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Development of an Autonomous and Self Maintenance Machine

Research Project

Project/Area Number 01550203
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionThe University of Tokyo

Principal Investigator

YOSHIKAWA Hiroyuki  The University of Tokyo, Faculty of Engineering, Professor, 工学部, 教授 (20010689)

Co-Investigator(Kenkyū-buntansha) ISHIDA Yoshiki  The University of Tokyo, Faculty of Engineering, Research Associate, 工学部, 助手 (20203010)
TOMIYAMA Tetsuo  The University of Tokyo, Faculty of Engineering, Associate Professor, 工学部, 助教授 (60197944)
Project Period (FY) 1989 – 1990
Project Status Completed (Fiscal Year 1990)
Budget Amount *help
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1990: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1989: ¥1,500,000 (Direct Cost: ¥1,500,000)
KeywordsSelf Maintenance Machine / Maintenance / Artificial Intelligence / Mechatronics / Fault Diagnosis / Repair Planning / Qualitative Physics / Model Based Reasoning / 自律 / 自己修復 / 知識工学 / メカトロニクス機械
Research Abstract

In order to develop an autonomous and self maintenance machine, we proposed a new methodology which incorporates artificial intelligence techniques to mechatronic machines. The results of our research are summarized as follows:
1. Development of Models of Machines for Self Maintenance
We constructed a diagnosis/repair planning reasoner on a personal computer by employing qualitative physics and model based approach. This reasoner succeeded to reason out faults and repair plans from symptoms in the machine and has some advantages; viz., it can reason about unknown faults, it can be applied to many kinds of machines by changing its object model.
2. Development of a Prototype Autonomous and Self Maintenance Machine
By combining the above-mentioned reasoner with a mechatronic machine, we developed a prototype autonomous and self maintenance machine. As a result, we clarified the following points:
(a) The prototype machine succeeded to recover its functionality against deterioration of parts.
(b) The machine failed to recover its functionality against changes of its structure. In order to deal with this kind of fault, we are studying a new methodology for designing a self maintenance machine.
3. Proposal of Methodology for Developing an Autonomous and Self Maintenance Machine
We clarified three key points for developing an autonomous and self maintenance machine; viz., arrangement of sensors, arrangement of actuators, and ability of the diagnosis/repair planning reasoner.

Report

(3 results)
  • 1990 Annual Research Report   Final Research Report Summary
  • 1989 Annual Research Report
  • Research Products

    (15 results)

All Other

All Publications (15 results)

  • [Publications] 佐藤 隆,梅田 靖,冨山 哲男,吉川 弘之: "機械の構造と挙動の知識を用いた修復計画の生成" 1989年度精密工学会秋季大会学術講演会講演論文集. 573-574 (1989)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 梅田 靖,武田 英明,冨山 哲男,吉川 弘之: "機能、挙動、および、構造の関係について" 1990年度精密工学会春季大会学術講演会講演論文集. 307-308 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 小池 雄一,佐藤 隆,梅田 靖,冨山 哲男,吉川 弘之: "故障メカニズムの定性物理による表現" 1990年度精密工学会春季大会学術講演会講演論文集. 679-680 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Yasushi Umeda,Hideaki Takeda,Tetsuo Tomiyama,Hiroyuki Yoshikawa: "Function,behaviour,and structure" AIENG'90 Applications of AI in Engineering. 177-193 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 梅田 靖,小池 雄一,冨山 哲男,吉川 弘之: "単一故障発生過程仮説に基づく故障診断" 1990年度人工知能学会全国大会(第4回)論文集. 483-486 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] T. Sato, Y. Umeda, T. Tomiyama, H. Yoshikawa: "A Method of Repair Planning Based on the Knowledge about Structure and Behavior" preprints of JSPE 1989 fall. 573-574 (1989)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Y. Umeda, H. Takeda, T. Tomiyama, H. Yoshikawa: "Function, Behavior, and Structure" preprints of JSPE 1990. 307-308 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Y. Koike, T. Sato, Y. Umeda, T. Tomiyama, H. Yoshikawa: "Representation of Fault Mechanism based on Qualitative Physics" preprints of JSPE 1990. 679-680 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Y. Umeda, H. Takeda, T. Tomiyama, H. Yoshikawa: "Function, Behavior, and Structure" preprints of AIENG'90. 177-193 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Y. Umeda, Y. Koike, T. Tomiyama, H. Yoshikawa: "A Method of Diagnosis Based on Single Fault Process Assumption" preprints of 4th NCJSAI. 483-486 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 佐藤 隆,梅田 靖,冨山 哲男,吉川 弘之: "機械の構造と挙動の知識を用いた修復計画の生成" 1989年度精密工学会秋季大会学術講演会講演論文集. 573-574 (1989)

    • Related Report
      1990 Annual Research Report
  • [Publications] 梅田 靖,武田 英明,冨山 哲男,吉川 弘之: "機能,挙動,および,構造の関係について" 1990年度精密工学会春季大会学術講演会講演論文集. 307-308 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 小池 雄一,佐藤 隆,梅田 靖,冨山 哲男,吉川 弘之: "故障メカニズムの定性物理による表現" 1990年度精密工学会春季大会学術講演会講演論文集. 679-680 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] Yasushi Umeda,Hideaki Takeda,Tetsuo Tomiyama,Hiroyuki Yoshikawa: "Function,behaviour,and Structure" AIENG'90 Applications of AI in Engineering. 177-193 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 梅田 靖,小池 雄一,冨山 哲男,吉川 弘之: "単一故障発生過程仮説に基づく故障診断" 1990年度人工知能学会全国大会(第4回)論文集. 483-486 (1990)

    • Related Report
      1990 Annual Research Report

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Published: 1989-04-01   Modified: 2016-04-21  

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