物理シミュレータを活用した産業用ロボットアームのためのカスケード構造を有するケーブル経路最適化手法に関する研究

京都大学新制・課程博士博士(工学)甲第24606号工博第5112号新制||工||1978(附属図書館)京都大学大学院工学研究科機械理工学専攻(主査)教授 松野 文俊, 教授 松原 厚, 教授 泉井 一浩学位規則第4条第1項該当Doctor of Philosophy (Engineering)Kyoto UniversityDGA

Fibril Growth Behavior of Amyloid beta on Polymer-Based Planar Membranes: Implications for the Entanglement and Hydration of Polymers

The design of biosensors and artificial organs using biocompatible materials with a low affinity for amyloid beta peptide (A beta) would contribute to the inhibition of fibril growth causing Alzheimer's disease. We systematically studied the amyloidogenicity of A beta on various planar membranes. The planar membranes were prepared using biocompatible polymers, viz., poly(methyl methacrylate) (PMMA), polysulfone (PSf), poly(L-lactic acid) (PLLA), and polyvinylpyrrolidone (PVP). Phospholipids from biomembranes, viz., 1,2-dioleoyl-phosphatidylcholine (DOPC), 1,2-dipalmitoyl-phosphatidylcholine (DPPC), and polyethylene glycol-graft-phosphatidyl ethanolamine (PEG-PE) were used as controls. Phospholipid- and polymer-based membranes were prepared to determine the kinetics of A beta fibril formation. Rates of A beta nucleation on the PSf- and DPPC-based membranes were significantly higher than those on the other membranes. A beta accumulation, calculated by the change in frequency of a quartz crystal microbalance (QCM), followed the order: PSf > PLLA > DOPC > PMMA, PVP, DPPC, and PEG-PE. Nucleation rates exhibited a positive correlation with the corresponding accumulation (except for the DPPC-based membrane) and a negative correlation with the molecular weight of the polymers. Strong hydration along the polymer backbone and polymer-A beta entanglement might contribute to the accumulation of A beta and subsequent fibrillation

Cable-path optimization method for industrial robot arms

The production line engineer's task of designing the external path for cables feeding electricity, air, and other resources to robot arms is a labor-intensive one. As the motions of robot arms are complex, the manual task of designing their cable path is a time-consuming and continuous trial-and-error process. Herein, we propose an automatic optimization method for planning the cable paths for industrial robot arms. The proposed method applies current physics simulation techniques for reducing the person–hours involved in cable path design. Our method yields an optimal parameter vector (PV) that specifies the cable length and cable-guide configuration via filtering the candidate PV set through a cable-geometry simulation based on the mass–spring model. The proposed method offers two key features: 1) Increased computational efficiency via an optimization procedure that separates the entire cable into the cable segments. In the proposed method, the entire cable is segmented at the positions of the cable guides into several separate cable segments, and the PVs of the cable segments that satisfy the constraints of collision, stretch, and curvature radius are filtered into the local optimal PV set. The global optimal PV is obtained by finding the combination of the local optimal PVs which have the same guide configuration between the adjacent cable segments and have minimal total length of the adjacent cable segments. 2) Robustness to external disturbances, such as fluctuation in the physical properties of the cables and the accuracy of manually attaching the cables. The PVs of the local optimal PV sets are required to satisfy the above constraints, even if the cable length changes in the predefined range, which ensures the robustness of the obtained cable path. To verify the validity of the proposed method, we obtain the global optimal PVs by applying the method to several pick-and-place motions of a six-axis vertical articulated robot arm in our simulations and implement the cable paths on an actual robot arm based on the obtained PVs. Our results indicate that the proposed method can aid line engineers to efficiently design the cable paths along robot arms