2019 年度 羽ばたけ! TUT 海外研修応援キャンペーン報告書
1系(B ・ M)

3年

氏名Aiman Faruq

参加
プロ
グラCUNY 研修

ム研修
期間

2019 年 9 月 5 日 ～ 2019 年 9 月 31 日

渡航
国・米国 ニューヨーク都市
研修
先機関名
またはプ

City University of New York, City Collegeログ
ラム
名1

研修の概要（研修テーマ
や課題、目標・目的

I worked in Biomechatronics and Intelligent Robotics (BIRO) Lab lead by Dr
Hao Su. They gave me a project to set motion capture system on the lab withQualisys Track Manager and 8 Miqus cameras. Besides that, I attended seminars,
helping other lab members work on their researches and event.
My project aim is to set the motion capture system on one of the lab’s room. In
this room, we use the Qualisys Track Manager software and 8 Miqus camera.
Motion capture is the process of recording the movement of objects or people. It is
used in military, entertainment, sports, medical applications, and for validation ofcomputer vision and robotics. In this lab, it will help measure and analyse humanmotion to help student members’ research, such as soft exoskeleton for humanaugmentation and restoration. Qualisys system help to evaluate the eco orな研algorithm.
修活
I attended two seminars. There was a seminar by Prof. Minghui Zheng fromや主動内Buffalo University about A Learning-Based Control Strategy for Robotic Systems.
The other is a seminar by Prof. Kyu-jin Cho from Seoul National University about
研修Soft Robotics.
で達Besides that, I helped lab members to prepare groove of engineering成し
anniversary’s event. Moreover, I helped their research as a model for gait
容、たこと等を簡潔にまとめて書い
てくdetection. They use a wearable sensor to estimate the human gait cycle andmount IMUs in my body to measure kinematics for gait detection.
Most of the lab’s members are PhD students, and I learned a lot of thing fromthem about their research, how they do it, and much advice to me as anundergraduate student. The lab does not have attendance, and they do not needto come every day. However, the lab has a weekly meeting, they review last week’s
target and discuss target for the next week with Dr Hao.

ださい。）

2

活動写真（１枚）

3

2019 年度 羽ばたけ! TUT 海外研修応援キャンペーン報告書

研修内容

1.参加の目的や動機

I am interested in Dr Hao Su Biomechatronics and Intelligent Robotics Lab because
Biomechatronic helps humans in medical care, medical treatment and save more human
lives, and the demand for Biomechatronic devices are high. In the future, I want to work
towards designing new biomechatronic innovations that contribute to the treatment ofpatients and make their lives easier. I have Mechanical Engineering background in
National Institute of Technology, Gunma College with graduation research on a control
method of 2 DOF leg mechanism of Rescue Robot.
In this opportunity to study in CUNY, I would like to experience how to research inEnglish and in a Western way, to learn differences in studying and working style between
Western and Asian way. I think lab culture in Japan and America are different, so I canlearn the differences and can compare between them. I hope I can use this experience toimprove my research skills and I hope I can help to improve the TUT lab to be better after
I go back to Japan.

2. 研修内容

The Biomechatronics and Intelligent Robotics (BIRO) Lab have two rooms, and myproject aim is to set the motion capture system on one of the lab’s room. In this lab, weuse Qualisys Track Manager software and 8 Miqus camera from a Swedish company
called Qualisys. Motion capture is the process of recording the movement of objects orpeople. It is used in military, entertainment, sports, medical applications, and for validationof computer vision and robotics. In this lab, it will help measure and analyze human motion
to help student members’ research such as soft exoskeleton for human augmentation andrestoration. Qualisys system help to evaluate the eco or algorithm.

4Conector

camerasPc

Power supply

Fig 1 hardware structure of motion capture system

After setting the hardware, we install the QTM software and get in touch with Qualisys
to acquire the license.

Fig 2 QTM software on PC5

After setting the hardware, installing the software, and log in with the license, weDetermine and prepare the Volume of interest. The volume of interest (VoI) is the spacethat our motion capture system will be viewing and recording. Here we use blue tape tomake the border of our Volume of interest and determine the middle of it to make zero
points. Later we put the L calibration kit to these zero points.

Fig 3 Volume of interest

Next step is calibration. We have three calibration kit.

Calibration Kit Box

L frame kit

Put the L wand kit on the zero points of VoI.

and Calibration Wand

The long side will be the X axis.

Fig 4.1 Calibration Kit

6Preparing Calibration Wand:connecting the wand

Wand kitmeasurement value

How we grab thewand kit forcalibration

Fig 4.2 Calibration Kit

Fig 5. Calibration Setting7

After the preparation finished, we did the calibration. QTM will automatically process
the calibration and open results window.
Now we can start the motion capture. Shotaro helps me to be a model and analyse it.
I put sensor markers around his body.

Fig 5. Setting The censor markers

Fig 6.1 Analyze the motion capture in 2 dimensions from each cameraFig 6.2 Analyze the motion capture in 3 dimensions and make the stick figure8A useful feature of the Qualisys software is the option to set up an
Automatic Identification of Markers (AIM) model that will automatically label
markers. This result will help the researcher to evaluate and analyse motion.

Fig 7. Mechanical Engineering

Anniversary event93. 研修の成果、研修で獲得したもの、当初設定した行動目標の達成度、問題点

研究室のメンバーがほとんど Phd の方で研究に関して多くのことを学びました。アメリカと日本の研究室では、ルールや雰囲気などに違いがありました。アメリカでは出席を取ることはなく、先生も毎日研究室に来てません。しかし、毎週研究室のミーティングがあり、そこで研究のターゲットを先生と話し合いで決めていました。さらに、決定したターゲットに対して毎週レポートで報告をしていました。一ヶ月では時間をかけて研究が出来なかったため、プロジェクトを渡されました。次回は研究に参加したいです。

4．今後の目標、課題、当初設定した「帰国後に実践する行動目標」の見直し
アメリカ式の研究室の雰囲気やゼミなどを自分の研究室のメンバーに伝えたいと思います。
大学の学生及び国際交流サークルの海外に興味のある学生にアメリカでの得た経験と知見を伝え、アメリカや西洋の文化と日本文化の違いを教えたいです。大学で英語を活用することによって、学内のグローバル環境に貢献したいと考えています。

5.その他感想など

ニューヨークでは多文化都市で日本の都市と違ってたくさんの人類がいます。日本は均質社会です
のでおおきな違いが感じました。Dr. Hao Su 研究室の研究にとても興味がありました。
travel visa で visa 申請をしたところ、却下されてしまいました。次回ビザが必要な学生は travelvisa で十分だと言われても、観光目的ではないので student visa を大学にお願いした方が良いと思います。

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