bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of the SCARA
Authors: Makino Hiroshi ,   Makino Automation Research Institute, 1-24-14-703 Koenji-Minami, Suginami, Tokyo 166-0003, Japan
Published: April 2016

The Selective Compliance Assembly Robot Arm, or SCARA, is an industrial robot typical of those widely used in assembly processes. It was invented by Professor Makino of the University of Yamanashi, Japan, the author of this report, and developed by him in collaboration with his colleagues and industrial partners. The first prototype of the SCARA robot was built in 1978. Fundamental studies were done on the characteristics and usability of this prototype and the second one, built in 1980. In 1981, some industrial partners began to market their own versions of the SCARA. These models were called SCARA-type robots. This report recounts mainly the first stage of the development of the SCARA.
Simple Legged Robots that Reveal Biomechanical and Neuromechanical Functions in Locomotion Dynamics
Authors: Aoi Shinya ,   Dept. of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto 615-8540, Japan,   JST, CREST, 5 Sanbancho, Chiyoda-ku, Tokyo 102-0075, Japan
Published: April 2016

We developed simple legged robots (biped, quadruped, and multiped robots) and their control systems based on the biomechanical and physiological findings to investigate biomechanical and neuromechanical functions in locomotion dynamics. This paper introduces these robots and the experimental results.
A Plainly Designed Robot for the Experiments Regarding the Psychological Boundaries of Robots
Authors: Kim Chyon Hae ,   Honda Research Institute Japan Co., Ltd., Japan, Yamazaki Yumiko , Nagahama Shunsuke , Sugano Shigeki ,   Waseda University, Japan
Published: April 2016

We have developed a simply designed robot for the purpose of the psychological research confirming human recognition of the boundaries of robot agents. The physical boundary and the agent’s boundary of a robot are considered to have different shapes in human recognition. Results of the experiment indicated that we controlled the agent’s boundary successfully.
Development of a Teleoperation System for a Construction Robot
Authors: Yamada Hironao ,   Department of Mechanical Engineering, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu City 501-1194, Japan, Kawamura Takuya , Ootsubo Katsutoshi
Published: April 2016

In this report, we introduce the development of a teleoperation system for a construction robot. The system is based on master-slave control, and consists of existing hardware, including hydraulic actuators. We propose presentation methods to provide a realistic presence at a real field, and confirm the validity of our system with experiments.
Medical Round Robot – Terapio –
Authors: Terashima Kuzuhiko ,   Toyohashi University of Technology, Japan, Takenoshita Seiichi , Miura Jun , Tasaki Ryosuke , Kitazaki Michiteru , Saegusa Ryo , Miyoshi Takanori , Uchiyama Naoki , Sano Shigenori , Satake Junji , Ohmura Ren , Fukushima Toshihiko , Kakihara Kiyoaki , Kawamura Hirotoshi , Takahashi Mikio ,   Fukushima Medical University, Japan,   KER Co., Ltd., Japan,   Sinfonia Technology Co., Ltd., Japan,   Asahi System Co., Ltd., Japan
Published: April 2016

We have developed an innovative medical-personnel rounds-assistance robot called Terapio for use in hospital support, mainly in medical materials delivery and personnel rounds data recording. Terapio’s omnidirectional mobility and personnel tracking control during doctors’ rounds realize the smooth transfer of medical supplies from the nurses’ station to a patient’ bedside, for example. Vital information collected during medical personnel rounds is automatically recorded by a CCD camera and a voice recorder. This important information is then stored through the use of a touch panel.
Foot Pressure-Sensor System for Tracking Safety and Health
Authors: Shinozuka Kenneth ,   Horace Mann School, 231 W. 246 St., Bronx, NY 10471, USA
Published: April 2016

This paper presents an innovative pressure sensor systemembedded in a sock, which has a number of health care applications. One of these is the low-cost, reliable detection of the bed-departure of Alzheimer’s patients, an increasingly common problem that causes significant stress to caregivers. The system comprises a pressure sensor embedded in a sock and a coin battery-powered microcontroller containing a radiofrequency module. Once the user wanders out of bed and steps onto the floor, the sensor on the sock will immediately detect the pressure caused by his or her body weight and will wirelessly trigger an audible sound in a caregiver’s monitoring unit, which can be a Smartphone, tablet, or dedicated monitor. Furthermore, the pressure sensor and the microcontroller can be combined into one re-attachable unit, which can be stuck conveniently to the ball or heel of the user’s foot or any ordinary sock, slipper or shoe. In addition, the system can function as a highly accurate pedometer that is useful for monitoring the user’s health by tracking changes in his or her gait characteristics. In this study, a prototype sensor sock was developed that included an ultra-thin flexible pressure sensor, microcontroller, Bluetooth low energy module, and control software. The efficacy of the sensor sock in detecting and alerting patients’ wandering has been demonstrated.
Development and Applications of the SCARA Robot
Authors: Yamazaki Yasunori ,   Nagano National College of Technology, 716 Tokuma, Nagano-city, Nagano 381-8550, Japan
Published: April 2016

