偉斗, 渕脇大海, 青山尚之, 臼田孝，見崎大悟
第１８回電磁力関連のシンポジウム
Event date： 2006
Language：Japanese Presentation type：Oral presentation (general)
Venue：神戸国際会館
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小型自走機械群による超精密生産機械システム―第107報 超小型精密移動機構の移動性能の評価方法について―
入江優花，青山尚之，渕脇大海，見崎大 悟，臼田孝
2006年度精密工学会秋季大会 2006 精密工学会
Event date： 2006
Language：Japanese Presentation type：Oral presentation (general)
Venue：宇都宮大学
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Micro Robotics and Its Bio-Applications
Daigo Misaki, Ohmi Fuchiwaki, Naoto Chiba, Hisayuki Aoyama
Int'l. Conf. on Precision Engineering and Micro/Nano Technology in Asia (ASPEN2005)
Event date： 2005.11
Language：English Presentation type：Oral presentation (general)
Venue：Shenzhen
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Nano-Micro Imprinting System Operated by Micro Robots
Y. Suzuki, O. Fuchiwaki, T. Usuda, Y. Kato and H. Aoyama
1st Topical Meeting on Microfactories Desktop MEMS and Nano Factories
Event date： 2005.10
Language：English Presentation type：Oral presentation (general)
Venue：Tsukuba
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小型自走機械群による超精密生産機械システム―第95報 XYθ型小型自走機械のインチウォーム動作の等速制御手法―
鈴木義昭，渕脇大海, 見崎大悟，臼田孝，青山尚之
2005年度精密工学会秋季大会 精密工学会
Event date： 2005.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：京都大学
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小型自走機械群による超精密生産機械システム―第99報 XYθ型移動機構の固有パラメータを用いた自動補正システムの改良―
田中哲治，渕脇大海，見崎大 悟，臼田孝，青山尚之
2005年度精密工学会秋季大会 2005.9 精密工学会
Event date： 2005.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：京都大学
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小型自走機械群による超精密生産機械システム―第98報-複数のピペット振動による局所流動を用いた卵細胞の位置決めと三次 元精密回転の試み―
千葉直人，野村英寛，渕脇大海，朴炳湖， 見崎大悟，臼田孝，青山尚之
2005年度精密工学会秋季大会 精密工学会
Event date： 2005.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：京都大学
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小型自走機械群による超精密生産機械システム―第97報-マイクロピンセットの開発―
伊藤 暁，渕脇大海，見崎大 悟，臼田孝，青山尚之
2005年度精密工学会秋季大会 精密工学会
Event date： 2005.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：京都大学
-
小型自走機械群による超精密生産機械システム―第96報-デスクトップマイクロファクトリの可搬性に優れた補正システムの開発―
川井崇史，鈴木義昭，渕脇大海，青山尚 之，見崎大悟，臼田孝
2005年度精密工学会秋季大会 精密工学会
Event date： 2005.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：京都大学
-
高分子エマルションを用いた微生物型マイクロマシンの開発
小図子武弘，渕脇大海，青山尚之
2005年度精密工学会秋季大会 精密工学会
Event date： 2005.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：京都大学
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Automatic Micro-Indentation and Inspection System by Piezo Driven MicroRobot with Multiple Inner Sensors
Ohmi Fuchiwaki, Nobuyuki Tobe, Hisayuki Aoyama, Daigo Misaki, Takashi Usuda
IEEE Int'l. Conf. on Mechatronics & Automation (ICMA 2005) IEEE
Event date： 2005.7
Language：English Presentation type：Oral presentation (general)
Venue：Niagara Falls, Canada
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Development of micro rescue robot - human detection
Atsuhisa Himoto, Hisayuki Aoyama, Ohmi Fuchiwaki, Daigo Misaki and Theodore Sumrall
IEEE Int'l. Conf. on Mechatronics (ICM 2005) IEEE
Event date： 2005.7
Language：English Presentation type：Oral presentation (general)
Venue：Taipei
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Microscopic operation system using multiple micro robots -Cooperation microscopic operation within a microscopic field
Yoshihiro Nomura, Daigo Misaki, Ohmi Fuchiwaki, Takeshi Usuda, Hiosayuki Aoyama
KSME-JSME Joint Int'l. Conf. on Manufacturing, Machine Design and Tribology KSME-JSME
Event date： 2005.6
Language：English Presentation type：Oral presentation (general)
Venue：Seoul
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Micro Hopping Robot with IR Sensor for Disaster Survivor Detection
