bluuebunny/crossref_metadata_2025 huggingface dataset:
Theory of Active Suspension Design
Authors: Ichikawa Kunihiko ,   Sophia University, 31-8, Shoan 3-chome, Suginami-ku, Tokyo, 167 Japan
Published: April 2016

Active suspension design has been developed as the application of optimal control theory. However, optimal control theory is only suitable for the design of regulator, where transient responses starting from any initial state are required to converge to zero. The active suspension system is not a simple regulator because road surface unevenness acts only as disturbance in the low frequency range, while it acts not only as disturbance but also as reference signal in the high frequency range. Thus, optimal control theory is not considered suitable for active suspension design. As an alternative to optimal control theory, a new design theory based on exact model matching (EMM) with a disturbance predictor is developed in this paper. One of the peculiarities of this problem is the need to prepare a separate control law for each frequency range. The other is that the outer signal is inaccessible. The former problem is solved by introducing a weighing rational function. The latter problem is fortunately settled by the fact that disturbance and outer signal have a simple relation to each other.
Vibration Control of Engine Roll and Bounce Using Hydraulic Engine Mounts
Authors: Seto Kazuto ,   Dept. of Mechanical Engineering, College of Science and Technology, Nihon University, 1-8, Kanda-Surugadai, Chiyoda-ku, Tokyo, 101 Japan, Ishihama Masao , Nagamatsu Akio , Doi Kazuhiro ,   Nissan Motor Co., Ltd., 1 Natsushima-cho, Yokosuka, Kanagawa, 237 Japan,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan
Published: April 2016

This paper shows the optimum design method for hydraulic engine mounts. Engine mounts have been developed recently to significantly reduce the vibration in car bodies caused by engines. The resonance peaks of conventional engine-mounting systems can not be suppressed sufficiently. Hydraulic engine mounts are able to suppress the resonance peaks by using the fluid reaction effect of the fluid enclosed in the mounts. The design was recently modified by trial and error experiments. Due to lack of information on a suitable design, the ability of this design has not been effectively demonstrated. In this paper, after the mount is analyzed, its optimum design formula is obtained in a simple and useful manner, similar to the design equation for dynamic absorbers. This design formula is applied for designing two hydraulic engine mounts to control engine vibrations in the roll and bounce modes. The effectiveness of the formula is confirmed theoretically and experimentally.
H∞ Vibration Control of Active Suspension for High-Speed Train
Authors: Shimura Akihiko ,   Department of Mechanical Engineering, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa, 223 Japan, Yoshida Kazuo
Published: April 2016

In this paper, H∞ control theory and μ synthesis are applied to vibration control of active suspension for high speed train. A linear 58th order model is built for the dynamical analysis of the train model. This model takes into account the body, truck frame, wheel, hydraulic actuator, and property of track irregularity. A hydraulic actuator replaces a lateral damper between body and truck frame of the conventional passive suspension train. The controller for vibration control is synthesized by H∞ control synthesis and improved by μ synthesis. The characteristics and performances of the controllers are examined by performing numerical calculations of frequency response and computational simulations. As a result, it is clarified that the active suspension for highspeed train is effective to improve ride quality and that the present synthesis method is useful.
Dynamics of the Mechanical Levitation Control System for Maglev Transport Vehicle (Effect of Guide Wheel Stiffness and Dead Zone Element)
Authors: Tsunashima Hitoshi ,   Kobe Steel, Ltd., 4-2-15, Iwaya-nakamachi, Nada-ku, Kobe, 657 Japan, Fujioka Takehiko , Abe Masato ,   Department of Mechanical Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113 Japan,   Department of Mechanical System Engineering, Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi, Japan
Published: April 2016

This paper describes the effect on ride quality and levitation performance of the guide wheel stiffness and the dead zone element of the permanent magnetic suspension system with the mechanical air gap controller. A vehicle dynamic model with the guide wheel stiffness is constructed and the stability criteria for the levitation is derived. The relation between the dynamic characteristics of the vehicle and control lever ratio is analyzed. Seventeen DOF full model simulation results, where nonlinear characteristics of magnet and primary spring are also considered, indicate that the levitation performance of the vehicle is largely affected by the dead zone in the mechanical air gap controller and that the deterioration of the levitation performance can be suppressed by a large control lever ratio.
Path Planning Based on Task Knowledge and User’s Intention
Authors: Ogata Hiroyuki ,   Nippon Telegraph and Telephone Co., 3-9-11 Midori-cho, Musashino-shi, Tokyo, 180 Japan, Takahashi Tomoichi ,   Chubu University 1200 Matsumoto, Kasugai-shi, Aichi, 487 Japan (This study was done in NTT Co.)
Published: April 2016