In the 1980s, when the author worked for Seiko Epson Corporation as a wristwatch production engineer, consumer needs had become so diversified that wristwatches had to be assembled on the same automated assembly line in small lots of about 10,000 pieces per month. Most of the robots available in those days were for processing purposes such as spot welding and were not applicable in practical terms to automated assembly lines for wristwatches in precision, speed, ease of use or cost. The prototype SCARA robot developed by the SCARA Study Group led by Dr. Hiroshi Makino, a professor at the Department of Precision Engineering at Yamanashi University, was found to be the most suitable for automated watch assembly lines. We reviewed assembly work procedures and succeeded in limiting the number of simultaneous control axes to four at a maximum and in cutting assembly costs to 60% of those of conventional processing robots. As the term “selective compliance” suggests, SCARA robots possess all of the functions necessary for stable assembly and for precision and speed. Development team members, including the author, made the most use of previous experience in developing dedicated automated assembly machines for in-house use and succeeded in developing practical SCARA robots by creating a robot language based on workers’ voice. In applications of SCARA robots, this paper introduces just two of many possible examples. One is for oiling work on manual assembly lines and the other is the TAF-M mixed-models wristwatch assembly line. In the oiling work application example, SCARA robots used for infinitesimal oiling work on a manual assembly line for small lots of luxury wristwatches have been found to be very cost-effective and useful for training operators and/or programmers for robots. The TAFM application example represents the assembly line built based on the original Seiko-Epson purpose for introducing SCARA robot development, which consists of both robots and of 52 newly developed “assembly robot cells” where most assembly work should be done. An assembly robot cell includes a SCARA robot, a main conveyor, a multiple-parts feeder, an automatic hand changer, an assembly detection unit, etc. At present, one such assembly line automatically assembles more than 100 models of wristwatches. Use of such automated assembly lines has reduced the human workforce by about 40 workers, cut costs by over 60%, and shortened delivery time by about 50%.
A Robust NavigationMethod for Mobile Robots in Real-World Environments
Authors: Rahok Sam Ann ,   Oyama National College of Technology, 771 Nakakuki, Oyama, Tochigi 323-0806, Japan, Oneda Hirohisa , Tanaka Akio , Ozaki Koichi ,   Yuge National College of Maritime Technology, 1000 Yuge, Kamijima, Ehime 794-2593, Japan,   Utsunomiya University, 721 Yoto, Utsunomiya, Tochigi 321-8585, Japan
Published: April 2016

This paper describes a robust navigation method for real-world environments. The method uses a 3-axis magnetic sensor and a laser range scanner. The magnetic field that occurs in the environment is used as key landmarks in the proposed navigation method, and physical landmarks scanned by the laser range scanner are taken into account in compensating for the mobile robot’s lateral error. An evaluation experiment was conducted during the final run of the Real World Robot Challenge (RWRC) 2013, and the result showed that the mobile robot equipped with the proposed method robustly navigated a 1.6 km course.
Pre-Driving Needless System for Autonomous Mobile Robots Navigation in Real World Robot Challenge 2013
Authors: Saito Masanobu ,   Department of Mechanical Engineering, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki 214-8571, Japan, Kiuchi Kentaro , Shimizu Shogo , Yokota Takayuki , Fujino Yusuke , Saito Takato , Kuroda Yoji
Published: April 2016

This paper describes navigation systems for autonomous mobile robots taking part in the real-world Tsukuba Challenge 2013 robot competition. Tsukuba Challenge 2013 enables any information on the route to be collected beforehand and used on the day of the challenge. At the same time, however, autonomous mobile robots should function appropriately in daily human life even in areas where they have never been before. System thus need not capture pre-driving details. We analyzed traverses in complex urban areas without prior environmental information using light detection and ranging (LIDAR). We also determined robot status, such as its position and orientation using the gauss maps derived from LIDAR without gyro sensors. Dead reckoning was combined with wheel odometry and orientation from above. We corrected 2D robot poses by matching electronics maps from the Web. Because drift inevitably causes errors, slippage and failure, etc., our robot also traced waypoints derived beforehand from the same electronics map, so localization is consistent even if we do not drive through an area ahead of time. Trajectory candidates are generated along global planning routes based on these waypoints and an optimal trajectory is selected. Tsukuba Challenge 2013 required that robots find specified human targets indicated by features released on the Web. To find the target correctly without driving in Tsukuba beforehand, we searched for point cloud clusters similar to specified human targets based on predefined features. These point clouds were then projected on the camera image at the time, and we extracted points of interest such as SURF to apply fast appearance-based mapping (FAB-MAP). This enabled us to find specified targets highly accurately. To demonstrate the feasibility of our system, experiments were conducted over our university route and over that in the Tsukuba Challenge.
Development of Intelligent Mobile Cart in a Crowded Environment – Robust Localization Technique with Unknown Objects –
Authors: Muramatsu Satoshi ,   Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo 669-1337, Japan, Tomizawa Tetsuo , Kudoh Shunsuke , Suehiro Takashi ,   The University of Electro Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
Published: April 2016

