Cellular robotic system : control and self-organization for hardware and software セル構造化ロボットシステムに関する研究 : ハードウェアとソフトウェアの制御と自己組織化について
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著者
書誌事項
- タイトル
-
Cellular robotic system : control and self-organization for hardware and software
- タイトル別名
-
セル構造化ロボットシステムに関する研究 : ハードウェアとソフトウェアの制御と自己組織化について
- 著者名
-
川内, 陽志生
- 著者別名
-
カワウチ, ヨシオ
- 学位授与大学
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名古屋大学
- 取得学位
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博士 (工学)
- 学位授与番号
-
甲第2914号
- 学位授与年月日
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1994-03-25
注記・抄録
博士論文
目次
- TABLE OF CONTENTS / (0005.jp2)
- 1.INTRODUCTION / p1 (0009.jp2)
- 1.1 Summary of the Cellular Robotic System / p1 (0009.jp2)
- 1.2 Motivations and Goals / p4 (0011.jp2)
- 1.3 Organization of the Thesis / p5 (0011.jp2)
- 2.FUNDAMENTALS OF THE CELLULAR ROBOTIC SYSTEM / p8 (0013.jp2)
- 2.1 Definitions / p8 (0013.jp2)
- 2.2 Features / p11 (0014.jp2)
- 2.3 Realization of the Self-organization of CEBOT / p16 (0017.jp2)
- 2.4 Application Fields / p24 (0021.jp2)
- 2.5 Summary / p32 (0026.jp2)
- 3.CONTROL ARCHITECTURE / p33 (0027.jp2)
- 3.1 A Hierarchically Distributed Autonomous System / p33 (0027.jp2)
- 3.2 Control Laws of Each Unit / p35 (0028.jp2)
- 3.3 Stability / p36 (0028.jp2)
- 3.4 Simulational Experiment on Self-organizing Cellular Actuator / p38 (0029.jp2)
- 3.5 Summary / p46 (0034.jp2)
- 4.RELATIONS BETWEEN RESOURCE AND SYSTEM PERFORMANCE / p48 (0035.jp2)
- 4.1 Concept of Optimal Resource Amount and the Optimal Sizing / p48 (0035.jp2)
- 4.2 Simulations / p51 (0037.jp2)
- 4.3 Summary / p63 (0043.jp2)
- 5.COMMUNICATION AND CELL IDENTIFICATION / p64 (0044.jp2)
- 5.1 Necessity of Communication among Cells / p64 (0044.jp2)
- 5.2 A Communication Protocol / p66 (0045.jp2)
- 5.3 Communication Methods / p72 (0048.jp2)
- 5.4 Experimental Results / p76 (0050.jp2)
- 5.5 Summary / p80 (0052.jp2)
- 6.CELLULAR INTELLIGENCE / p82 (0053.jp2)
- 6.1 Intelligence System of CEBOT / p82 (0053.jp2)
- 6.2 Construction of the Distributed Intelligence Composed of Knowledge Cells(Cellular Database) / p84 (0054.jp2)
- 6.3 Task Description / p88 (0056.jp2)
- 6.4 Algorithms of the Cellular Database Applied to a Task Planning System / p93 (0059.jp2)
- 6.5 Simulational Results of the Cellular Database / p98 (0061.jp2)
- 6.6 Fundamentals and Models of Cellular Intelligence Which Consists of Intelligent Agents / p105 (0065.jp2)
- 6.7 Definitions of Performance Indexes and the Measures of Complexity / p112 (0068.jp2)
- 6.8 Summary / p114 (0069.jp2)
- 7.NUMERICAL ANALYSIS OF THE SYSTEM / p116 (0070.jp2)
- 7.1 Evaluation of System Behavior / p116 (0070.jp2)
- 7.2 Evaluation of System Configuration / p120 (0072.jp2)
- 7.3 Rules for Self-organization based on the Numerical Analysis / p125 (0075.jp2)
- 7.4 Examples / p129 (0077.jp2)
- 7.5 Summary / p132 (0078.jp2)
- 8.EVOLUTION OF SYSTEMS AND EVOLUTIONAL PROGRAMMING / p136 (0080.jp2)
- 8.1 Basic Actions of Cellular Database / p137 (0081.jp2)
- 8.2 Genetic Cell Production Algorithm / p139 (0082.jp2)
- 8.3 Experiment / p143 (0084.jp2)
- 8.4 Evolutional Programming based on Genetic Algorithms / p152 (0089.jp2)
- 8.5 Simulational Experiments of the Evolutional Programming / p157 (0091.jp2)
- 8.6 Summary / p161 (0093.jp2)
- 9.OPTIMIZATION / p165 (0095.jp2)
- 9.1 Optimal Knowledge Allocation Problem / p165 (0095.jp2)
- 9.2 Quantification of Communication Information among Cells / p167 (0096.jp2)
- 9.3 Quantification of Knowledge Amount / p175 (0100.jp2)
- 9.4 Example of System Evaluation / p183 (0104.jp2)
- 9.5 Matrix Notation / p186 (0106.jp2)
- 9.6 Optimal Knowledge Allocation Method / p190 (0108.jp2)
- 9.7 Simulations / p198 (0112.jp2)
- 9.8 Summary / p205 (0115.jp2)
- 10.CONCLUSIONS / p206 (0116.jp2)
- 10.1 Concluding Remarks / p206 (0116.jp2)
- 10.2 Future of CEBOT / p207 (0116.jp2)
- BIBLIOGRAPHY / p208 (0117.jp2)
- LIST OF PUBLICATIONS / p214 (0120.jp2)