2P1-A23 光による原生生物の行動制御に関する研究 : 第6報: ミドリムシ集団による物体搬送時の搬送方向の制御

概要

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This paper describes the automatic manipulation system by the motion controlled mas group of Euglena. The group of the Euglena was formed by the scanned blue laser beam. Euglena gather around the blue laser by their positive orientation phototaxis. First, The transportation of an object by mass group of euglena was tried, and the transportable condition (size, weight, etc.) was investigated. Next, the recognition system of the transportation object by using image processing method was examined. Estimation of the position of the object within a lot of Euglena was difficult. The object recognition was achieved to apply the cross correlation method. By this method, this experimental system could measure the position and the angle of the transportation object. Finaly, this system can transport the object with correcting the angle of the object to the specific angle by visual feedback control program.
一般社団法人日本機械学会の論文