This paper describes a localization method for mobile robots. The proposed method is based on a three dimensional space observation model that provides stochastic information for robot location assumption. We previously developed a localization method based on the two dimensional space observation model to be used in an environment with many unknown obstacles such an pedestrians. The previous method used a twodimensional laser scanner and particle filtering to realize robust effective localization of the mobile robot in such environments. It sometimes failed to estimate the robots’ location due to a lack of information about its environment, so we extended the previous method based on a three-dimensional space observationmodel that is expected to use richer information about its environment. Experimental results showed that our proposed method localizes robots successfully in environments where the previous method could not localize robots accurately.
Minimal Autonomous Mover – MG-11 for Tsukuba Challenge –
Authors: Shioya Toshiaki ,   MITSUBA Corporation, 1-2681 Hirosawa-cho, Kiryu-shi, Gunma 376-8555, Japan, Kogure Kazushige , Ohta Naoya ,   Gunma University, 1-5-1 Tenjin-cho, Kiryu-shi, Gunma 376-8515, Japan
Published: April 2016

A design policy for autonomous mobile robots favors widely accepted using as many sensors and as much powerful recognition hardware as possible to realize reliable robot operation. If we plan to use developed technology for commercial products, a separate design policy favors a minimum number of sensors and recognition hardware, i.e., the number enough for reliable operation. We named the robot designed under the latter design policy the Minimal Autonomous Mover (MAM) and built a MAM to participate in the Tsukuba Challenge, a competition for among autonomous mobile robots. In this competition, our robot reached the goal and completed the mission as reported in the sections that follow.
A Reasonable Path Planning via Path Energy Minimization
Authors: Yokozuka Masashi ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Matsumoto Osamu
Published: April 2016

This paper presents a path planning method by path energy minimizing that enables mobile robots to move smoothly in the real world with optimizing path shape for shortest distance or minimum curvature. It also enables robots to travel safely toward a destination because pedestrian motion prediction is embedded in path planning. This path planning method is based on problems experienced in a robot competition called Tsukuba Challenge. The problems involved nonsmooth motion arising from finite path patterns in A* algorithm, stuck motion arising from frequently path switching, and near misses arising from nonpredictive planning. Our path planning method minimizes pathshape energy defined as the connection between path points. Minimizing energy provides smooth paths and avoids path switching. We propose a path planning method with prediction of dynamic obstacle motion embedded to avoid near misses. Experimental results showed improvements in solving these problems.
Precision Improvement of Position Measurement Using Two Ultrasonic Land Markers
Authors: Tabata Katsuhiko ,   Gifu Prefectural Research Institute of Information Technology, 1-21 Technoplaza, Kakamigahara City, Gifu 509-0109, Japan, Iwai Toshiaki , Kudomi Shigeki , Endo Yoshimichi , Nishida Yoshifumi ,   Research Institute of Technology, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan,   Digital Human Research Center (DHRC), National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan
Published: April 2016

We have been developing a position measurement system for navigation of automated guided vehicles (AGVs) called SPARS. In this system, the AGV’s ultrasonic position measurement module communicates via ultrasonic waves with ultrasonic transponders that serve as land markers on a path to measure its relative position during travel. In previous studies, we conducted experiments and introduced improvements using the relative position between the AGV and land marker estimated from position information from a single land marker. It was found, however, that the ultrasonic communication S/N ratio decreases, lowering position accuracy, when the land marker distance and its direction angle are great. To solve this problem and improve accuracy, we examine position measurement based on distance information from two land markers.
Basic Study for New Assistive Technology Based on Brain Activity During Car Driving
Authors: Shimizu Shunji ,   Reserch Course of Engineering/Management, Tokyo University of Science, Suwa, 5000-1 Toyohira, Chino, Nagano 371-0292, Japan, Inoue Hiroaki , Nara Hiroyuki , Tsuruga Takeshi , Miwakeichi Fumikazu , Hirai Nobuhide , Kikuchi Senichiro , Watanabe Eiju , Kato Satoshi ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan,   Department of Clinical and Rehabilitation Engineering, Hokkaido Institute of Technology, 4-1 Maeda 7-jo 15-chome, Teine-ku, Sapporo-city, Hokkaido 006-8585, Japan,   Spatial and Time Series Modeling Group, The Institute of Statical Mathematic, 10-3 Midori-cho, Tachikawa, Tokyo 190-8562, Japan,   Department of Psychiatry, Jichi Medical University, 3311-1 Yakushiji, Shimotsuke, Tochigi 329-0498, Japan,   Department of Neurosurgery, Jichi Medical University, 3311-1 Yakushiji, Shimotsuke, Tochigi 329-0498, Japan
Published: April 2016

