Automation of Plant Tissue Culture Process by Newly Designed Robot

我们研制了一种名为Mericclone Robot的微型机器人，它将20 mm长的幼苗或组织培养产生的愈伤组织从一种AGER培养基移到另一种培养基上。该机器人由形状记忆合金驱动器驱动，可以不受任何损伤地轻柔抓取秧苗。识别苗木的位置，当用少量的脉冲电流充电时，这些苗木发出的电波就像天线一样。通过评估各种类型的天线，在接收端的手上打印图案，我们设计了小型化的天线。通过颜色传感器识别它们的生长状态。将这些设备集成为一个单元，完成了由垂直排列的两个单元组成的全自动苗木移植系统，其中每个单元都作为一个个体使用。我们采用了远程操作的方法，利用电话线路将房间保持在无菌状态。性能测试发现这位S…系统可实用化，移栽一株苗木约需20秒。此外，我们还开发了将机器人放置在能够控制其环境的胶囊培养箱中的移植系统，以及应用上述天线传感方法获得愈伤组织和植物器官图像的装置。后者认为，该图像可作为测量植物形态和生理状况的传感器。新研制了一种简化的无离心机的原生质体自动生产装置。此外，我们还制作了适应介电现象的装置来控制原生质体在溶液中的运动，探索了细胞融合自动化的可能性。从本文报告的全部结果出发，讨论了植物组织培养自动化系统开发的设计思想，并阐明了与现有技术协调等实际应用中的问题。较少

We developed the microrobot named 'Mericlone Robot' which transplants the 20-mm-long seedlings or the callus grown by tissue cultivation from one culture-medium of ager to another. This robot, which is moved by shape memory alloy actuators, can gras13EA\ : p seedlings softly without any damage. The location of seedlings is recongnized, these emitting electrical wave like an antenna when charged with the small amount of pulse current. With the evaluations of various types of antenna, pattern-printed to13EA\ : the hand on received side, we had contrived to miniaturize it. Their growth state was discriminated by the color sensor. With those devises integrated to be one unit, the fully automatized seedling transplantation system composed of two units arran13EA\ : ged vertically has been completed in which each unit is utilized as an individual as well. We adopted the remote manipulation method using telephone circuits to keep a room in an aseptic condition.The performance test found this s … More ystem able to be used practically getting the result that it took approximately 20s to transplant a seedling. Besides we developed the transplantation system setting the robot in the capsule-typed incubator which is able to control its environment and, as the application of the application of the antenna sensing method above, the devise to obtain the image of callus and plant organ. The latter concluded that the image would be available as the sensor of measur13EA\ : ing the shape and the physiological condition of plant. The automatic protoplast production devise simplized without a centrifugal separator was newly made. We, in addition, made the devise accommodated to the dielectrophoresis phenomenon to control13EA\ : the motion of protoplast in solution, investigating the possibility of the automatization of cell fusion. From the whole results to be reported in this stury we discussed the design concept for the development of the automatic system on plant tissu13EA\ : e cultivation and clarified the problems of the practical aplication such as the coordination with the present technology. Less