Hisayuki Aoyama, Atushi himoto, Ryutaro Misumi, Ohmi Fuchiwaki, Daigo Misaki, Thedore Sumrall
IEEE Int'l. Workshop on Safety, Security and Robotics IEEE
Event date： 2005.6
Language：English Presentation type：Oral presentation (general)
Venue：Kobe
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Versatile Micro Robots for Precise & Flexible Cell Processing
Ohmi Fuchiwaki, Hisayuki Aoyama
44th ICAT/JTTAS Joint Int'l. Smart Actuator Symposium 2005.4 ICAT/JTTAS
Event date： 2005.4
Language：English Presentation type：Oral presentation (general)
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産総研における振動加速度標準の整備と今後の課題
臼田 孝, 大田明博, 石神民雄, 渕脇大海, 見崎大悟, 青山尚之, 佐藤宗純
2005年度精密工学会春季大会 精密工学会
Event date： 2005.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：慶應大学
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小型自走機械群による超精密生産機械システム―第94報 自走機械のための精密誘導システムの開発―
脇海道豊, 川井崇史, 茅野史郎, 渕脇大海, 青山尚之, 見崎大悟, 臼田孝
2005年度精密工学会春季大会 精密工学会
Event date： 2005.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：慶應大学
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小型自走機械群による超精密生産機械システム―第93報 顕微授精システムへの応用―
藤井裕介, 梅木偉斗, 千葉直人, 井上幸人, 渕脇大海, 青山尚之
2005年度精密工学会春季大会 精密工学会
Event date： 2005.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：慶應大学
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小型自走機械群による超精密生産機械システム―第92報 極微少液滴塗布機構によるマイクロエマルションの生成―
木原浩孝, 越湖智之, 渕脇大海, 青山尚之, 水谷祐輔, 見崎大悟, 井野内康克
2005年度精密工学会春季大会 精密工学会
Event date： 2005.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：慶應大学
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小型自走機械群による超精密生産機械システム―第91報 極微少液滴塗布機構の精密自動振幅制御―
越湖智之, 木原浩孝, 戸部信幸, 渕脇大海, 青山尚之, 見崎大悟, 臼田孝, 井野内康克
2005年度精密工学会春季大会 精密工学会
Event date： 2005.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：慶應大学
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XYθ型自走機械による精密ドリル加工システムの開発
川井崇史, 脇海道豊, 渕脇大海, 青山尚之, 見崎大悟, 臼田 孝
ロボティク・メカトロニクス講演会'05 2005 日本ロボット学会、日本機械学会
Event date： 2005
Language：Japanese Presentation type：Oral presentation (general)
Venue：神戸国際展示場
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微細ツールを搭載した超小型ロボットと焦点自動位置決め
梅木偉斗, 千葉直人, 鈴木義昭, 藤井裕介, 渕脇大海
ロボティク・メカトロニクス講演会'05 2005 日本ロボット学会、日本機械学会
Event date： 2005
Language：Japanese Presentation type：Oral presentation (general)
Venue：神戸国際展示場
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3D Micro Robot Manipulation Control Based on Intelligent Microscopic Image Recognition
Daigo Misaki, Chiba Naoto, Takeshi Usuda, Ohmi Fuchiwaki and Hisayuki Aoyama
Int'l. Conf. on Machine Automation 2004.11
Event date： 2004.11
Language：English Presentation type：Oral presentation (general)
Venue：Osaka
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小型自走機械群による超精密生産機械システム (第88報) -インチワーム駆動と慣性駆動を併用した高速精密位置決め動作
藤井裕介，渕脇大海，青山尚之，見崎大悟
2004年度精密工学会秋季大会学術講演会 精密工学会
Event date： 2004.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：島根大学
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マイクロ振動モーターによる共振式跳躍移動機構 第四報ー赤外線センサーによる被災者探査の試み
樋元淳尚，渕脇大海，青山尚之
2004年度精密工学会秋季大会学術講演会 精密工学会
Event date： 2004.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：島根大学
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小型自走機械群による超精密生産機械システム(第90報) -ピペット振動による卵細胞の非接触回転位置決め
千葉直人，梅木偉斗，渕脇大海，青山尚 之，見崎大悟
2004年度精密工学会秋季大会学術講演会 精密工学会
Event date： 2004.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：島根大学
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小型自走機械群による超精密生産機械システム(第89報)-微少液滴（ピコリットル）塗布機構を用いた塗布量の制御ロボットの構成
木原浩孝，渕脇大海，青山尚 之，水谷祐輔，見崎大悟，井野内康克
2004年度精密工学会秋季大会学術講演会 精密工学会
Event date： 2004.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：島根大学
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3D Micro Image Recognition for in Bio-Cell Operation by Micro Robots