This paper introduces a method to extract task knowledge from an example shown by an teacher or generated by a planner, and to apply the knowledge to plan a path in similar environments where dimentions, design and location of parts may change. Our goal is to make efficient use of learning task resource and to easily plan a path in complex environments. Our method is based on the A*algorithm. We developed a technique to generate a suboptimal path with much less search nodes than the traditional A*algorithm, and to make a heuristic function that includes task knowledge. Examples are shown to verify the effectiveness of our method.
A Reactive Wall Following Algorithm and Its Behavior of an Autonomous Mobile Robot with Sonar Ring
Authors: Ando Yoshinobu ,   Intelligent Robot Laboratory, Institute of Information Science and Electronics, University of Tsukuba, Tsukuba, Ibaraki 305 Japan, Tsubouchi Takashi , Yuta Shin’ichi
Published: April 2016

A robust wall following algorithm for an autonomous mobile robot with a sonar ring is presented. A sonar ring consists of multiple ultrasonic range sensors which are arranged on a disc. The proposed wall-following algorithm has an ability to make a robot follow walls in various shapes. The algorithm is described as a collection of reactions based on the data from the sonar ring. The autonomous mobile robot ""Yamabico"" is used to demonstrate the experimental behaviors of the proposed algorithm. Several experimental examples of the behaviors with this autonomous mobile robot are illustrated in this paper.
Frequency Analysis System for Auditory Nerves with Auditory Brainstem Response (ABR) by Harmonious Tone
Authors: Ide Hideto ,   College of Science and Engineering Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Uchida Masafumi
Published: April 2016

Generally, sounds are composed of three parts, i.e., loudness, pitch, and tone color. The auditory system completes the frequency analysis of these components between peripheral nerve and medial geniculate body. Cerebrum cortex unite the result of analysis and past memories, and perform high level perceptional prudence. The system of frequency analysis has many unknown parts. If these parts are analyzed and explained, the comfort or discomfort to sounds and the human music sense can be clarified. In addition, it can be applied to medial and human engineering etc. As the new method of the system of frequency analysis between peripheral nerve and medical geniculates body, we investigated Auditory Brainstem Response (ABR). It was thought that generation was this communication process. ABR didn’t acknowledge the cerebrum cortex. We thought it was hard to effect drugs, sleep, physiology, or psychology. As the suitable sound for analyzing, we used ‘Chord’ (chord was, basic of the tone color.) thought which was common as a human inborn sense. The results were as follows: (1) In these ABRs, the high frequency components were low level. Background activities which were mainly low frequency components were conspicuous. (2) Alteration of short interval power spectrums exhibits a characteristic difference between harmonious tone and inharmonious, one at 40011z and 60011z. It seemed that the analysis of tone color is performed between peripheral nerve and medial geniculate body that were before cerebrum cortex.
Hybrid Position/Force Control of Robot Manipulators Based on Second Derivatives of Position and Force
Authors: Komada Satoshi ,   Faculty of Engineering, Mie University, 1515 Kamihama-cho, Tsu, Mie, 514 Japan, Ishida Muneaki , Ohnishi Kouhei , Hori Takamasa ,   Faculty of Science and Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa, 223 Japan
Published: April 2016

This paper proposes a new robust hybrid position/force control of robot manipulators. The proposed method controls the second derivatives of control variables, such as position and force in a task coordinate system, in order to realize robust and high response control. To this end, the disturbances are estimated by a position-based disturbance observer and a force-based distrubance observer in the task coordinate system, and are compensated by feeding back the estimated distrubances. The proposed method requires less computational effort and is robust against the disturbance and parameter variations. The position-based distrubance observer has been proposed to linearize robot manipulators and has realized robust position control. However, when force control is performed, the force response is influenced by not only the nonlinearity of robot manipulators but also the charactersitics of the environment on which the force is imposed. Therefore, the force-based disturbance observer is developed to realize robust force control. A controller robust against the disturbance and parameter variations is realized by using the position-based disturbance observer and the force-based disturbance observer on performing the position control and the force control respectively. The effectiveness of the proposed method is shown by experiments by using a direct drive robot.
Mie University, Faculty of Engineering, Hori Research Laboratory
Authors: Hori Takamasa ,   Dept. of Electrical and Electronic Eng., Mie University, 1515 Kamihama-cho, Tsu, Mie, 514 Japan, Ishida Muneaki , Komada Satoshi
Published: April 2016

The Faculty of Engineering, Mie University was established in April 1969. Therefore, it has a rather short history. The Department of Electrical and Electronic Engineering with full enrollment of 110 students was initiated in April 1991 by the merger and reorganization of the Department of Electrical Engineering, established in 1969, and the Department of Electronic Engineering, established in 1975. Over 30% of the graduate students continue on to the masters course each year. In the 1995 academic year, the doctoral course was established in the Faculty of Engineering. With this reorganization, the conventional minor professorial chair system (9 minor chairs) was changed to 3 major professorial chair system. The major chairs are: the Laboratories of Electrical Systems Engineering, the Information and Communication Systems, and the Electronic Material Science and Technology. Hori Research Laboratory is part of the Laboratories of Electrical System Engineering. The Laboratory consists of Professor Takamasa Hori, Associate Professor Muneaki Ishida, Assistant Professor Satoshi Komada, Engineer Masaru Nakamura, 2 doctoral students, 9 masters course students, 12 undergraduates, and one researcher. T. Hori joined the lab from Hitachi Research Lab. of Hitachi, Ltd. in January 1987, M. Ishida from Nagoya University in June 1987, and S. Komada from Keio University in April 1989. Major research themes of the lab are as follows:
A Proposal of Multi-Module Network for Association of Patterns and Symbols
Authors: Hattori Yoichiro ,   Department of Information Electronics, Nagoya University, Furo-cho, Chidane-ku, Nagoya, 464, Japan, Furuhashi Takeshi , Uchikawa Yoshiki
Published: April 2016

