THESIS

Master's:

• Hazumu Kusama: Development and Application of an Ultra-Compact Cycloidal Reducer for Small Manipulators
• Yohei Tsukui: 6-axis Measurement and Active Vibration Suppression of a Precision Mobile Robot with Internal Sensors
• Rintaro Minegishi: An attempt to develop untethered mobile robot powered by ultrasonic motors
• Yuta Sunohara: Development of a Wireless Levitation Device Using a Squeeze Film Generated by High-frequency Vibration
• Naoto Watanabe: Droplet volume visual feedback control of capillary force gripper and its application to pick and place operations

Graduation:

• Satoshi Ando: Machine Learning-Based Classification of Sub-Millimeter Objects Using a Capillary Force Gripper
• Seigo Ishimaru: Development of a Bipedal Holonomic Precision Mobile Robot with Non-Redundant Stages
• Taiki Goto: Speedup of Precise Mobile Robot Path Following by Combining PID Control and Acceleration Feedback Control
• Shogen Sekiguchi: Exploration of liquid-based manipulation methods for irregular micro-objects using two vibrating pipettes

Master's:

• Takahiro Ogawa: Extracting conditions for achieving high-speed large deformation through SMA modeling
• Ryusuke Kinoshita: Development of a holonomic precision mobile robot and automated pick-and-place
• Eiji Kusui: In-step control of a holonomic precision mobile robot and its extension to continuous walking
• Eri Fukuchi: Automatic placement of micro-objects using a rotary double-nozzle liquid bridge force gripper based on handwritten instructions

Graduation:

• Yuta Kitamura: Achieving high-speed large deformation in SMA actuators
• Yuna Sugiyama: Development of a two-axis manipulator and evaluation of gripper gripping force control
• Chihiro Sekine: Verification of the generalization of path generation using reinforcement learning and realization of autonomous driving for holonomic mobile robot
• Yuko Nishimura: Exploration of liquid-based manipulation methods for irregular micro-objects using two vibrating pipettes

Master's:

• Yohei Iida: Automatic arrangement of micro-parts using machine learning and image analysis with a precision mobile robot
• Ryohei Sako: Control of droplet volume in liquid bridge force grippers using a piezoelectric diaphragm pump and pick-and-place
• Masato Shiota: Calibration of an XYθ displacement sensor composed of four encoders
• Kanon Hoshika: Research on the development of a super-compact pyramid-configuration VS-CMG attitude control test machine
• Koki Murakami: Creation of liquid metal wiring technology combined with gel

Graduation:

• Yuta Sunohara: Development of a levitation mechanism using a squeeze film generated by high-frequency vibrations
• Yohei Tsukui: Development of a non-redundant vibration suppression inchworm-type walking mobile robot
• Rintaro Minegishi: Development of an ultrasonic actuator for wireless mobile robots and evaluation of an optical mouse sensor
• Naoto Watanabe: Automatic control system for a double-nozzle liquid bridge force gripper using image feedback

Master's:

• Kanta Iizuka: Wireless operation of a stacked piezoelectric elevator foot-type inchworm mobile mechanism
• Takumi Oishi: Manipulation of micro-objects using a flow generation device with multi-axis vibrating pipettes
• Eisuke Shibuya: Investigation of input waveforms for precision positioning of piezoelectric actuators considering frictional effects
• Ryoma Takahashi: Development of a bimorph elevator foot-type two-group tripod walking precision mobile mechanism using a non-redundant stage
• Kensuke Tanabe: Realization of arc motion in an inchworm-type precision positioning mobile mechanism and development of a correction system
• Yuki Nishiyama: Verification of the force generated by a double-nozzle liquid bridge force gripper and pick-and-place of micro-components

Graduation:

• Takahiro Ogawa: Investigation of cooling and the impact of stress on the driving characteristics of an SMA wire-type actuator using liquid metal
• Hazumu Kusama: Development of a stacked piezoelectric elevator foot-type biped walking mobile mechanism
• Eiji Kusui: Simulation of in-step precision positioning control using Bang-Bang control and PID control for a mobile mechanism
• Eri Fukuchi: Development of a liquid bridge force gripper capable of attitude control using a θ-stage

Master's:

• Takatoshi Ito: Precision positioning of micro-objects using a liquid bridge force manipulator with image feedback
• Masaki Suzuki: Development of a tripod walking-type holonomic precision mobile robot
• Kenta Tanaka: Development of a double-nozzle liquid bridge force gripper and its application to the pick-and-place of micro-objects
• Daiki Tachibana: Development of a high-speed electromagnetic gel actuator using liquid metal gel fibers

Graduation:

• Yohei Iida: Frequency response analysis and operational experiments of an XYθ displacement amplification mechanism
• Ryohei Sako: Development of a gripper with variable droplet volume and pick-and-place experiments
• Masato Shiota: Verification of the θ-axis displacement measurement performance of a displacement sensor using four encoders and a two-dimensional scale
• Koki Murakami: Liquid metal wiring in gel and its application to sensors
• Kanon Hoshika: Development of a pyramid-type VS-CMG test machine with a variable angular velocity mechanism

Master's:

• Ryota Tokui: Generation of micro-droplets using a gear pump and its application to liquid bridge force pick-and-place
• Jin Tian Zhou: Development of a △-type mobile robot using a traveling wave-type piezoelectric ultrasonic motor

Graduation:

• Eisuke Shibuya: Attempt at high-speed cooling of SMA actuators using micro-droplet dripping
• Ryoma Takahashi: Development of a z-axis displacement amplification mechanism for a tripod walking-type mobile mechanism
• Kensuke Tanabe: Motion correction of an inchworm-type precision positioning mechanism by adjusting input voltage to the piezoelectric actuators
• Yuki Nishiyama: Formation of micro-droplets and pick-and-place experiments using a diaphragm pump-type liquid bridge force gripper

