1999 年度実績報告書

生物指向型生産システム実用化のためのインタラクティブ環境の開発

研究課題

研究課題/領域番号	10555040
研究機関	神戸大学
研究代表者	上田完次神戸大学, 工学部, 教授 (50031133)
研究分担者	大倉和博神戸大学, 工学部, 助手 (40252788) ミハイルシビニン神戸大学, 工学部, 助教授 (90274125) ヤリワーリオノキアジャパン, ノキアリサーチセンタ, 研究室長藤井信忠神戸大学, 自然科学研究科, 特別研究員(DC)
キーワード	生物指向型生産システム / インタラクティブ環境 / 仮想空間 / 人工現実感 / 自己組織化 / 強化学習
研究概要	近年の人工物生産システムを取り巻く生産環境の予測できない変動に対して,生物の優れた環境適応性を取り込む事により柔軟に適応可能となる生物指向型生産システムを提唱し,理論的検討を進めてきた.本研究課題においては,生物指向型生産システムの実用化を目指し,設計・制御対象である現実世界と設計・制御の主体となる人間との間に,現実世界では実現困難な状況を実現可能となる仮想空間内に構築し,仮想空間を通じて人間がシステムと直接的に相互作用を行えるようなインタラクティブ環境の開発を進めてきた.研究課題最終年度となる本年度は,以下の3つに分類して研究を推進した. 1.構築システムの理論的性能評価(上田・大倉) 人工物間の相互作用場を仮想空間を用いて実現するするインタラクティブ環境の理論構築を継続し,構築,拡張されたインタラクティブ環境の理論的評価を行ない,提案理論の妥当性と性能の評価を行った. 2.インタラクティブ環境の拡張(ワーリオ・シビニン・藤井) 前年度までに構築した生産システムにおける自己組織化理論と人工現実感を結合して構築したシステムの拡張を行なった.また,自己組織化理論の一般化を引続き行なった(ワーリオ・藤井). 前年度に構築した拡張型強化学習機能を備えた四足歩行ロボットを拡張し,インタラクティブ環境における学習理論の構築を行った.(シビニン). 3.研究の総括(全員) 仮想空間を用いたインタラクティブ環境を利用することによって現実空間で実現困難な事象を実現し,生物指向型生産システムを実用化する可能性について検討した.

研究成果

(23件)

すべてその他

すべて文献書誌 (23件)

[文献書誌] N.Fujii: "Self-Organization Process in Interactive Manufacturing Environment"Proc.of The Fourth Int.Symp.on Artificial Life and Robotics(AROB 4th'99). Vol.1. 166-169 (1999)
[文献書誌] 中村陽一郎: "Instance-Based Classifier Generatorによる自律移動ロボットの行動獲得"日本ロボット学会誌. Vol.17,No.3. 371-379 (1999)
[文献書誌] K.kawakami: "Reinforcement Learning Approach to Cooperative Carrying Problem"Proc.of The Fourth Int.Symp.on Artificial Life and Robotics(AROB 4th'99). Vol.1. 154-157 (1999)
[文献書誌] K.Ueda: "An Emergent Synthetic Approach to Supply Network"Annals of the CIRP. Vol.48,No.1. 377-380 (1999)
[文献書誌] I.Nagasaka: "Adaptive-Growth Type Assembly Structure Representation for Assembly Layout Design"Proceedings of the 32th CIRP International Seminar on Manufacturing System. 323-332 (1999)
[文献書誌] K.Ueda: "A Biological Manufacturing System Model with Immun-Like Recognition Mechanism"Manufacturing Systems. Vol.29,No.2. 149-154 (1999)
[文献書誌] M.M.Svinin: "On the conditions for the rotational stability of an object in multi-finger grasping"The 4th National Symposium on Robotics. 212-217 (1999)
[文献書誌] K.Ohkura: "A Learning Multi-Agent Approach to Dynamic Scheduling for Autonomous Distributed Manufacturing Systems"Proc.of 15th International Conference on Computer-Aided Production Engineering (CAPE'99.4). 325-230 (1999)
[文献書誌] 大倉和博: "冗長個体表現を用いた進化戦略による工学的実関数最適化"計測自動制御学会論文集. Vol.35,No.11. 1469-1477 (1999)
[文献書誌] Y.Matsumura: "Evolutionary Programming with Non-coding Segments for Real-valued Function Optimization"Proc.of the 1999 IEEE Systems,Man,and Cybernetics Conference (SMC'99),CD-Paper. (1999)
[文献書誌] K.Kawakami: "Adaptive role development in a homogeneous connected robot group"Proc.of the 1999 IEEE Systems,Man,and Cybernetics Conference (SMC'99),CD-Paper. (1999)
[文献書誌] 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)
[文献書誌] M.Chang: "A Cooperative/Competitive Co-evolutionary Learning Approach to Sorting Network Problems"Prof.14th World Congress of the International Federation of Automatic Control (IFAC'99). 187-192 (1999)
[文献書誌] K.Ueda: "Learning Approaches to Autonomous Robots in Biological Manufacturing System"The 10th International DAAAM Symposium. 559-560 (1999)
[文献書誌] M.Svinin: "Learning control of autonomous robots using an instance-based classifier generator in continuous state space"Artifi Life Robotics. 90-96 (1999)
[文献書誌] N.Nishino: "A Model of the Point-of-Sales System: simulating how retailers develop the selection of products without knowing their customers' preference and behaviour perfectly"Proc.of World Multiconf.on Systemics,Cybernetics and Informatics and 5th International Conf.in Information Systems Analysis and Systhesis. Vol.8. 114-121 (1999)
[文献書誌] K.Ueda: "Synthesis and Emergence"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 7-12 (1999)
[文献書誌] K.Ohkura: "Dynamic Scheduling Based on A Learning Multi-Agent Approach"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 81-86 (1999)
[文献書誌] J.Vaario: "Adaptive Real-Time Scheduling with Self-Organization Method"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 87-92 (1999)
[文献書誌] M.Migita: "Coherence in the Interaction between Artificial Agent and Environment"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 99-104 (1999)
[文献書誌] M.Svinin: "Emergent Synthesis of Motion Patterns for Locomotion Robots"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 119-126 (1999)
[文献書誌] I.Hatono: "Self-Organized Control of Manufacturing Systems based on extended Potentioal Field with Reinforcement Learning"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 145-150 (1999)
[文献書誌] K.Ueda: "Reinforcement Learning Approaches to Biological Manufacturing Systems"Annals of the CIRP(掲載決定). Vol.49,No.1. (2000)