Our brain is constructed of modules, which share brain functions and work through stimulus from outside by cooperating and competing with each other. By analogizing the brain system, construction methods of artificial multi-module networks have been proposed. The authors have proposed a 2-layer associative memory network consisting of a pattern layer and a symbol layer. This paper presents a construction method for a multimodule network using the 2-layer models. We examine the association of facial patterns by the network.
A Study on Self-Organization of Heuristics Using Analogy
Authors: Matsuura Kenichi ,   Faculty of Engineering, Hokkaido University, Nishi 8, Kita 13-Jyo, Kita-ku, Sapporo 060, Japan, Kakazu Yukinori
Published: April 2016

To solve a given problem, the strategy which is suitable for solving its problem is used in general. Those strategies for problem solving can be treated as mapping from the problem into a solution. Besides, there will exist some kind of analogical relationship among these strategies. Thus, we can apply the method, that takes analogy of strategies with the problem which have already been solved and which is similar to the unsolved problem, to search solution for unsolved target problem. In this paper, we attempt to perform problem solving using such analogical method. To this end, first, heuristics are organized by generalizing a set of strategies for problem solving which are similar to each other. Second, those heuristics are applied to the unsolved target problem to search a solution. We have performed some computer experiments to examine the role of heuristics and utility of analogy.
Representation of a Product Assembly Architecture for Assembly Sequence Generation
Authors: Nagasawa Isao ,   Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, Kawazu 680-4, Iizuka-city, Fukuoka, 820 Japan, Adachi Yasushi , Morita Toru , Aramaki Shigeto , Kurono Shigeru ,   Kurume Institute of Technology, kamizumachi 2223, Kurume-city, Fukuoka, 830 Japan,   Faculty of Engineering, Fukuoka University, Nanakuma 8-19-1, Jyonan-ku, Fukuoka, 814-80 Japan,   Faculty of Engineering, Kyushu Sangyo University, Matsukadai 2-3-1, Higashi-ku, Fukuoka, 813 Japan
Published: April 2016

This paper describes the representation of an assembly architecture. A functional element is introduced to represent assembly architecture. By using this functional element, constraint of assembly architecture can be naturally described. This functional element is used to express relations among the parts. The constraint among assembly parts which interfere without touching can be described by the relation. The relation has an assembly method etc. and can describe constraint and interference. It is shown that the search space of the assembly sequence is reduced by using our representation of assembly architecture.
VLSI Processor System for Robotics
Authors: Kameyama Michitaka ,   Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, 980-77 Japan, Fujioka Yoshichika ,   Department of Electrical Engineering, Hachinohe Institute of Technology, 88-1, Obiraki, Myo, Hachinohe, 031 Japan
Published: April 2016

As one of the next-generation information systems, it is important to construct intelligent integrated systems that have quick response for dynamically changing environment. Therefore, it becomes essential to develop the special purpose VLSI processors which are based on the philosophy ""great reduction of the delay time."" Particularly, we call it robot electronics to develop the special purpose VLSI processors for intelligent robot control. In this article, we will review the fundamental technologies such as pipeline architecture, spacial parallel processing, reconfigurable parallel architecture and high level synthesis of the parallel processor with minimum delay time.
Extraction and Motion Estimation of 3D Objects from Stereo Image Sequence
Authors: Katsulai Hiroshi ,   Dept. of Computer Science, Chiba Institute of Technology, 2-17-1 Narashino, Tsudanuma, Chiba, 275 Japan
Published: April 2016

It is important to estimate motion parameters and structures of 3D objects from the image sequence, and a variety of methods to do so have been proposed so far. In this paper, a method is described of estimating the motion and structure of a 3D object from the stereo image sequence. In this method, based on the correspondence of 2D segments in each stereo pair, using a newly devised similarity measure, 3D segments are reconstructed, then grouped into rigid objects, making use of the correspondence of 3D segments in successive images, and parameters of rigid motions are computed for each group.
Towards a Mind Based Technology
Authors: Wada Mitsuo ,   Faculty of Engineering, Hokkaido University, Kita 13, Nishi 8, Kitaku, Sapporo, Hokkaido 060, Japan
Published: April 2016

