Cellular Robotics and Micro Robotic Systems
This book introduces interesting topics, from concepts to the latest research, on cellular and micro robotic systems. The cellular robotic system is a self-organizing robotic system composed of a large number of autonomous robotic units, named cells. This idea came from the organic structure of a living body. Several attractive topics in this area are covered, such as swarm intelligence, communications, and robotic mechanisms. The micro robotic system is currently the most fascinating technology. Micro mechanisms, control and intelligence, with respect to this system are treated here. The combination of both technologies will prepare the way for a new paradigm in the field of engineering.
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DECENTRALIZED ROBOTIC SYSTEM
PARTII CELLULAR ROBOTICS
ChapterS NETWORK ORGANIZATION
COOPERATIVE DECESION MAKING USING
PART in MICRO ROBOTIC SYSTEMS
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ability application fields applied voltage Artificial autonomous robots axis calculated candidates CEBOT cellular robotic system chapter characteristics communication amount communication frequency communication protocol consider cooperation coordinate cross-dependence decentralized robotic systems defined described displacement docked electrode electromotive current electrostatic actuator etching evaluation function example experimental results Figure follows function words genetic algorithm given tasks group intelligence hierarchical architecture human-machine interface irradiation knowledge allocation knowledge amount LIGA process machines and micro master cell mechanism micro machines micro manipulators micro robotic systems microfabrication miniaturization movable electrode moving cell multiple robotic systems network energy number of cells optical piezo-electric actuator optical piezo-electric element optimal organization path planning PLZT position presents problem Proc prototype pyroelectric effect reconfiguration robotic units rotation selected self-organization shown in Fig silicon process simulation results string subordinate cells swarm intelligence T.Fukuda task matrix test piece thermal U.V. beam undocked vector
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