Date: 2006.3.8 (Wed) 13:30-14:00
Speaker: Naoko Ogawa
Author: Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto and Masatoshi Ishikawa
Title: Evaluation and Suppression of Overrun of Microorganisms using Dynamics Model for Microrobotic Application
Keywords: Microrobot, Paramecium, Galvanotaxis, Model, Overrun, Trapping
Type: Organized Session

Affiliation: Ishikawa Namiki Komuro Laboratory, Department of Information Physics and Computing, Graduate School of Information Science and Technology, University of Tokyo
Position: JSPS Research Fellow
Collaborator: Hiromasa Oku, Koichi Hashimoto and Masatoshi Ishikawa
Disciplines: Bio-robotics, Micromachines, Visual Servoing, Theoretical Biology, Protozoology
Societies and Conferences: IEEE; Robotics Society of Japan (RSJ); Institute of Electronics, Information and Communication Engineers (IEICE); Society of Instrument and Control Engineers (SICE); Virtual Reality Society of Japan (VRSJ); IEEE ICRA; IEEE ISBI; IEEE ROBIO; IAS; IEEE VR

Bibliography: Naoko Ogawa, Hiromasa Oku, Koichi Hashimoto, and Masatoshi Ishikawa, "Evaluation and Suppression of Overrun of Microorganisms using Dynamics Model for Microrobotic Application", Intelligent Autonomous Systems 9 T. Arai et al. (Eds.) IOS Press, pp.1015--1024, 2006.

Abstract:
Our goal is to utilize living microorganisms as smart, autonomous microrobots. In previous work, we constructed a dynamics model of Paramecium cells for navigation using galvanotaxis (locomotion response to an applied electric field). In this paper, an overrun phenomenon, which affects the control performance, is evaluated using the proposed dynamics model, and it is found that the turning trajectory is independent of the individual ciliary forces. A trapping experiment based on this model is performed and better performance is achieved. This is an important step toward our eventual goal of using living cells as autonomous microrobots.

References:
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