The 21st century is just around the corner and requests are growing for a comfortable and rich life. At the same time, the society is aging due to a drop in the birth rate, triggering serious problems due to the decrease in the working population and a rapid increase in the load on welfare. Under these circumstances, some technologies has been requested to support life and society, but industrial technologies had a tendency to forget the humanoriented standpoint and evaluation methods were apt to follow preceding technologies. A request has been made to explode a human or humanoriented engineering design or development approach. What science or technological architecture is it positioned at? What effect does it have on the industry? Mind-based technology proposed in this paper is one of these considerations and claims to establish the principle of technological development that conforms to human or social acceptability, that is, a generic technology that respects the human individuality as a view on the value or versatility to support self-realization. This is derived from the recognition that it is important to clarify acceptable human and social rules based on an engineering understanding of mind such as a direct human sense, sensitivity, feeling, consciousness, or desire and to determine the target of research and development from these rules. This paper introduces some discussions on this matter.
Evaluation of a New Force Display using Metal Hydride Alloys
Authors: Shimizu Shunji ,   National Institute of Bioscience and Human-Technology, 1-1, Higashi, Tsukuba 305, Japan, Ino Shuichi , Tsuruga Takeshi , Wakisaka Tohru Ifukube Yuichi , Izumi Takashi ,   Research Institute for Electronic Science, Hokkaido University, Nishi-6, Kita-12, Kita, Sapporo 060, Japan,   Muroran Research Laboratory, Japan Steel Works, Ltd., 4, Chatsu-machi, Muroran, 051, Japan,   School of Engineering, Hokkaido Tokai University, Minamisawa, 5-1-1-1, Minami, Sapporo 005, Japan
Published: April 2016

It is an important study subject today to develop the method of realizing harmonious sensation feedback to humans not only in the remote manipulation of robots but also in human interface in general. Many study reports on such sensation feedback are available in the fields of visual and acoustic senses, but very few are available in the fields of force and tactile senses. This paper reports on the design, experimental fabrication and evaluates the usefulness of a new force display using a metal hydride (MH) actuator. The actuator made by the MH alloys is one of a few actuators suitable for putting on human. At first, the differential limen for applied force in human was investigated to obtain the design indices of the force display. Then, two types of experiments were carried out to evaluate the availability of the display. The experiments verified that the experimentally fabricated force display is fully capable of displaying continuous force variations on the sensation levels of about 3.5-15.6dB [S.L.] of force. It also verified that the difference between the force that acted on an arm when the arm actually lifted a real object of 20N and the force that was displayed by the force display and sensed to be equivalent to the force of the real object was smaller than the differential limen, indicating that this force display is capable of giving approximately the same force information as real objects to human. As a result, it was verified that the force display using MH actuators is useful.
Learning Control Method for Robotic Dynamical System
Authors: Kumagai Tohru ,   National Institute of Bioscience and Human-Technology, 1-1, Higashi, Tsukuba, 305, Japan, Wada Mitsuo , Mikami Sadayoshi , Hashimoto Ryoichi ,   Faculty of Engineering Hokkaido University, N13-W8, Kita-ku, Sapporo 060, Japan,   Graduate School of Hokkaido University, N13-W8, Kita-ku, Sapporo 060, Japan
Published: April 2016

We present a new learning control method to control a single input multi output system. In conventional learning controllers using a neural network, it is difficult to treat a multi-output system because of the difficulty in designing reference models. Hence, we propose to divide a complex plant into sub-plants and to use a learning controller for each one. We use our method to the regulation problem of the inverted pendulum that is a oneinput, two-output system. In the simulation and the experimental system, we regulate the inverted pendulum and show the effectiveness of this method. We also show that our learning control system can regulate a system that has a time lag between the input and the output signals. Moreover, we show that a reference model of order lower than the plant order is available.
3D Image Media and Computer Vision -From CV as Robot Technology to CV as Media Technology-
Authors: Ohta Yuichi ,   University of Tsukuba, Institute of Information Sciences and Electronics, 1-1-1, Tennodai, Tsukuba, Ibaraki, 305 Japan
Published: April 2016

The possibility to apply the computer vision technology to the development of a new image medium is discussed. Computer vision has been studied as a sensor technology between the real world and computers. On the other hand, the computer graphics are the interface technology between the computers and human beings. The invention of ""3D photography"" based on the computer vision technology will realize a new 3D image medium which connects the real world and the human beings via computer. In such a framework, computer vision should be studied as a media technology rather than a robot technology.
A Corner Detection Using Adaptive Octants Filter
Authors: Sakai Atsushi ,   Faculty of Electronic-Mechanical Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya-shi, 464-01 Japan, Nomura Yoshihiko
Published: April 2016

We propose a method of corner detection algorithm using an adaptive octants filter paying attention to a characteristic of the edge pixel distribution around the corner. Changing the octants boundaries adaptively, we analyze the edge distribution among 8 octants for every edge pixel, and select some octants possible to contain edge segments. Furthermore, we extract some edge pixels as the corner candidates by evaluating the angles between the edge segments in the selected octants. The candidates are excessively extracted around the corner, and therefore, we find out the true corner using a cornerness measure.
Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents
Authors: Agah Arvin ,   Bio-Robotics Division, Mechanical Engineering Laboratory, AIST- Ministry of International Trade and Industry, 1-2 Namiki, Tsukuba 305, Japan, Bekey George A. ,   Institute for Robotics and Intelligent Systems, Computer Science Department University of Southern California, Los Angeles, CA 90089, U.S.A.
Published: April 2016