1999 年度 実績報告書

生物指向型生産システム実用化のためのインタラクティブ環境の開発

研究代表者

上田 完次 神戸大学, 工学部, 教授 (50031133)

研究成果

[文献書誌] N.Fujii: "Self-Organization Process in Interactive Manufacturing Environment"Proc.of The Fourth Int.Symp.on Artificial Life and Robotics(AROB 4th'99). Vol.1. 166-169 (1999)

[文献書誌] 中村陽一郎: "Instance-Based Classifier Generatorによる自律移動ロボットの行動獲得"日本ロボット学会誌. Vol.17,No.3. 371-379 (1999)

[文献書誌] K.kawakami: "Reinforcement Learning Approach to Cooperative Carrying Problem"Proc.of The Fourth Int.Symp.on Artificial Life and Robotics(AROB 4th'99). Vol.1. 154-157 (1999)

[文献書誌] K.Ueda: "An Emergent Synthetic Approach to Supply Network"Annals of the CIRP. Vol.48,No.1. 377-380 (1999)

[文献書誌] I.Nagasaka: "Adaptive-Growth Type Assembly Structure Representation for Assembly Layout Design"Proceedings of the 32th CIRP International Seminar on Manufacturing System. 323-332 (1999)

[文献書誌] K.Ueda: "A Biological Manufacturing System Model with Immun-Like Recognition Mechanism"Manufacturing Systems. Vol.29,No.2. 149-154 (1999)

[文献書誌] M.M.Svinin: "On the conditions for the rotational stability of an object in multi-finger grasping"The 4th National Symposium on Robotics. 212-217 (1999)

[文献書誌] K.Ohkura: "A Learning Multi-Agent Approach to Dynamic Scheduling for Autonomous Distributed Manufacturing Systems"Proc.of 15th International Conference on Computer-Aided Production Engineering (CAPE'99.4). 325-230 (1999)

[文献書誌] 大倉和博: "冗長個体表現を用いた進化戦略による工学的実関数最適化"計測自動制御学会論文集. Vol.35,No.11. 1469-1477 (1999)

[文献書誌] Y.Matsumura: "Evolutionary Programming with Non-coding Segments for Real-valued Function Optimization"Proc.of the 1999 IEEE Systems,Man,and Cybernetics Conference (SMC'99),CD-Paper. (1999)

[文献書誌] K.Kawakami: "Adaptive role development in a homogeneous connected robot group"Proc.of the 1999 IEEE Systems,Man,and Cybernetics Conference (SMC'99),CD-Paper. (1999)

[文献書誌] 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)

[文献書誌] M.Chang: "A Cooperative/Competitive Co-evolutionary Learning Approach to Sorting Network Problems"Prof.14th World Congress of the International Federation of Automatic Control (IFAC'99). 187-192 (1999)

[文献書誌] K.Ueda: "Learning Approaches to Autonomous Robots in Biological Manufacturing System"The 10th International DAAAM Symposium. 559-560 (1999)

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

[文献書誌] K.Ueda: "Synthesis and Emergence"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 7-12 (1999)

[文献書誌] K.Ohkura: "Dynamic Scheduling Based on A Learning Multi-Agent Approach"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 81-86 (1999)

[文献書誌] J.Vaario: "Adaptive Real-Time Scheduling with Self-Organization Method"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 87-92 (1999)

[文献書誌] M.Migita: "Coherence in the Interaction between Artificial Agent and Environment"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 99-104 (1999)

[文献書誌] M.Svinin: "Emergent Synthesis of Motion Patterns for Locomotion Robots"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 119-126 (1999)

[文献書誌] I.Hatono: "Self-Organized Control of Manufacturing Systems based on extended Potentioal Field with Reinforcement Learning"Proceedings of International Work Shop on Emertgent Synthesis-IWES'99. 145-150 (1999)

[文献書誌] K.Ueda: "Reinforcement Learning Approaches to Biological Manufacturing Systems"Annals of the CIRP(掲載決定). Vol.49,No.1. (2000)

1999 年度実績報告書

上田完次神戸大学, 工学部, 教授 (50031133)