Series Research and Life in by a JSPS Fellow (29)

Hailing from Bulgaria, Dr. Vladimir Konstantinov was very grateful that he agreed to host me. Kotev has from October 2011 been conducting After that, I applied for a JSPS Postdoctoral Fel- research with his host researcher, Dr. Tetsuya lowship and fortunately was awarded one. Un- Mouri, in the Faculty of Engineering at der it, I have found that JSPS provides excellent University under a JSPS postdoctoral fellowship. conditions for conducting research and living in After obtaining his PhD from the Institute of Japan. Mechanics, Bulgarian Academy of Sciences and while working there as an assistant professor, - Besides working with Dr. Mouri, are there he heard about Dr. Mouri’s laboratory from his other reasons that you chose Japan to pursue colleagues and decided to ask Dr. Mouri to host your research? him. As is well-known, Japan is famous for its ad- vanced technology and scientific achievements - What are you currently researching under in various fields. Japan is also a leader in the your JSPS fellowship? production of high-quality machines, electron- I am working on developing a compact, ics, computers and robots. Upon graduating patient-safe and easy-to-use robotized system from high school, I read some papers written by for orthopedic surgery. Our goal is to develop Japanese researchers, which sparked my inter- a robotized system for bone drilling and cutting est in Japan. I wanted to get some experience in procedures in order to avoid problems incurred that environment. Moreover, I thought that Japa- in free-hand operations and to reduce the pro- nese universities offer excellent study conditions cedure time as much as possible. The system along with an opportunity to conduct research. I Dr. Vladimir Konstantinov Kotev consists of two hand-held executive modules am very happy that my dream could be realized. JSPS Postdoctoral Fellow, Faculty of Engineering, Gifu for drilling and cutting, respectively. In our robot- Besides the scientific aspects, I wanted to get to University, Japan, 2011-2013 ized system, drilling and cutting conditions au- know the Japanese people and experience the Assistant Professor, The Institute of Mechanics, Bulgarian tomatically change in line with bone density. The Japanese lifestyle and culture. Academy of Sciences (BAS), Bulgaria, 2009-2011 system can also monitor time, velocity, resistant Ph.D. (Biomechanics), The Institute of Mechanics, BAS, Bulgaria, 2008 force, penetration depth, and temperature dur- - Now that you’ve been there for a couple of M. Sc. (Mechanical Engineering), Technical University of Sofia, ing the procedure, which can be beneficial for years, what is your impression of your host in- Bulgaria, 2002 surgeons. I have had meetings with surgeons stitution? at Gifu University Hospital, and they have given This laboratory advances top-level innovative me valuable help in conducting my research. research on robotics in various areas such as robot hands, prostheses controlled by biological modification and improvement of a hand-held - How did you become interested in your re- signals, rehabilitation systems, virtual reality, and orthopedic robotized module named DORO. So search field? haptic interface. It has even developed a tree- far, we have designed a bone-drilling module, As a mechanical engineer, I have always pruning robot. Being very famous all over Japan, named ODRO, that drills at a preliminary depth been interested in the design and dynamical the laboratory has allowed me to meet many and detects bone breakthrough. One of the modeling of mechatronic systems and robots robotics researchers who know Prof. Kawasaki advantages that we have built into ODRO is with biomedical applications. My interest in this and Prof. Mouri and their work. They publish and that it can be used without a navigation system. field started when I was a master’s student, and exhibit their research in mostly top-level confer- Now, I am working on the development of a as a doctoral student I continued to apply my ences and journals. As both professors have a robotized module, OCRO, used for bone-cutting knowledge of mechanics, design and control to wealth of experience in the area of robotics, one procedures. OCRO is intended to operate at a bioengineering and robotics. Now, I want to fur- can learn much from them. On another plane, preliminary setting of depth and stop automati- ther advance my research in areas of robotics I also enjoy having interesting discussions with cally after the cutting process is completed. It is and biomechanics, because I think that robots the students in my lab. As they are very industri- also being built to perform cutting with appropri- will be increasingly engaged with humans in the ous, intelligent and motivated, I believe that the ate thrust force and feed rate based on variable future by assisting and serving them and alter- students are truly inspired by their work. bone density. I have had the chance to discuss ing their environment. my research with medical doctors and medi- - Generally speaking, what is your impression cal robotics researchers, and they recognize - How did you get to know your Japanese host of Japan’s research environment? the advantages of my research particularly with researcher? I have been happy to have the chance to regard to patient safety. We have presented the My colleagues at my institute in Bulgaria visit some other laboratories and to attend ex- results of our work in scientific journals and at have had a long and beneficial cooperative rela- hibitions and conferences where I could meet international conferences. tionship with the Kawasaki and Mouri Laboratory other researchers and get familiar with their at Gifu University. So I had many discussions on work. My impression is that Japanese labora- - What do you do outside your research work? research work in the laboratory with them. One tories are well-equipped with modern technolo- I like riding my bicycle and going for walks of my colleagues, who had joined the Kawasaki gies and that they advance innovative research around the city. I also like meeting the local and Mouri Laboratory under a JSPS Postdoc- with mostly practical applications. The students people and talking with them. Moreover, I have a toral Fellowship, told me about his experience in and staffs are also very motivated and they work Japanese class that I attend every week. Espe- it. Moreover, I browsed the laboratory’s website hard to achieve the highest quality of research. cially challenging for me is writing Japanese let- and was highly impressed with the richness of As Japanese universities and institutes provide ters and words. In addition, I am really keen on its research portfolio and scientific accomplish- an excellent working environment, it is not sur- visiting traditional Japanese houses, temples, ments. I was especially attracted by its innova- prising that many foreign researchers choose and shrines as well as historical and science tive and cutting-edge research on the design Japan to conduct their research. museums. Also, I love Japanese gardens, parks and control of robotized hands, prosthetic and and castles. I am really happy that I have oppor- rehabilitation robots as well as virtual reality and - So far, what has your research achieved un- tunities to travel to places of interest here and haptic human interface. So I made contact with der the JSPS fellowship? there around Japan. Whenever I have free time, Prof. Mouri and sent him my research plan, and I am conducting research related to the I go to visit a new place and eat the local food,