The emergence and effectiveness of communication interface in a colony of autonomous agents is discussed in this paper. The robotic agents sense the world within which they are embedded, while performing specific tasks in the world. Some of the tasks require the simultaneous cooperation of two robotic agents. These agents are able to sense other agents and communicate via simple, task-related messages. Using genetic algorithms, a colony of agents is evolved, producing agents with improved performance. It is shown that the tendency of the robotics agents to communicate increases through evolution, as the colony cooperates more, in order to perform more tasks. The concepts developed through computer simulation are tested for feasibility in a team of four small mobile-manipulator robots, each controlled autonomously via an on-board micro-processor.
Position Control of a Manipulator on PWS-type Locomotor
Authors: Taguchi Kan ,   Cooperative Research Center,, Handa Hiroyuki , Yamafuji Kazuo ,   Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo 182 Japan
Published: April 2016

In position control of a manipulator on a PWS mobile robot, we used a mobile manipulator as a redundant system on a horizontal plane to obtain a trajectory of Joint angles.
A Combined Molecular Dynamics and Rigid-Plastic FEM Simulation of Atomic Level Cutting
Authors: Manabe Keiji ,   Faculty of Engineering, Kobe University, Rokkodai-cho, Nada-ku, Kobe-shi 657, Japan, Isobe Manabu , Ueda Kanji
Published: April 2016

An atomic-level cutting process is simulated using the combined molecular dynamics (MD) method and the rigid-plastic finite element method (RPFEM). The algorithm for combining the MD and RPFEM was developed. The MD solution of the atomic displacements and the nodal displacements obtained by the RPFEM analysis are combined in the vicinity of the tool edge, so an atomic-level cutting process is simulated. The transition process at the beginning of cutting a single crystal of copper with a diamond tool is simulated. In this calculation, the atomic behavior in the shear zone near the tool edge and the plastic flow of the chip can be analyzed simultaneously. The proposed MD-RPFEM hybrid simulation is considered to be effective in analyzing the atomic-order cutting process.
Natural Motion Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm in the Various Environments
Authors: Arakawa Takemasa ,   Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan, Fukuda Toshio
Published: April 2016

The purpose of this research is to generate natural motion in a biped locomotion robot, like a human walking in various environments. In this paper, we report on biped locomotion robots. We apply a hierarchical evolutionary algorithm in order to generate the trajectory of a biped locomotion robot through energy optimization, and attempt to generate a more natural motion by considering the dynamic effect. The hierarchical evolutionary algorithm consists of two layers: one is the GA layer which minimizes the total energy of all the actuators, and the other is the EP layer which optimizes the interpolated configuration of the biped locomotion robot. Then we formulate a trajectory generation problem as an energy minimization problem and we apply the hierarchical evolutionary algorithm. Furthermore, we build a trial biped locomotion robot which has 13 joints and is made of aluminum. Finally, we confirm that the calculated natural motion trajectory can be applied successfully to practical biped locomotion.
The Study of Topograph Analysis of Somatosensory Evoked Potentials
Authors: Tanaka Hisaya ,   College of Science and ENgineering, Aoyama Gakuin university, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan, Ide Hideto , Nagashima Yuji ,   Kogakuin University, 2665-1 Nakano-cho, Hachioji-shi, Tokyo 192, Japan
Published: April 2016

We studied the man-machine interface using EEG. This interface requires real time analysis in order to be able to communicate quickly and smoothly. We propose the real time differential topograph analysis and experiment readiness potentials of push button. And we experiment SEP. This paper explains the verification of our method by comparing topographs of the real time differential and SEP. In conclusion, our method is an effective measure of the real-time intent analysis.
Special Issue on Promoting Intellectual Sports
Authors: Hirose Shigeo ,   Department of MechanoAerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152, Japan
Published: April 2016

Are you acquainted with Hackel's hypothesis? Humans evolved over several billion years from simple creatures living in the sea, to quadrupeds, and finally to bipeds. According to the hypothesis of Ernst Heinrich Hackel (1834-1919), the same evolution takes place in eggs in the human birth process; that is, the phylogeny followed by the species reappears in the process of ontogeny. This hypothesis implies a very important suggestion regarding the training of young engineers who will be the support and driving force of the advanced technology society. Humans built a wonderful advanced technology society by accumulating the technologies developed by their predecessors. If this is to continue, what will be the best way of training genuine engineers able to further develop current advanced technologies? Neither top-down desk theory that teaches theories recursively based on experience nor superficial technical skill training designed to enable students to use state-of-the- art technology products can produce really creative engineers. Most important is not such education but the real experience in which students touch an object, designs the object themselves, and complete the object; that is, the process in which students experience for themselves the phylogeny of technology that humans followed in the process of ontogeny as individual engineers. The training of engineers is the most suitable field for applying Hackel's hypothesis. We are living in an age flooded with products that make the most of advanced technology. Most products incorporate advanced technology in the form of a black box, which makes the essence of an object more difficult to understand than in the past. Systematic efforts should be made to introduce a new system in which children experience Hackel's hypothesis without difficulty. One effective measure of achieving this objective is to popularize intellectual sports -- games of making objects that liberate people from the conventional fixed concept of objector product manufacturing synonymous with manufacturing activities, and enables them to unconsciously train their engineering sense by letting them naturally accept manufacturing in the process of their growth. F1 contests and human bird contests are examples of such games, but robot contests are a much better example. This is because human-like robots easily attract people's attention and that the process of constructing robots enables people to learn engineering technology ""naturally."" Based on this view, we have compiled reports on the experiences of instructors who conduct creative education through manufacturing of articles, particularly instructors conducting robot contests. The information provided in this special issue will, we hope, serve as research material for instructors starting engineering education and creative education through manufacturing. We aldo hope this issue will contribute to the spread of intellectual sports.
Development of Blanket Remote Maintenance System
Authors: Kakudate Satoshi ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 311-01, Japan, Nakahira Masataka , Oka Kiyoshi , Taguchi Kou
Published: April 2016