Master's

• Kenta Fukumoto: XYθ servo control within a single step of a holonomic precision mobile robot
• Hitoshi Funatsu: Precision positioning control of an inchworm-type mobile robot with XYθ using a two-dimensional encoder
• Wataru Hagiwara: Pick-and-place of micro-objects using a piston pump-type liquid bridge force manipulator

Graduation:

• Takatoshi Ito: Development of a piston pump-type liquid bridge force gripper
• Yuki Takeda: Simulation of XYθ parallel servo control using H∞ control for a piezoelectric mobile mechanism
• Daiki Tachibana: Analysis and development of screw-type flow channels and their application to μTAS
• Kenta Tanaka: Analysis of liquid bridge forces between the tip of a cylindrical flow path and a flat plate using the VOF method

Graduation:

• Yuta Ando: Observation of capillary phenomena in microcoils and investigation of the impact of coil geometry on liquid rise speed
• Soga Ito: Calibration of internal encoders and precision measurement of a holonomic mobile robot
• Shu Kaneshima: Measurement of positioning errors of a 6-axis robot arm in the XYθ axes and examination of error correction methods using a holonomic mobile robot
• Ryota Tokui: Analysis of dynamic characteristics of an XYθ stage using eigenvalue analysis through FEM of a reverse pantograph structure

Master's:

• Yuhei Hara: Research on control methods of holonomic inchworm mechanisms combining internal and external sensors
• Kaname Harayama: Design and validation experiments of a tripod walking-type holonomic mobile robot
• Fumiya Shono: Development of nm-scale XYθ three-axis parallel servo control for holonomic mobile mechanisms

Graduation:

• Kenta Fukumoto: Measurement of stress-strain curves of shape memory alloys and verification of required performance for heat engines
• Hitoshi Funatsu: Development of a two-dimensional encoder using four encoders and an attempt to measure XYΔθ displacement in an inchworm-type mobile robot
• Wataru Hagiwara: Design of a multi-stage piezoelectric displacement amplification mechanism and study on displacement amplification for XYθ precision stages

Master's:

• Noriyuki Mouri: Development and validation experiments of a pick-and-place device using a coil spring-type liquid bridge force manipulator
• Ryota Imamura: Proposal of a motion model for a gear-pulley-type SMA heat engine and experimental validation

Master's:

• Hiroyuki Aono: Prototype development and verification of dynamic properties of a micro-bubble rocket in liquids
• Wataru Ezuka: Measurement and control method studies on the vertical reaction forces acting on the foot tips of mobile robots
• Akio Oi: Development of a three-axis acceleration FF control for a holonomic precision positioning mechanism and verification of vibration isolation performance

Graduation:

• Yoshinori Saito: Development of a displacement amplification mechanism for piezoelectric actuators and attempts to increase the speed of inchworm mechanisms
• Yuhei Hara: Development and evaluation of positioning performance of a dead-reckoning guidance system for holonomic mobile mechanisms
• Kaname Harayama: Creation and feasibility testing of a micro-motor driven by a bubble jet propulsion system in liquids
• Fumiya Shono: Simulation of servo control within a single step of an inchworm mechanism using Bang-Bang control and state feedback control

Master's:

• Takashi Sato: Transient response analysis of a self-propelled precision positioning mechanism and development of precise positioning control within a single step

Graduation:

• Ryota Imamura: Fundamental research on a small heat engine for micro-robot operation in liquids
• Noriyuki Mouri: Measurement and formulation of liquid bridge forces acting between a rod and a flat plate under immersion and adhesive wetting boundary conditions

Master's:

• Kazuya Kumagai: Development of a high-viscosity micro-droplet dispensing device and attempt at pick-and-place of micro-objects
• Manabu Yatsurugi: Research on FF/FB control of three-axis parallel precision holonomic omnidirectional mobile mechanisms using four small encoders

Graduation:

• Hiroyuki Aono: Coupled analysis using mechanical and electrical circuit models for small propulsion mechanisms in liquids and design through FEM analysis
• Shinto Ogawa: Development of a three-axis precision distance measurement system with 0.5μm resolution using four small encoders
• Akio Oi: Development of a magnetic actuator for internal force switching in an inchworm mechanism and driving experiments on non-magnetic surfaces

Master's:

• Kazushi Arashika: Development of a parallel link-type self-propelled mechanism with three degrees of freedom using a piezoelectric linear motor
• Taku Omura: Research on correction methods considering individual differences in a self-propelled precision positioning mechanism with independent three degrees of freedom
• Tsubasa Yamagai: Development of a motion correction system for a precision mobile mechanism based on microscopic images of pipette tips

Graduation:

• Takashi Sato: Transient response analysis of a self-propelled precision positioning mechanism and development of precise positioning control within a single step

Graduation:

• Kazuya Kumagai: Development of a high-viscosity micro-droplet dispensing device and attempt at pick-and-place of micro-objects using differences in liquid bridge forces
• Manabu Yatsurugi: Development of a six-point contact-type self-propelled precision positioning mechanism with independent three degrees of freedom

Graduation:

• Kazushi Arashika: Improvement of a self-propelled precision positioning mechanism with independent three degrees of freedom—attempts to enhance positioning reproducibility and speed
• Taku Omura: Research on control methods for a self-propelled precision positioning mechanism with independent three degrees of freedom—attempts at FF/FB control using microscopic images
• Tsubasa Yamagai: Precision work using a self-propelled precision positioning mechanism with independent three degrees of freedom—attempts at automatic retrieval and supply of oocytes

Graduation:

• Tatsuya Ichikawa: Complex cell processing using multifunctional ultra-precision microrobot groups