Daigo Misaki, Chiba Naoto, Usuda Takeshi, Ohmi Fuchiwaki, Hisayuki Aoyama
annual meeting of ASPE 2004.10 ASPE
Event date： 2004.10
Language：English Presentation type：Oral presentation (general)
Venue：Orland
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Desktop Micro Drilling and Assembling System by Microrobots -Combination of Global and Local Positioning System-
Yutaka Wakikaido, Takeshi Kawai, Shirou Kayano, Daigo Misaki, Ohmi Fuchiwaki, Takeshi Usuda, Hisayuki Aoyama
Int'l. Workshop on Microfactories 2004.10
Event date： 2004.10
Language：English Presentation type：Oral presentation (general)
Venue：Shanghai
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Improvement of Visual Based Motion Error Compensation for Precise Versatile Micro Robot
Ohmi Fuchiwaki, Daigo Misaki, Hisayuki Aoyama
annual meeting of ASPE 2004.10 ASPE
Event date： 2004.10
Language：English Presentation type：Oral presentation (general)
Venue：Orland
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Precise Automatic Guiding and Positioning of Micro robots with a Fine Tool for Microscopic Operations
Daigo Misaki, Shiro Kayano, Yutaka Wakikaido, Ohmi Fuchiwaki, Hisayuki Aoyama
IEEE/RSJ Int'l. Conf. on Intelligent Robots and Systems (IROS 2004) IEEE/RSJ
Event date： 2004.9
Language：English Presentation type：Oral presentation (general)
Venue：Sendai
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Self-positioning control doe micro robot with optical surface sensor
Nobuyuki Tobe, Ohmi Fuchiwaki, Daigo Misaki, Hisayuki Aoyama and Takeshi Usuda
Asia Int'l. symposium on Mechatronics 2004.9
Event date： 2004.9
Language：English Presentation type：Oral presentation (general)
Venue：Xian
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Insect Based Navigation of Micro Robots for Artificial Insemination
Hisayuki AOYAMA, Daigo Misaki, Ohmi Fuchiwaki
IEEE Int'l. Conf. on Intelligent Mechatronics and Automation (ICMA 2004) IEEE
Event date： 2004.8
Language：English Presentation type：Oral presentation (general)
Venue：Chendu
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Precise Navigation for Piezo Based Versatile Miniature Robot with self-gauging Detector
Nobuyuki Tobe, Ohmi Fuchiwaki, Daigo Misaki, Takeshi Usuda and Hisayuki Aoyama
Int'l. Conf. on Positioning Technology (ICPT 2004)
Event date： 2004.6
Language：English Presentation type：Oral presentation (general)
Venue：Hamamatsu
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Piezo Based Micro Robots System for Precise Micro Bio and Chemical Applications
Hisayuki Aoyama, Ohmi Fuchiwaki, Daigo Misaki
9th International Conference on New Actuators
Event date： 2004.6
Language：English Presentation type：Oral presentation (general)
Venue：Bremen
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小型自走機械群による超精密生産機械システム(第86報) -XYθ型移動機構の固有パラメ－タを用いた自動補正システム-
渕脇大海，見崎大悟，青山尚之
2004年度精密工学会春季大会 精密工学会
Event date： 2004.3
Language：Japanese Presentation type：Oral presentation (general)
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小型自走機械群による超精密生産機械システム(第84報) -多自由度マニピュレ－タの開発-
伊藤暁，藤井祐介，渕脇大海，見崎大悟，青山尚之
2004年度精密工学会春季大会 精密工学会
Event date： 2004.3
Language：Japanese Presentation type：Oral presentation (general)
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顕微画像認識に基づく超小型ロボットの精密誘導と位置決め
見崎大悟，渕脇大海，青山尚之
第9回ロボティクスシンポジア 日本ロボット学会
Event date： 2004
Language：Japanese Presentation type：Oral presentation (general)
Venue：沖縄
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超小型ロボットを用いた顕微作業システム
見崎大悟，野村英寛，斉藤顕，千葉直人，渕脇大海，青山尚之
第13回CAMSUコンファレンス
Event date： 2004
Language：Japanese Presentation type：Oral presentation (general)
Venue：静岡大学