ITER in-vessel components such as blankets are scheduled maintenance components, including complete shield blanket replacement for breeding blankets. In-vessel components are activated by 14 MeV neutrons, so blanket maintenance requires remote handling equipment and tools able to handle heavy payloads of about 4 tons within a positioning accuracy of 2 mm under intense gamma radiation. To facilitate remote maintenance, blankets are segmented into 730 modules and railmounted vehicle remote maintenance was developed. According to the ITER R&D program, critical technology related to blanket maintenance was developed extensively through joint efforts of the Japan, EU, and U.S. home teams. This paper summarizes current blanket maintenance technology conducted by the Japan Home Team, including development of full-scale remote handling equipment and tools for blanket maintenance.
Development of ITER In-Vessel Viewing and Metrology Systems
Authors: Obara Kenjiro ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 311-01, Japan, Kakudate Satoshi , Nakahira Masataka , Ito Akira
Published: April 2016

The ITER in-vessel viewing system is vital for detecting and locating damage to in-vessel components such as the blankets and divertors and in monitoring and assisting in-vessel maintenance. This system must be able to operate at high temperature (200°C) under intense gamma radiation (-30 kGy/h) in a high vacuum or I bar inert gas. A periscope viewing system was chosen as a reference due to its clear, wide view and a fiberscope viewing system chosen as a backup for viewing in narrow confines. According to the ITER R&D program, both systems and a metrology system are being developed through the joint efforts of Japan, the U.S., and RF Home Teams. This paper outlines design and technology development mainly on periscope in-vessel viewing and laser metrology contributed by the Japan Home Team.
Cylinder Insertion into Hole of Flexible Rubber Plate - Path Search for Local Minimum Insertion Force by Shifting Fitted Zone Regression -
Authors: Sasaki Keiji ,   Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka-shi, Iwate 020-8551, Japan, Brata Akas Sureng , Shimachi Shigeyuki
Published: April 2016

We discuss cylinder insertion into a hole of a flexible rubber plate, which is an example of research the robot assembly industry requires for dealing with flexible parts using human-like skills. We show that the magnitude of insertion force expresses a hyperbolic field in three-dimensional space composed of position and posture of a cylinder. The hyperbolic field has a tunneling path from which can obtain local minimum insertion force. This path appears to correspond to the position and posture of cylinder insertion using human skill. We propose a search for the tunneling path that uses a simple regression model that fits the hyperbolic field to a narrow zone. The fitting zone shifts as cylinder insertion advances. Results show that regression is a possible search method for the tunneling path.
Planning Strategy for Task Untangling Laundry - Isolating Clothes from a Washed Mass -
Authors: Hamajima Kyoko ,   Tokyo Denki University, 2-2 Nisiki-cho, Kanda, Chiyoda-ku, Tokyo 101, Japan, Kakikura Masayoshi
Published: April 2016

Research on housework labor saving and automation for housework robots is growing as the population grays and improved electronics are becoming available to the home. Special problems for housework robots include the enormous recognition complexity needed if such robots are to be highly independent of the work environment. Robot must deal, for example, with the variety of ""nonsolid"" household objects. We studied the technology by which a robot handles nonsolid objects, focusing on putting clothing to order at a specified site. Concrete subtasks this involves include removing one type of clothing from a wash and spreading out, classifying, folding, and putting it in a specified place. This paper proposes a ""unfolding"" planning strategy.
Emotion Analysis using FST
Authors: Tanaka Hisaya ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157-8572, Japan, Ide Hideto , Nagashima Yuji ,   Kogakuin University, 2665-1 Nakano-cho, Hachioji-shi, Tokyo 192-0015, Japan
Published: April 2016