14 Spring 2014 No. 47 JSPS Quarterly http://www.jsps.go.jp/english/ such as udon, soba, miso soup, okonomiyaki, and technologies, and martial arts. I bought - Please give some advice for young research- and of course sushi. some products made in Japan, which gave me ers who may be thinking about doing research some affinity for the country. Now, I am happy in Japan? - What do you think of life in Japan – its culture that I have had the chance to learn more about I would definitely recommend that they and customs? Japanese history, traditions, culture and music. come to Japan because the research staffs For me, Japan offers a wonderful mixture Living in Japan has given me a deeper knowl- are very professional and the laboratories are of the ancient and modern. On one hand, the edge of the Japanese people. I have discovered well-equipped and offer an excellent research Japanese observe traditions, practice ancient firsthand that they have a very positive attitude environment. Japan is also a beautiful and rituals and hold festivals. They have strict rules towards life and a very strong work ethic. They safe country. You will find the Japanese to be a about their traditional clothes and food. On the are also well-organized, which makes Japanese very polite, honorable, hospitable, and reliable other, they love modern technologies and their life less stressful. people. lives are very much influenced by the modern wonders of the world. It is interesting how well - What do you plan to do after your fellowship From our interview with him, it was abundantly the old and modern stand side by side in har- ends? apparent that Dr. Kotev has both enjoyed and found mony. In fact, it is its harmony that I particularly I will continue my research in the area of ro- very fruitful his stay in Japan. His research with Dr. like about the Japanese lifestyle. I am also im- botics and biomechanics in the Institute of Me- Mouri and his lab mates has advanced steadfastly pressed by the people’s modesty and respect chanics at the Bulgarian Academy of Sciences. I step by step. There is a very high demand within for each other. The Japanese are very kind- have accumulated substantial experience which the medical community and among the general hearted and honest, and they always try to help. will allow me to participate in other projects in public for the kind of robotized systems they are I find them to be very understanding of people the future. I have also had a lot of conversations developing to perform orthopedic surgery. The from different cultures and religions. on robotics and medical engineering with other considerable time and effort he has devoted to scientists. So, I hope to continue not only my advancing this research, the deep understanding - Before coming to Japan, what kind of image collaboration with my colleagues in this labora- he has cultivated of the Japanese culture and did you have of the country? Has your percep- tory but also to strengthen the relationship en- people, and the strong bonds he has tied with his tion changed? joyed between my department at the Academy Japanese colleagues are sure to pay great dividends Before I came here, I mainly knew about in Bulgaria and this laboratory in Japan. Further- after he returns to Bulgaria both in advancing Japan from what I had read in books or seen on more, I want to establish new connections with milestone research there and in promoting vibrant TV. I basically knew Japan for its cars, machines other researchers in Japan. collaboration with Japan. Introducing Japan: Gifu City

Currently, I am living and working in Gifu city. like climbing can reach the top by ten different paper lanterns, one of the city’s traditional crafts. It is a beautiful and quiet city located in the routes. For those who prefer walking, Gifu Park They are built around a thin wooden frame and central part of Japan, only 20 minutes by train is a wonderful place for taking a stroll. There can be plain or decorated with scenes. Most from . Its location is very convenient for are stone paths going around a lake, and in of these lanterns are still made by hand, which travelling both around Japan and internationally the evenings the whole area is illuminated with makes them a genuine article of art. as one can easily get to the Chubu Centrair hundreds of small lamps. So, I would recommend Gifu to those who International Airport in Nagoya. The city is also well-known for its cormorant are looking for a relaxing holiday or who are Gifu is surrounded by mountains. The most fishing on the . This is an old art interested in history and traditional crafts. popular among them is Mount Kinka in the of fishing dating back some 1300 years. The heart of the city. The Nagara River runs along its powerful leader patronized this foot and the famous Gifu Castle sits on its top. art, setting the stage for it becoming such a The castle was the residence of many lords, long-lasting tradition. What makes cormorant among them Oda Nobunaga, who initiated the fishing so interesting is the way in which the unification of Japan in the late 16th century after fishermen on the boat skillfully manipulate a long period of warring states. The castle was several cormorants that swallow the fish (called destroyed at one point, then reconstructed to ayu). This ritual of fishing can be observed from its present shape in 1956. Making this place sightseeing boats that pick up the spectators especially attractive is a ropeway that goes from a quay. Even more spectacularly, the directly from Gifu Park, at the base of Mount fishing takes place at night with fires (kagaribi) in iron baskets hanging from the fishing boats to Kinka, to the castle on the mountain top, which Sitting atop Mt. Kinka commands a lovely view of the city. People who light up the river’s surface. Another place one should visit in Gifu is the Gifu Great Buddha (Shoho-ji Temple) that accommodates a 13-meter high statue of Buddha. One can also take a walk through the roofed Yanagase shopping arcade in downtown Gifu city. It offers a full array of shops, restaurants and bars—something for every taste. For those who enjoy 岐阜 relaxing in a hot spa (onsen), there are several hotels near Mount Gifu City Kinka with onsen baths (one being ● Nagaragawa Onsen). Sitting in the hot spring water, one can enjoy a nice view of the mountain. Finally, Gifu is also famous for its With his wife Galina in Gifu Park

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