The purpose of this research is develop assistive robots and apparatuses. There is a pressing need to develop new systems that assist and act for car driving and wheelchairs for the elderly as the population ages. In developing systems, it is thought to be important to examine behaviors spatial recognition. Experiments have therefore been performed to examine human spatial perceptions, especially left- and rightside visual recognition, while cars being driven using near-infrared spectroscopy (NIRS). Previous research found significant differences in the dorsolateral prefrontal cortex in the left cranial hemisphere during virtual driving and actual driving tasks. This paper discusses the measurement of brain activity during car driving. A detailed analysis was performed by segmentalizing brain activity during driving based on the motion of subjects, and we report on the relationship between brain activity and movement perception during driving.
A Cruising AUV r2D4: Intelligent Multirole Platform for Deep-Sea Survey
Authors: Kim Kangsoo ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8505, Japan, Ura Tamaki ,   Center for Socio-Robotic Synthesis, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan
Published: April 2016

In this article, a cruising autonomous underwater vehicle (AUV) r2D4 and examples of its achievements to date are introduced. With the objective of realizing an intelligent multirole platform for deep-sea surveys, the r2D4 development program was started in 2001. Launched in 2003, the r2D4 had achieved several practical missions by the time of its last dive in 2010. Enhanced vehicle autonomy was realized by applying new technologies in navigation, control, positioning, and sensing, which enabled the capabilities of tackling more challenging undersea missions. The r2D4 is a multirole platform that is easily able to be modified to meet the applications of diverse purposes. Since its first dive in September 2003, the r2D4 has successfully completed a total of 67 dives in bodies of water worldwide.
Force Masking Humanoid Robot System
Authors: Kim Chyon Hae ,   Honda Research Institute Japan Co., Ltd., Japan, Yonekura Kenta , Sugano Shigeki ,   Waseda University, Japan
Published: April 2016

This force masking humanoid robot system had been developed for a psychological experiment that confirms the rhythmic modalities required by humans when they play rope turning with a robot. Although a person feels many types of rhythms in physical rhythmic cooperation with a robot, what rhythms are required for the cooperation had not been investigated yet. This system is an effective tool to investigate the effectiveness of the force rhythm in physical cooperations.
Human Symbiotic Assist Arm PAS-Arm
Authors: Higuchi Mineo ,   Department of Mechanical Engineering, Tokushima Bunri University, 1314-1 Shido, Sanuki, Kagawa 769-2193, Japan
Published: April 2016

The passive assist arm (PAS-Arm) that we developed interacts with the operator by producing specified but arbitrary two-dimensional virtual guiding surfaces that constrain and guide the operator’s movement.
Development of Bottom-Reliant Type Underwater Robots
Authors: Naruse Toshihisa ,   Shonan PV Techno., 49-7 Nakazato, Hiratsuka, Kanagawa 254-0054, Japan
Published: April 2016

Underwater bulldozer
 During the 1960s and 1970s, Japan entered rapidly into ocean development in such areas as ocean surveys, ocean civil engineering, and the development of ocean resources. And then equipment developments and technological advances encouraged by the public and private sectors accompanied Japan’s development efforts. Various underwater robots were developed and put to practical use. There are various type underwater robots such as free-swimming type, bottomreliant type and towed type. Aiming at robotization in seashore, undersea, and seabed construction works, we have developed various underwater robots with focusing on the bottom-reliant type. As a result, (1) an amphibious bulldozers and an underwater bulldozers as 2-crawler robots same as land construction machines, (2) an underwater rubble leveling robot and a “ReCus” (Remote-Controlled Underwater Surveyer) as an 8-legged walking robot, and (3) a 4-crawler underwater trencher has been developed. 
High-Frame-Rate Structured Light 3-D Vision for Fast Moving Objects
Authors: Liu Yongjiu ,   University of Science and Technology of China, Hefei, Anhui 230026, China, Gao Hao , Gu Qingyi , Aoyama Tadayoshi , Takaki Takeshi , Ishii Idaku ,   Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui 230031, China,   Hiroshima University, 1-4-1 Kagamiyama, Higashihiroshima, Hiroshima 739-8527, Japan
Published: April 2016

HFR 3D vision system
 This paper presents a fast motion-compensated structured-light vision system that realizes 3-D shape measurement at 500 fps using a high-frame-rate camera-projector system. Multiple light patterns with an 8-bit gray code, are projected on the measured scene at 1000 fps, and are processed in real time for generating 512 × 512 depth images at 500 fps by using the parallel processing of a motion-compensated structured-light method on a GPU board. Several experiments were performed on fast-moving 3-D objects using the proposed method. 
On-Line Collision Avoidance of Two Command-Based Industrial Robotic Arms Using Advanced Collision Map
Authors: Afaghani Ahmad Yasser ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Aiyama Yasumichi
Published: April 2016