The emotions and autonomous nerve system are physiologically closely related, as are emotions and facial skin temperature because changes in FST are caused by vein constrictions. We studied objective emotion discrimination using facial skin thermography. The emotions are equanimity, fear, angry, joy and sadness. Measurement results showed that FST increased in anger, joy, and sadness but decreased in fear and that nasal FST changes the most, but it is difficult to discriminate between feelings by measurement results. This paper describes feeling by thermogram of the nose based on a neural network. In this experiment, the FST among test subjects made the different of skin temperature's distance. For a solution, the method to make use of input data of Neural Network by formal data. Before of this problem, Neural Network did not converge. After solution, it attained a recognition rate of 71.7%. This paper shows that this system is efficient. It showed that there is some possibility of quantitative evaluation of feelings and of various application of the system in the future.
Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer
Authors: Kojima Hiroyuki ,   Department of Mechanical System Engineering, Gunma University, Kiryu, Gunma 376-8515, Japan, Hashimoto Toshihilo , Shimoyama Sadao ,   Material Handling Equipment Design Dept., Hitachi Kiden Kogyo, Ltd., 908, Tadakari-cho, Ota-shi, 373-0011, Japan,   Manufacturing Engineering Research Center, Toshiba Corporation, 33, Shin-Isogo-cho, Isogo-ku, Yokohama, 235-0017, Japan
Published: April 2016

This paper describes trajectory tracking control for a flexible mobile robot using a disturbance observer. The robot consists of a wheeled mobile mechanism and a flexible structure of four flexible beams and a work table. Trajectory tracking control is compound control of a disturbance observer and feedforward compensation two-degree-of-freedom (2DOF) controller. The feedforward compensation 2DOF controller consists of a feedforward controller and a state feedback controller. Experimental and numerical simulation results confirmed that trajectory tracking control of the robot work table is possible with trajectory control using the disturbance observer.
Chaotic Short-Term Prediction to Water Flow into Hydroelectric Power Stations
Authors: Koyama Masaya ,   System Technology Division, Meidensha Corporation, 36-2 Nihonbashi Hakozaki-cho Chuo-ku, Tokyo 103-8515, Japan, lokibe Tadashi
Published: April 2016

We applied local fuzzy reconstruction as deterministic nonlinear short-term prediction to data for water flow into hydroelectric power stations. Such prediction involves complex natural phenomena, and conventional hydraulics-based mathematical models do not produce satisfactory results. When a neural network is used, its construction cannot be easily determined, so extra neural networks must also be provided separately, based on experts' opinions. To solve these problems, we held that if time-series data of the inflow rate for hydroelectric power stations exhibits deterministic chaos, the status in the near future is predicted. Typical outflow analysis using conventional mathematical models is described briefly, followed by local fuzzy reconstruction, then results are given from applying this to water flow prediction.
Kinematic Description of Self-Organized Leg Motion Transition in Human Locomotion Learning
Authors: Yokoi Takashi ,   National Institute of Bioscience and Human-Engineering, 1-1 Higashi, Tsukuba,Ibaraki 305-8566, Japan, Takahashi Akihiko , Kizuka Tomohiro
Published: April 2016

Leg motion learning while walking backward with eyes closed on a treadmill was studied to gain information on self-organization in locomotion learning. Eight adults walked on a treadmill at a belt speed of 50 m/min for five minutes,, four times. The angles of the hip, knee, and ankle joints were calculated to describe lower limb motion transition with learning progress. The attractor of a dynamical system creating joint flexion and extension was reconstructed from time-series joint angle data by the method of Takens (1981). Main findings were that: 1) the joint motion transition pattern with learning progress differs for the three leg joints; 2) with learning progress, ankle joint motion converged from complex to a certain clear pattern and, as a result, the chaotic property of the joint became weak; and 3) with learning motion, the fractal dimension of the attractor for knee joint motion exceeded those for the ankle and hip joints.
Logistic Chaos Protects Evolution against Environment Noise
Authors: Kubo Masao ,   Chaotic Engineering, Complex Systems Engineering Laboratry, Faculty of Eng., Hokkaido University, N-13, W-8, Sapporo 060-8628, Japan, Yamaguchi Akihiro , Mikami Sadayoshi , Wada Mitsuo
Published: April 2016

We propose a neuron with noise generator specially for the evolutionary robotics approach to incremental knowledge acquisition. Genetically evolving neural networks are modified continuously by genetic operations. Difficulty in incrementing knowledge when a neural network acts as a robotic controller arises when network operates unlike in the past due to disturbance by neurons added by genetic operators. To evolve a network robust against such internal noise, we propose adding noise generators to neurons. We show the effectiveness of the application of a logistic chaos noise generator to neurons by comparing several noise generators.
Autonomous Vehicle Navigation Behavior Generation by Reinforcement Learning
Authors: Naruse Keitaro ,   Hokkaido University, Kita-13 Nishi-8, Sapporo 060 Japan, Kakazu Yukinori , Leu Ming C. ,   New Jersey Institute of Technology, Newark, NJ 07102, USA
Published: April 2016

This paper presents an efficient reinforcement learning algorithm for autonomous vehicle navigation. Efficiency is achieved by identifying the structure of a given problem, and it is represented as a set of behaviors - efficient action sequences for solving the problem. Computational simulations are conducted and the proposed mechanism demonstrate.
Self-Tuning Neuro-PID for Stabilization of Double Inverted Pendulum
Authors: Kishida Yoshiyuki ,   Department of Computer and Systems Sciences, College of Engineering, Osaka Prefecture University, Sakai, Osaka 599-8531, Japan, Omatu Sigeru , Yoshioka Michifumi
Published: April 2016