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微少液滴(ピコリットル)塗布機構の開発
木原浩孝，水谷祐介，渕脇大海，見崎大悟，青山尚之
ROBOMEC'04 2004 日本ロボット学会、日本機械学会
Event date： 2004
Language：Japanese Presentation type：Oral presentation (general)
Venue：名城大学
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イン・アタッシュケース式ナノ作業用マイクロロボットシステムの開発
鈴木義昭，藤井祐介，渕脇大海，見崎大悟，青山尚之
ROBOMEC'04 2004 日本ロボット学会、日本機械学会
Event date： 2004
Language：Japanese Presentation type：Oral presentation (general)
Venue：名城大学
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The Current progress of measurment Standard for vibration in NMIJ/AIST
Takeshi Usuda, Akihiro Ohta, Tamio Ishigami, Ohmi Fuchiwaki, DaigoMisaki, Hisayuki Aoyama and Sojun Sato
Int'l. Conf. on Vibration Measurement by Laser Techniques, Proc. of SPIE Vol. 5503, pp. 30-38, 2004
Event date： 2004
Language：English Presentation type：Oral presentation (general)
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Flexible Microprocessing Organized by Versatile Microrobots
Ohmi Fuchiwaki, Daigo Misaki and Hisayuki Aoyama
7th Int'l. Conf. on Mechatronics Technology (ICMT 2003)
Event date： 2003.12
Language：English Presentation type：Oral presentation (general)
Venue：Taipei
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小型自走機械群による超精密生産機械システム(第79報) ＸＹθ小型自走機構の自動補正システムの改良
南條隆一，渕脇大海，青山尚之
2003年度精密工学会秋季学術講演会 精密工学会
Event date： 2003.10
Language：Japanese Presentation type：Oral presentation (general)
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小型自走機械群による超精密生産機械システム(第81報) ホッピング加工機による微細溝加工の自動化
藤井祐介，南條隆一，渕脇大海，青山尚之
2003年度精密工学会秋季学術講演会 精密工学会
Event date： 2003.10
Language：Japanese Presentation type：Oral presentation (general)
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Precise manipulation control on three versatile microrobots for flexible micro handling
O. Fuchiwaki and H. Aoyama
18th ASPE Annual meeting 2003.10 ASPE
Event date： 2003.10
Language：English Presentation type：Oral presentation (general)
Venue：Portland
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小型自走機械群による超精密生産機械システム(第70報) 光学マウスを利用した搭載型自己位置測定機能
戸部信幸，渕脇大海，青山尚之
2003年度精密工学会春季学術講演会 精密工学会
Event date： 2003.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京農工大学
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小型自走機械群による超精密生産機械システム(第76報) ＸＹθ小型自走機械によるリボルバー式複合微細作業の試み
渕脇大海，斉藤貴康，青山尚之
2003年度精密工学会春季学術講演会 精密工学会
Event date： 2003.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京農工大学
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小型自走機械群による超精密生産機械システム(第73報) ＸＹθ型自走機械の隊列維持制御システムの開発
西澤竜太，藤井祐介，渕脇大海，青山尚之
2003年度精密工学会春季学術講演会 精密工学会
Event date： 2003.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京農工大学
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小型自走機械群による超精密生産機械システム(第72報) 3点支持球による微細マニピュレータの開発と応用
庄司裕一，藤井祐介，渕脇大海，青山尚之
2003年度精密工学会春季学術講演会 精密工学会
Event date： 2003.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京農工大学
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小型自走機械群による超精密生産機械システム(第68報) ＸＹθ型小型自走機械用マニピュレータの開発
庄司裕一，渕脇大海，青山尚之
2002年度精密工学会秋季学術講演会 精密工学会
Event date： 2002.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：熊本大学
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小型自走機械群による超精密生産機械システム(第69報) ＸＹθ型移動機構の円弧動作の自動補正システム
渕脇大海，南條隆一，青山尚之
2002年度精密工学会秋季学術講演会 精密工学会
Event date： 2002.10
Language：Japanese Presentation type：Oral presentation (general)
Venue：熊本大学
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Piezo Based Micro Robot for Microscope Instrument
Ohmi Fuchiwaki and Hisayuki Aoyama
Int'l. Conf. on Mechatronics Technology (ICMT 2002)
Event date： 2002.10
Language：English Presentation type：Oral presentation (general)