Collision check of robots
 This research aims to build a system for detecting and avoiding collisions between two industrial robotic arms that are controlled using point-to-point commands in on-line mode. Both robots have no prior knowledge of the commands which will be sent after starting the system. For this purpose, a collision map method has been improved to detect potential collisions between the robots and represent them as a collision area on the map. Commonly, industrial robotic arms have a cylindrical or a near-rectangular shape. The links of the robots have been approximated geometrically by using the swept sphere volume which presents tight modelling. Moreover, it is extremely easy to check for collisions and, therefore, feasible for on-line applications. To produce a collision-free trajectory for the robot, scheduling of the command execution time is necessary to avoid any collision areas on the map. The system has been tested on an OpenGLbased simulator to demonstrate the effectiveness of the system. 
Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator
Authors: Boksuwan Sungwan ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Benjanarasuth Taworn , Kanamori Chisato , Aoyama Hisayuki ,   Faculty of Engineering, King Mongkut’s Institute of Technology Ladkrabang, 1 Chalongkrung Soi 1, Ladkrabang District, Bangkok, Thailand
Published: April 2016

A handheld micromanipulator
 This paper proposes a two-dimensional handheld micromanipulator oriented toward bio cell handling. The micromanipulator consists of two flexible links, each of which is constructed with a parallel beam structure. Electric coils and permanent magnets are used to produce an actuator to form double drivers. An explicit model predictive control combined with a PID controller called a robust hybrid control is proposed not only to achieve robust tracking performance, but also to dampen the vibration of the mechanism. The experimental results are compared to results from a standard PID controller to investigate the effectiveness of the micromanipulator. 
Characteristics and Individual Differences of Human Actions for Avoiding Harm to Eyes from a Robot
Authors: Hattori Takamasa ,   Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Yamada Yoji , Okamoto Shogo , Mori Shuji , Yamada Shunsuke ,   Faculty of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan,   Mitsui Chemicals, Inc., Japan
Published: April 2016

The assumed situation
 To investigate harm-avoidance actions in human beings in close contact with a robot, we conducted psychological experiments in which one of the sharp end effectors of a robot was made to approach the eyes of a facing participant suddenly. We define three parameters for analyzing harm-avoidance actions: avoidance reaction time, maximum avoidance acceleration, and maximum avoidance speed. Results suggest that avoidance reaction time depends on the initial distance between the human eyes and the approaching object, but not on the type of work being performed. We derive a novel nonparametric multiple comparison for statistically testing multivariate data on human actions. Results show that bivariate data for avoidance reaction time andmaximumavoidance speed differ for most participants. These findings are expected to contribute positively to determining human-robot conditions for safe coexistence. 
A Discrete Adaptive Auction-Based Algorithm for Task Assignments of Multi-Robot Systems
Authors: Dai Xuefeng ,   Center of Networks and Information, Qiqihar University, Yao Zhifeng , Zhao Yan ,   School of Computer and Control Engineering, Qiqihar University,   School of Communication and Electronic Engineering, Qiqihar University, Wenhua Str.42, Qiqihar, Heilongjiang 161006, China
Published: April 2016

Teammates trajectories
 For reasons of production cost and differences in manufacturing dates for mobile robots, individual robots on a robot team have different processing, movement, and detection abilities. To maximize the potential ability of individual robots and minimize overall exploration time in unknown environments, this paper proposes a novel discrete adaptive auction-based algorithm for coordinating multirobot systems (MRSs). A utility calculation scheme that takes into account the dispersion of teammates is presented, followed by an identical performance index formula that converges to a value for measuring differences in exploration efficiency. The performance measure is taken into account in calculating bids for exploration tasks. We compared our results to other exploration strategies by simulation and results show improved exploration time. 
Development of Robotic Defecation Simulator
Authors: Tokoro Koushi ,   Department of Mechanical Engineering, Graduate School of Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan, Hashimoto Takuya , Kobayashi Hiroshi ,   Department of Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan,   Department of Mechanical Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan
Published: April 2016

Defecation robot
 The processing of human excretion has become a serious problem in two specialized environments – the nursing care of elderly bed-ridden patients and the microgravity space environments as the International Space Station. To deal with such issues, the authors are developing a new type of toilet system, and they feel that a defecation simulator is needed to investigate and test such systems. This paper discusses development of a robotic defecation simulator (defecation robot) that mimics defecation involving the rectum, anal sphincter, puborectalis muscle, abdominal pressure, etc. 
Development of Flexible Manufacturing System
Authors: Yamazaki Yasuhiko ,   DENSO Corporation, 1-1 Showa-cho, Kariya-shi, Aichi 448-8661, Japan, Sugito Katsuhiko , Tsuc Sojiro
Published: April 2016

HVAC assembly line
 Since Denso started its Flexible Manufacturing System (FMS) in the mid-1970s, we have continued to develop it in order to stay competitive in the face of market fluctuations. In this paper, we present a typical new production system that was developed at the end of the 20th century. One characteristic of this system is that it has a longer life and lower facility life cycle cost than do other production systems in existence. We think this system has high potential in terms of production innovations. Since one of the most important devices for FMS is the robot, we hope this paper will be a guide for new production systems and new device development. 
Recent Trends and Issues of Volcanic Disaster Response with Mobile Robots
Authors: Nagatani Keiji ,   Graduate School of Engineering, Tohoku University, 6-6-1 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

