Development of Interactive Environment for Practical Biological Manufacturing Systems

实用生物制造系统交互环境的开发

• 批准号: 10555040
• 负责人: UEDA Kanji
• 金额: $ 4.74万
• 依托单位: Kobe University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10555040/
• 关键词: Biological Manufacturing System; Interactive Environment; Autonomous locomotive robot; Virtual Reality; Self organization; 強化学習

In this research, we developed an interactive environment for realizing practical Biological Manufacturing Systems (BMS). To realize the interactive environment, we studied the issues as follows :1998Theory of interactive environment : To confirm the efficiency of interactive environment, we classified the problems in manufacturing systems in to 3 classes, and suggested that we can solve the class III problems, which are most difficult to solve, using the interactive environment.Development of BMS using virtual reality : We developed type prototype of the interactive environment by combining the theory of self-organization and the technique of virtual reality, and observed the interaction between the human and the environment.Application of the interactive environment to the learning of autonomous locomotive robots : We developed a walking robot with four legs, which has the capability of the extended reinforcement learning, and showed the efficiency of the learning method.1999Theoretical performance evaluation of the interactive environment : We evaluated the validity and the performance of the interactive environment using the theory of interactive environment developed in this research.Extension of the interactive environment : We extended the theory of self-organization and the prototype system based on the evaluation.Evaluation on the research : We evaluate this research in the point of view of practical use of BMS using the prototype system.

在本研究中，我们开发了一个互动环境，以实现实际的生物制造系统（BMS）。为了实现交互环境，我们研究了以下问题：1998交互环境理论：为了确认交互环境的有效性，我们将制造系统中的问题分为三类，并建议使用交互环境解决最难解决的III类问题。使用虚拟现实的BMS开发：将自组织理论与虚拟现实技术相结合，开发了交互式环境的原型，并观察了人与环境的交互过程。交互式环境在自主移动机器人学习中的应用：我们开发了一个四条腿的步行机器人，它具有扩展强化学习的能力，并显示了学习方法的效率。1999互动环境的理论性能评估：我们使用本研究中发展的互动环境理论来评估互动环境的有效性和绩效。对本研究的评价：利用原型系统从BMS实际应用的角度对本研究进行评价。

项目成果

Kazuhiro Ohkura: "Robust evolution strategies" Proceedngs of The Second Asia-Pacific Conference on Simulated Evolution and Learning(SEAL'98). (1998)

Kazuhiro Ohkura：“鲁棒进化策略”第二届亚太模拟进化与学习会议（SEAL98）论文集。

Mikhail Svinin: "On the emergence of motion patterns in locomotion systems" Proceedings of the 4th Int.Symposium on Artificial Life and Robotics,AROB'99. 158-161 (1998)

Mikhail Svinin：“关于运动系统中运动模式的出现”第四届国际人工生命和机器人研讨会论文集，AROB99。

K.Kawakami: "A homogeneous robot group approach to coperative carrying problems"The 3rd World Multiconf.on Systemics,Cybernetics and Informatics and The 5th International Conf.on Information Systems Analysis and Synthesis. 353-360 (1999)

K.Kawakami：“一种解决协作搬运问题的同类机器人组方法”第三届世界系统学、控制论和信息学综合会议和第五届信息系统分析与综合国际会议。

M.Svinin: "Learning control of autonomous robots using an instance-based classifier generator in continuous state space"Artifi Life Robotics. 90-96 (1999)

M.Svinin：“在连续状态空间中使用基于实例的分类器生成器来学习控制自主机器人”Artifi Life Robotics。

Kazuhiro Ohkura: "A learning multi-agent approach to dynamic scheduling for autonomous distributed manufacturing systems" 15th International Conference on COMPUTER-AIDED PRODUCTION ENGINEERlNG(CAPE'99). (1999)

Kazuhiro Ohkura：“自主分布式制造系统动态调度的学习多代理方法”第 15 届计算机辅助生产工程国际会议（CAPE99）。