This paper covers a new self-tuning neuro-PID control architecture and its application to stabilization of single and double inverted pendulums. Single-Input multioutput controls the inverted pendulum using the PID controller. PID gains are tuned using two types of neural networks. Simulation results demonstrate the effectiveness of the proposed approach.
Deformation of Windmill Support and Operation
Authors: Yamaji Kouki ,   Dept. of Automotive Engineering, Inoue Shoushi , Yamamoto Terumi , Konishi Yutaka , Hashimoto Takaaki ,   Dept. of Electronics Engineering, Aichi College of Technology, 50-2 Manori, Nishihagama-cho, Gamagori, Aichi 443-0047, Japan
Published: April 2016

The wind-induced deformation of windmill supports wind is analyzed. A monolithic hollow cylinder support is replaced and designed to endure wind velocity of 60m/s at rest and 20m/s in blade rotation. A windmill with fixed pitch blade angles and a permanent magnetic generator are controlled to meet both allowable bending moment and electric brake current. To operate the windmill efficiently for power generation, local wind characteristics must precisely determined, giving the critical cutoff parameter and magnitude of wind bursts at a certain average wind velocity.
Software Package BDSP Developed to Simulate Hydraulic Systems
Authors: Muto Takayoshi ,   Department of Mechanical & Systems Engineering, Gifu University, 1-1 Yanagido, Gifu, 501-1193 Japan, Fukumori Junji , Seko Akio , Yamada Hironao
Published: April 2016

We developed simulation software for hydraulic control systems enabling the operator to simulate dynamic system performance without special knowledge of software or control engineering. The program was for use on conventional personal computers. Simulation proceeds with each operation very simply based on system block diagram representation. A GUI enabled almost all simulation operations to be done using display windows. The program simulates fluid line elements, nonlinear elements, and discrete time control.
Sketching for Porcelain Using Image Processing
Authors: Shiranita Kazuhiko ,   Applied Electronics Division, Saga Prefectural Industrial Technology Center, 114 Yaemizo, Nabeshima, Saga 849-0932, Japan, Hayashi Kenichiro , Otsubo Akifumi
Published: April 2016

We developed a system for automatically sketching patterns on the surface of porcelain. The system consists of two parts - measurement for the three-dimensional (3-D) porcelain piece using slit lighting and automatic pattern sketching. Since we classified porcelain pieces into two types by shape, two 3-D measurements were developed. We propose calculating of 3-D coordinates simply and quickly. Sketching uses numerical control. Numerical control data for sketching patterns onto porcelain were generated using results measured by the measurement and CAD systems. Experimental results verified the system's effectiveness.
Unattended Production Based on Cooperation between Offline and Online Robots
Authors: Yang Hong-Zhi ,   Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Yamafuji Kazuo , Arita Kouichiro , Ohara Naoki ,   Production System Business Center, Sony Corporation, 6-7-35 Kitashinagawa, Shinagawa-ku, Tokyo 141-0001, Japan,   Human Technology Department, Advanced Technology Research Division, Yamaha Motor Co., Ltd., 2500 Shingai, lwata, Shizuoka, 438-8501, Japan
Published: April 2016

To cope with labor shortages due to low birth rates in the 21st century, and create friendlier production systems, we propose a robot system assisting production in flexible manufacturing environments, where offline robots replace or reduce human labor on the shop floor. Offline robots conduct aid or service tasks for online robots operating on production lines or sites. We analyze conventional automatic production systems using robots, propose a robotic production concept using two types of robots, present ways to implement the proposed concept and technical results, and discuss fault recovery using offline robots and peripheral technology.
Real-time Scene Identification Using Run-length Encoding of Video Feature Sequences
Authors: Nagasaka Akio ,   Central Research laboratory, Hitachi, Ltd. 1-280 Higashi-Koigakubo, Kokubunnji-shi, Tokyo 185-8601, Japan, Miyatake Takafumi
Published: April 2016

We propose real-time video scene identification that detects all same scenes in stored videos as the latest freelength scene, compressing the video feature sequence in an average of less than 20 bytes per second to store features for a long time. It takes less than 30ms on the average for a typical personal computer to process 1 newly input fame image even storing more than 24-hour video features. Experiments with TV showed that this method finds correct pairs of the same scenes in real time without error. This becomes the basis for active video recording based on a user's TV viewing history and for new robotic machine vision for surveillance.
Face Identification by FG Sensor
Authors: Nakajima Masato ,   Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama 223-0061, Japan
Published: April 2016

In this paper, we propose a new method for human face identification using 3-D shading image which combines 3-D distance information with gray scaled one. This image is acquired by Fiber-grating Visual Sensor. And the method is free from the fluctuation of the direction of the face in face data acquisition, so subjects are required to stand on a footprint and reflect the nose in the square flame at the center of the mirror. We introduce the partial space method for the Identification. And Right identification rate of 96.5% is achieved as a result.