Volcano observation robots

 Typically, volcanic eruptions cause heavy damage in its vicinity area, and the eruption often continues for years. During this period, a restricted area is set up in the vicinity of the crater, in order to ensure the safety of people. Therefore, it is important for mitigation of volcanic disaster to realize observation of the eruption and mudslide-control construction based on teleoperation-type robotic technology. To promote development of such technologies, various types of volcano exploration robots have been researched and developed in Japan and overseas. With regard to volcanic observations, this paper presents conventional methods for volcanic teleoperated observation, and discusses technical issues and research topics for the future technologies, particularly, mobile robotics and flying robotics. With regard to mudslide-control construction, the paper describes the teleoperated construction system that has been developed at Fugendake of Mount Unzen, and discusses technical problems in current unmanned construction system to be solved in the near future. 
Desired Robot Technology in Consideration of the Records on Natural Disasters in Kyushu Region
Authors: Hayashi Ryota ,   Graduate School of Science and Engineering, Kagoshima University, 1-21-40 Korimoto, Kagoshima 890-0065, Japan
Published: April 2016

Mount Sakurajima near Kagoshima City
 This paper addresses records of natural disasters occurring in Japan’s Kyushu region. Kyushu, from north to south, is the site of frequent natural disasters – typhoons, heavy rains, volcanic eruptions, etc. The first half of this paper reviews volcanic disasters focusing on Mount Sakurajima in Kagoshima Prefecture. The second half reviews water disasters caused by typhoons and torrential rains, such as the August 1993 Heavy Rainstorm in Kagoshima Prefecture, the July 2009 Chugoku-Northern Kyushu District Heavy Rainstorm, and the July 2012 Northern Kyushu District Heavy Rainstorm. The possibility of using robot technology to reduce damages is considered, as is that for disaster measures. 
The Application of Robot Technologies to Disasters from Torrential Rains on Japan’s Kii Peninsula
Authors: Tokuda Kenichi ,   Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama 640-8510, Japan
Published: April 2016

Deep-seated landslide site
 In anti-disaster robotics, it is important to identify problems specific to a target disaster and examine what technological problems remain in the identified problems. In this paper, the results of a survey on a disaster caused by torrential rains that occurred on the Kii Peninsula, Japan and of a study on the existing technological problems of robots are presented. 
New Body Design for Flexible Mono-Tread Mobile Track: Layered Structure and Passive Retro-Flexion
Authors: Haji Takafumi ,   National Institute of Technology, Matsue College, 14-4 Nishiikuma-cho, Matsue, Shimane 690-0865, Japan, Kinugasa Tetsuya , Araki Shinichi , Hanada Daiki , Yoshida Koji , Amano Hisanori , Hayashi Ryota , Tokuda Kenichi , Iribe Masatsugu ,   Okayama University of Science, 1-1 Ridai-cho Kita-ku, Okayama 700-0005, Japan,   National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-machi, Chofu, Tokyo 182-8508, Japan,   Kagoshima University, 1-21-24 Korimoto, Kagoshima 890-8580, Japan,   Wakayama University, 930 Sakaedani, Wakayama-city 640-8510, Japan,   Osaka Electro-Communication University, 18-8 Hatsucho, Neyagawa-shi, Osaka 572-8530, Japan
Published: April 2016

Flexible mono-tread mobile track RT06

 Robot technology is expected to be applicable to missions on rough terrain, such as rescue activities, environmental investigation, and planetary exploration. Tracked vehicles are effective in such environments because the contact pressure of the vehicle can be distributed more widely. To improve mobility, new mechanisms such as serpentine tracked vehicles have been proposed. We previously proposed the flexible mono-tread mobile track (FMT). The first prototype, WORMY, had a mechanical problem when it moves flexing, i.e., track belt interference and derailing. This paper proposes and confirms a new FMT design strategy using a layered structure to reduce space between vertebrae, solving derailing. A new prototype using the layered structure confirmed its mobility. We also used the prototype to evaluate the effectiveness of passive retro-flexion against obstacles. 
Deformable Anchor Ball for Thrown Referring to Octopus Suckers
Authors: Tsukagoshi Hideyuki ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan, Fuchigami Kazutaka , Watari Eyri , Kitagawa Ato
Published: April 2016

Image of Anchor Ball
 This paper presents Anchor Ball, a thrown device with a tether for use safely and quickly in search and rescue operations in dangerous situations. To enable the Anchor Ball to stick to various types of walls, the principle of suction inspired by octopus suckers is introduced, which is composed of a multiple-holed surface for indirect suction and an adhesive elastic film for the seal. A shape-adaptive structure with adjustable stiffness is also introduced to help the Anchor Ball stick even on rugged surfaces. After the characterization of the Anchor Ball is described, the effectiveness of the proposed methods is verified by demonstrating inspection inside a building by combining with Fluid Powered Ropeway which enables to carry the exploration apparatus along with the flexible tube, which is shown in videos at the website [a]. 
pico-FCV: Small Single-Operator Electric-Vehicle Using 20 W Hydrogen Fuel Cell Developed for Mechatronics Education
Authors: Takahashi Yoshihiko ,   Department of Vehicle System Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Tomike Masayuki , Hirayama Takahiro
Published: April 2016