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Visual Based Motion Error Compensation for Precise Versatile Micro Robot
O. Fuchiwaki and H. Aoyama
ASPE Annual meeting ASPE
Event date： 2002.10
Language：English Presentation type：Oral presentation (general)
Venue：St. Louis
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小型自走機械群による超精密生産機械システム（第62報） ＸＹθ型位置機構のツール先端の円弧動作
庄司裕一，南條隆一，渕脇大海，青山尚之
2002年度精密工学会春季学術講演会 精密工学会
Event date： 2002.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京工業大学
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小型自走機械群による超精密生産機械システム（第64報）ＸＹθ型位置機構の顕微鏡下微細作業
渕脇大海，木須隆，青山尚
2002年度精密工学会春季学術講演会 精密工学会
Event date： 2002.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京工業大学
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小型自走機械群による超精密生産機械システム（第63報） ＸＹθ型位置機構の自動補正システム
南條隆一，庄司裕一，渕脇大海，青山尚之
2002年度精密工学会春季学術講演会 精密工学会
Event date： 2002.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京工業大学
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Design and Control of Versatile Micro Robot for Microscopic Manipulation
O. Fuchiwaki and H. Aoyam
ASPE Annual meeting ASPE
Event date： 2001.12
Language：English Presentation type：Oral presentation (general)
Venue：Washington DC
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型自走機械群による超精密生産機械システム（第58報） ＸＹθ型小型自走機械の位置決め性能と微細加工ステージへの応用
渕脇大海，庄司裕一，木須隆，南條隆一，青山尚之
2001年度精密工学会秋季学術講演会 精密工学会
Event date： 2001.9
Language：Japanese Presentation type：Oral presentation (general)
Venue：大阪大学
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Flexible Micro Processing by Multiple Microrobots in SEM
Hisayuki Aoyama and Ohmi Fuchiwaki
IEEE Int'l. Conf. on Robotics & Automation (ICRA 2001) IEEE
Event date： 2001.5
Language：English Presentation type：Oral presentation (general)
Venue：Seoul, Korea
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小型自走機械群による超精密生産機械システム（第49報）XYθに独立自由度を有する小型自走機械の開発
渕脇大海，庄司裕 一，T.Chomchana，青山尚之
2001年度精密工学会春季大会学術講演会 精密工学会
Event date： 2001.3
Language：Japanese Presentation type：Oral presentation (general)
Venue：東京都立大学
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超小型自走機械群による超精密生産システム（第48報）SEM内での微小部品のYAGレーザー接合組み立ての試み
渕脇大海，青山尚之，T.Chomchana，庄司裕一
2000年度精密工学会秋季大会学術講演会 精密工学会
Event date： 2000.10
Language：English Presentation type：Oral presentation (general)
Venue：名古屋工業大学
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Flexible Micro-Processing by Multiple Miniature Robots in SEM Vacuum Chamber
Ohmi Fuchiwaki and H. Aoyama
IEEE Int'l. Symposium on Micromechatronics and Human Science2000 (MHS 2000) 2000.10 IEEE
Event date： 2000.10
Language：English Presentation type：Oral presentation (general)
Venue：Nagoya
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３台のマイクロロボットの協調によるSEM内でのフレキシブル試料台の精密位置決めシステム
渕脇大海，青山尚之
第12回「電磁力関連のダイナミックス」シンポジウム 電気学会，日本機械学会,日本AEM学会
Event date： 2000.6 - 2000.7
Language：Japanese Presentation type：Oral presentation (general)
Venue：沖縄県那覇市メルパルクOKINAWA「郵便貯金会館」
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SEM内微細作業用超小型自走機械の開発
渕脇大海，郡和寛， 青山尚之
マイクロメカトロニクス学術講演会
Event date： 2000
Language：English Presentation type：Oral presentation (general)
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SEM内微細作業用マイクロロボットとYAGレーザーによる微細加工
渕脇大海，郡和寛， 青山尚之
日本機械学会ロボメカ部門講演会
Event date： 2000
Language：Japanese Presentation type：Oral presentation (general)
-
ネットワークによるマイクロロボットの遠隔操作(微細作業用実機システムの開発)
羯磨亮二，渕脇大海，青山尚之
日本機械学会ロボメカ部門講演会
Event date： 2000
Language：Japanese Presentation type：Oral presentation (general)
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超小型自走機械群による超精密生産システム（第35報）SEM内遠隔操作による微細作業システムの試み
渕脇大海，郡和寛， 青山尚之
1999 年度精密工学会九州支部沖縄地方学術講演会
Event date： 1999.12
Language：Japanese Presentation type：Oral presentation (general)