Development of a pulse control-type MEMS microrobot with a hardware neural network

This article presents the micro-electro-mechanical systems (MEMS) microrobot which demonstrates locomotion controlled by hardware neural networks (HNN). The size of the microrobot fabricated by the MEMS technology is 4 × 4 × 3.5 mm. The frame of the robot is made of silicon wafer, and it is equipped with a rotary-type actuator, a link mechanism, and six legs. The rotary-type actuator generates rotational movement by applying an electrical current to artificial muscle wires. The locomotion of the microrobot is obtained by the rotation of the rotary-type actuator. As in a living organism, the HNN realized robot control without using any software programs, A/D converters, or additional driving circuits. A central pattern generator (CPG) model was implemented as an HNN system to emulate the locomotion pattern. The MEMS microrobot emulated the locomotion method and the neural networks of an insect with the rotary-type actuator, the link mechanism, and the HNN. The microrobot performed forward and backward locomotion, and also changed direction by inputting an external trigger pulse. The locomotion speed was 0.325 mm/s and the step width was 1.3 mm.     

Extremely localized interaction in a market model

The model of self-organized criticality (SOC) is a useful tool to understand the complexity of natural systems in the form of the artificial life and the artificial market. However, SOC remains the question what guarantees the criticality even though the natural systems seem to keep itself in the critical state. In this paper, we focus on the locality of interaction in zero-intelligence plus (ZIP) model. The extremely localized interaction changes the behavior of the ZIP model from equilibrium to intermittency. Although the original ZIP model falls into unstable with some noise, extremely localized interaction model archives robust intermittency against the noise parameter. Further, the statistical property of intermittent behavior shows the power-law nature.     

Detection algorithm for color dynamic images by multiple surveillance cameras under low luminance conditions based on fuzzy corresponding map

An objects detection algorithm for color dynamic images from two cameras is proposed for a surveillance system under low illumination. It provides automatic calculation of a fuzzy corresponding map and color similarity for lower luminance conditions, which detects little chromatic regions in CCD camera images under lower illumination and presents regions with a possibility of occlusion situation. Experimental detection results for two dynamic images from real surveillance cameras in a downtown area in Japan under low luminance conditions show that the proposed algorithm has 15% improved accuracy compared with the independent detection algorithm in the same false alarm rate, which occlusion regions are correctly presented. Moreover, implementability for severe surveillance situation is discussed. The proposed algorithm is being considered for use in a low cost surveillance system at a relatively poor security downtown (shopping mall) area in Japan.     

VS‐CONTROL WITH TIME‐VARYING SLIDING SECTOR — DESIGN AND APPLICATION TO PENDULUM —

In general, a Variable Structure (VS) system is designed with a sliding mode. Recently a sliding sector, designed by an algebraic Riccati equation, has been proposed to replace the sliding mode for chattering‐free VS controllers. In this paper we extend the design algorithm for the sliding sector to a time‐varying sliding sector. The time‐varying sliding sector is defined by functions dependent on both state and time, hence time‐varying uncertainty can be considered. The VS controller is designed to stabilize an uncertain system, quadratically. The design procedure for real systems is introduced via an implementation to the control of “Furuta pendulum”. To enhance the stability it is necessary to compensate the time‐varying nonlinear static friction of the actuator adequately, hence this problem is a good example to demonstrate the performance of the proposed VS control method. In the experiment, it will be shown that the VS control with the time‐varying sliding sector is superior to an orthodox chattering‐free VS control.     

Locomotion Control of MEMS Microrobot Using Pulse‐Type Hardware Neural Networks

This paper presents the locomotion control of a microelectromechanical system (MEMS) microrobot. The MEMS microrobot demonstrates locomotion control by pulse‐type hardware neural networks (P‐HNN). P‐HNN generate oscillatory patterns of electrical activity like those of living organisms. The basic component of P‐HNN is a pulse‐type hardware neuron model (P‐HNM). The P‐HNM has the same basic features as biological neurons, such as the threshold, the refractory period, and spatiotemporal summation characteristics, and allows the generation of continuous action potentials. P‐HNN has been constructed with MOSFETs and can be integrated by CMOS technology. Like living organisms, P‐HNN has realized robot control without using software programs or A/D converters. The size of the microrobot fabricated by MEMS technology was 4 × 4 × 3.5 mm. The frame of the robot was made of a silicon wafer, equipped with rotary actuators, link mechanisms, and six legs. The MEMS microrobot emulated the locomotion method and the neural networks of an insect by rotary actuators, link mechanisms, and the P‐HNN. We show that the P‐HNN can control the forward and backward locomotion of the fabricated MEMS microrobot, and that it is possible to switch its direction by inputting an external trigger pulse. The locomotion speed was 19.5 mm/min and the step size was 1.3 mm. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(3): 43–50, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22473     

Effect of Shear Rate Distribution on Particle Aggregation in a Stirred Vessel

The modeling of particle aggregation under a simple shear flow and the extension of the model to a stirred vessel is described. The model quantitatively demonstrates the change of the number of aggregates with time for each shear rate. This number increased with higher shear rate and, conversely, the aggregate size became small when raising the shear rate. This was because aggregates were broken by the stronger shear force. The number of aggregates for different impellers was determined. The shear rate was back‐calculated from the experimentally obtained aggregate size and the model equation. This shear rate was different from that estimated from the Metzner‐Otto method, consequently, some revisions of the Metzner‐Otto equation might be necessary for its application to particle aggregation.     

Effects of plasma parameters on increasing the purity of nitrogen atom encapsulated fullerene in an RF plasma

Relatively high purity of nitrogen atom encapsulated fullerene (N@C₆₀) has been synthesized by an electron beam superimposed radio frequency (RF) discharge plasma method. Nitrogen species are characterized by an optical emission spectroscopy (OES); and a relationship between optical emission spectra and the purity of N@C₆₀ has been examined. It is observed that the increased amount of nitrogen molecule ions impinging on the sublimated fullerenes enhance the synthesis of N@C₆₀. Here, it is cleared that the efficient synthesis of N@C₆₀ is possible by controlling the parameters of electron beam superimposed RF plasma. As a consequence, comparatively high purity of about 0.08% of N@C₆₀ has been obtained.     

Thermal Analysis for Package Cooling Technology Using Phase-Change Material by Using Thermal Network Analysis and CFD Analysis With Enthalpy Porosity Method

This paper describes a transient cooling technology for electronic equipments using phase-change material (PCM). The module is made of low-cost materials, yet it is designed to achieve a reasonably high level of heat transfer performance. Paraffin is used as the PCM. In previous our report, we can estimate the cooling performance of PCM by using a thermal network method, which cannot calculate melted PCM flow. In this paper, we consider the heat transfer phenomena of PCM module more deeply by using computational fluid dynamics (CFD) analysis with an enthalpy porosity method. By using this method, we can calculate phase-change phenomena and flow phenomena of melted PCM with CFD analysis. First, we briefly explain the results of the experiment and the thermal network analysis. Then we describe the details of CFD analysis with the enthalpy porosity method. In this calculation, melted PCM flow and heat absorption of latent heat can be analyzed. Therefore, we can discuss the reason why the thermal network analysis can estimate cooling performance of PCM module without dealing with melted PCM flow. The calculation results showed that natural convective flow of melted PCM affects the cooling performance of the PCM module. In the case where the PCM module is set vertically, high temperature and low temperature locations exist on the substrate. If several devices are cooled with the PCM module, device consuming the most power must be set in the lower part of the PCM module. From these results, we can conclude that no natural convective flow occurs in our experiment due to the shape of the PCM module.