pico-FCV: small fuel cell EV
 A small, single-operator electric-vehicle using a 20 W hydrogen fuel cell, named pico-FCV, was developed for educational purposes. The design of the pico-FCV will promote student interest in environmental concerns. The project provides students with practical experience in mechatronics subjects such as mechanical design, electric circuit design, and programming. This paper will present the design and experimental results of the pico-FCV. The designed pico-FCV was able to run 2.7 km only using 5 l (0.5 g) hydrogen. 
3-1 Piecewise NCP Function for New Nonmonotone QP-Free Infeasible Method
Authors: Liu Ailan ,   Department of Mathematics, Tongji University, No.1239, Siping Road, Shanghai 200092, China, Pu Dingguo ,   School of Mathematics and Physics, Shanghai University of Electric Power, No.2588, Changyang Road, Yangpu District, Shanghai, China,   School of Mathematics and Statistics, Henan University of Science and Technology, No.263, Kaiyuan Road, Luoyang 471023, China
Published: April 2016

Algorithm flow chart
 We propose a nonmonotone QP-free infeasible method for inequality-constrained nonlinear optimization problems based on a 3-1 piecewise linear NCP function. This nonmonotone QP-free infeasible method is iterative and is based on nonsmooth reformulation of KKT first-order optimality conditions. It does not use a penalty function or a filter in nonmonotone line searches. This algorithm solves only two systems of linear equations with the same nonsingular coefficient matrix, and is implementable and globally convergent without a linear independence constraint qualification or a strict complementarity condition. Preliminary numerical results are presented. 
Reachability and Controllability Analysis of Periodic Switched Boolean Control Networks
Authors: Li Zhiqiang ,   School of Mathematics and Information Science, Henan University of Economics and Law, Zhengzhou Henan 450046, China, Song Jinli , Xiao Huimin
Published: April 2016

The reachability and controllability of switched Boolean (control) network are discussed in this paper. Based on semi-tensor product, using the vector form of Boolean logical variable, the switched Boolean (control) network is expressed as a discrete time system with state and control variables. For the switched Boolean network without control, the stabilization by suitable switching signal is discussed. Also, the controllability of the periodic switching signal is learned, and the conditions for stability and controllability of periodic switched Boolean networks avoiding states setCare obtained.
Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators
Authors: Xiao Yongfei ,   Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science, No.19, Keyuan Road, Jinan, Shandong 250014, China, Bi Shuhui , Wang Xuelin , Li Xiangdong , Fan Xinjian
Published: April 2016

Balancing mechanism of robots
 Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavyload manipulators, as shown through simulation and experiments. 
Development of a Personal Mobility Robot “NENA”
Authors: Inoue Kazumichi ,   Department of Mechanical and Intelligent Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya-shi, Tochigi, Japan, Akai Naoki , Ozaki Koichi
Published: April 2016

NENA and experiments in Tsukuba
 A mobility robot “NENA” which can carry one person was developed by Utsunomiya University. The robot was developed based on the concept called “Design Framework” and it allowed the robot to equip with functions needed for manual driving and autonomous running and acceptable design for people. The robot fulfilled safety required for mobility robots used in the Tsukuba Mobility Robot Experimental Zone. 
NANBA Walking Robot (JIZAI Movement of Physical Body Using State Transition with Instability)
Authors: Kawazoe Yoshihiko ,   Kawazoe Laboratory, 2-3-1-904 Kaga, Itabashi-ku, Tokyo 173-003, Japan
Published: April 2016

Nanba turn
 The effectiveness of transmitting force by using undulation is well known, but it takes time for the whip to flex and then sequentially transmit force. An example of using undulation is a whip whose tip movement exceeds the speed of sound. The whip-like motion principle requires that the user firmly plant the feet on the ground – a position that may lead to physical damage. Experts note that the load on different parts of the body is lowered by using the entire body appropriately. Using the term “nanba” symbolically to indicate body movement that does not use twisting, undulation, or the firm planting of the feet and that exerts minimal load on the joints, we investigatemovement of a bipedal robot based on state transitions that utilize instability. Speed and robustness result when a state (posture) is created instantaneously so that no blockage by the body occurs and transitions from state to state are made in a single step. 
Image-Projecting Desktop Arm Trainer for Hand-Eye Coordination Training
Authors: Matsumaru Takafumi ,   Graduate School of Information, Production and Systems, Waseda University, 2-7 Hibikino, Wakamatsu-ku, Kitakyushu 808-0135, Japan, Liu Yang , Jiang Yi , Dai Chuankai
Published: April 2016

IDAT for Hand-Eye COORD TRNG
 This paper presents a novel arm-training system, known as the image-projecting desktop arm trainer (IDAT), which is aimed at hand-eye coordination training. The projector displays an exercise image on a desktop in front of a seated patient, and the scanning range finder measures the behavior of the patient as he/she performs the exercise. IDAT is non-invasive and does not constrain the patient. Its efficiency is based on the voluntary movements of the patient, although it offers neither the physical assistance nor tactile feedback of some conventional systems. Three kinds of training content have been developed: “mole-hitting,” “balloon-bursting,” and “fish-catching.” These games were designed for training hand-eye coordination in different directions. A patient and/or medical professional can set a suitable training level, that is, the training time, speed of movement of the objects, and number of objects to appear at any one time, based on the patient’s condition and ability. A questionnaire survey was carried out to evaluate IDAT-3, and the results showed that it was highly acclaimed in terms of user-friendliness, fun, and usefulness. 
A Supporting System of Choral Singing for Visually Impaired Persons Using Depth Image Sensor
Authors: Kawarazaki Noriyuki ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi-shi, Kanagawa 243-0292, Japan, Kaneishi Yuhei , Saito Nobuyuki , Asakawa Takashi ,   Asap System Co., Ltd., Setoru Higashioume 109, 2-18-5 Higashioume, Oume, Tokyo 198-0042, Japan,   Kinki University Technical College, 7-1 Kasugaoka, Nabari, Mie 518-0459, Japan
Published: April 2016

Supporting system of choral singing
 Visually impaired persons may find it difficult to take part in a chorus or other singing group because they cannot see the beat indicated by conductor’s hand movements. This paper provides a chorus support system for visually impaired persons using depth image sensor. This consists of an electric music baton with an acceleration sensor, a radio module, haptic interface devices with vibration motors, a depth image sensor, and a PC. The electric music baton transmits the signal indicating the conductor’s motion to visually impaired players based on sensor acceleration. Since the conductor must give individual instruction to player, we use a depth image sensor to indicate the direction in which the conductor’s baton points. This direction is estimated based on the conductor’s posture. We also attempted to develop a chorus support system without using the electric music baton. The beat is obtained by the maximum velocity position of the conductor’s hand motion using a depth image sensor. The effectiveness of our system is clarified by several experimental results. 
Estimation of Care Receiver’s Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot
Authors: Mori Yuki ,   RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan, Ikeura Ryojun , Ding Ming ,   Mie University, 1577 Kurimamachiya, Tsu, Mie 514-8507, Japan,   Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

Position estimation by forearms
 For a robot that uses two arms to lift and transfer a care receiver from a bed to a wheelchair, we report a method of estimating the positioning of the care receiver. The maneuver for such a task involves a high DOF, and the robot is capable of executing the maneuver much like a human being. The care receiver may experience pain or become unstable when being carried, however, depending on the positioning of contact between the robot’s arms and the care receiver. For this reason, nursing care robots must be able to recognize the positioning of contact with the care receiver and either modify it or alert the operator if it is unsuitable. We use the information obtained by tactile sensors on the robot’s arms when making contact with the care receiver to estimate the latter’s positioning. By dividing a care receiver’s position on a bed into nine zones and applying machine learning to tactile sensor data and positioning, it is possible to estimate positioning highly accurately. 
Proposal of Framework Based on 4W1H and Properties of Robots and Objects for Development of Physical Service System
Authors: Nakamura Yukihiro ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan, Muto Shin-yo , Maeda Yoshio , Mizukawa Makoto , Motegi Manabu , Takashima Youichi ,   NTT Service Evolution Labs., 1-1 Hikarino-oka, Yokosuka-shi, Kanagawa 239-0847, Japan
Published: April 2016

Service development platform
 We propose a framework for forming the development of object delivery services provided through cooperation among heterogeneous robots and sensors. For this, we extended the previous framework based on 4W1H abstraction to develop informative and physical robotic services. The proposed framework abstracts information about sensors and robots as 4W data for users, objects and robots, robotic functions, and property data of robots and objects. We then develop physical services done one by one in combination with service information. We also describe the service application development platform based on the framework. Experimental results show that service applications can be efficiently developed by using the service application development platform. 
Analysis of Trunk Stabilization Effect by Passive Power-Assist Device
Authors: Imamura Yumeko ,   Graduate School of Information Science and Technology, Hokkaido University, N14-W9, Kita-ku, Sapporo 060-0814, Japan, Tanaka Takayuki , Suzuki Yoshihito , Takizawa Kazuki , Yamanaka Masanori ,   Smart Support Technologies Inc., S1-W5, Chuo-ku, Sapporo 060-0061, Japan,   Institute for the Advancement of Higher Education, Hokkaido University, N17-W8, Kita-ku, Sapporo 060-0817, Japan,   Graduate School of Health Science, Hokkaido University, N12-W5, Kita-ku, Sapporo 060-0812, Japan
Published: April 2016

Passive power-assist supporter
 We are developing a passive power assist supporter calledSmart Suit Lite. Smart Suit Lite, a compact, lightweight device, uses the force of elastic belts both to support muscles and to stabilize the torso in a way similar to the corset. It is reported that the corset stabilizes posture, and decreases intradiscal pressure by applying pressure around the pelvis. The mechanism behind this remains to be fully elucidated, however, and has not been used actively for power assist devices. This study aims to construct a mechanical model of trunk stabilization generated by assistive devices. In this paper, we propose modeling based on basic experiments measuring motions under static conditions. 