bluuebunny/crossref_metadata_2025 huggingface dataset:
Development and Evaluation of One-Shaft Type ER Clutch
Authors: Saga Norihiko ,   Akita Prefectural University, 84-4 Tsuchiya, Honnjo, Akita, 015-0055, Japan, Nakamura Taro , Nakazawa Masaru ,   Shinsyu University, 3-15-1 Tokida, Ueda, Nagano, 386-8567 Japan
Published: April 2016

Electrocrheological (ER) fluids are members of the family of intelligent fluids, and they have a property that their apparent viscosity can be controlled according to the strength of an electric field applied to them. Various applications using ER fluids have been developed. Recently, research on whether ER fluids can be applied to the area of the motion control in robotics has been carried out. For example, we see that robots in factory applications have two links. For safety's sake, it is necessary to create an enclosure around a large-capacity robot since it is too dangerous for humans to approach such a robot. Thus, we considered that a robot arm would not injure a person if it could bend softly when coming in contact with that person, with a force applied to its tip being controlled skillfully at the joint. In order to realize this bending motion, we aim to develop an actuator to be built into the joint of a robot arm and examine a method of controlling the arm (impedance control). In this paper, we developed a one-shaft type ER clutch to be installed in the joint section of a robot arm. The developed ER clutch was found to be stronger than a conventional ER clutch in terms of radial motion. Further, we examined the fundamental characteristics of the developed ER clutch in order to apply impedance control to it. The results of our experiment show that the coefficient of viscosity is directly proportional to an applied electric field. Therefore, it is concluded that impedance control can be applied to the clutch.
Visuo-Motor Adaptation to Stepwise and Gradual Changes in the Environment: Relationship between Consciousness and Adaptation
Authors: Sakaguchi Yutaka ,   University of Electro-Communications, Tokyo, Japan 1-5-1, Chofugaoka, Chofu, Tokyo 182-8585, Japan, Akashi Yu-ichi , Takano Mitsuo
Published: April 2016

Visuo-motor transformation in the human brain continuously adapts to the external environment, regardless of whether we are aware of the environmental change. This study examines the features of visuo-motor adaptation with stepwise and gradual visual shifts to explore the relationship between consciousness and adaptation. First, we ran psychological experiments, in which the amount of aftereffect was compared between the two kinds of visual shift. For most participants, almost complete aftereffects were observed in the gradual condition, while a slight aftereffect was observed in the stepwise condition. Interestingly, however, the magnitude of the aftereffect depended more on whether the participant noticed the visual shift than on whether the visual shift was stepwise or gradual. This suggests that participant consciousness is an essential factor in visuo-motor adaptation. Next, we built a computational model to simulate the experimental results. Its fundamental concepts were ""reinforcement learning"", giving a basic strategy for r choosing an appropriate motor command; ""modular architecture"", providing different visuo-motor transformations for different environments; and ""reliability of the internal model"", realizing an adaptive command selection according to the progress in learning. The behavior of the proposed model was examined in numerical experiments. Some related problems are discussed in relation to the results of psychological and numerical experiments.
Personal Robot PaPeRo
Authors: Fujita Yoshiro ,   Multimedia Research Laboratories, NEC Corporation, 4-1-1 Miyazaki, Miyamae, Kawasaki, 216-8555 Japan
Published: April 2016

This paper discusses the Personal Robot PaPeRo concept, architecture, and experiments. PaPeRo is a autonomous robot prototype for use at home with human interaction. PaPeRo uses speech and face recognition technology and expressions using synchronized motion, speech, and LEDs.
POO--CHI
Authors: Onishi Tomohiko ,   SEGA Toys Co. 1-4-4 Yanagibashi, Taitou-ku, Tokyo 111-0052 Japan
Published: April 2016

POO-CHI of the KOKO-ROBO Series is a dog-shaped toy robot targeting girls of about 10 years old. To date, it has recorded sales of about 19,000,000. POO--CHI sings, moves its legs, and changes the expression of its eyes based on different input to its sensors. Its safety features prevent fingers of children from being caught in the legs of the robot by accident. The main challenge in its development was to reconcile lower cost with functions, especially those that make POO--CHI appear smarter.
Artificial Finger Skin having Ridges and Distributed Tactile Sensors used for Grasp Force Control
Authors: Yamada Daisuke ,   Department of Mechanical Engineering, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, 223-8522, Japan, Maeno Takashi , Yamada Yoji ,   Intelligent Systems Laboratory, Graduate School of Toyota Technological Institute, 2-12-1, Hisakata, Tempaku, Nagoya 468-8511, Japan
Published: April 2016

An artificial elastic finger skin for robot fingers has been developed for controlling grasp force when weight and frictional coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per ridge similar to human fingertips. The surface of the whole finger is curved so that reaction force distributes. A Finite Element (FE) model of the elastic finger skin was made to conduct dynamic contact analysis using a FE method to design the elastic finger skin in detail. Then the elastic finger skin was made. We confirmed by calculation and experiment that incipient slippage of the ridge occurring near the edge of contact is detected. Then, grasp was controlled using the finger. Arbitrary objects were lifted by incipient slippage near the edge of contact. We found that artificial finger skin is useful for controlling grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.
Error Analysis of Multilegged Robots for Dead Reckoning
Authors: Mae Yasushi ,   Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Arai Tatsuo , Inoue Kenji
Published: April 2016

A method of error analysis of dead reckoning in multilegged robot locomotion is proposed. Errors in joint angles of support legs cause errors in body pose and errors in joint angles of transfer legs cause errors in foothold positions. These errors are integrated as the robot walks. Basic equations for estimating errors are derived by small displacement analysis. 3 dimensional error distribution in dead reckoning is analyzed by singular value decomposition.
Coordination Control of Arm Using Antagonistic Actuators
Authors: Oshima Toru ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, Kurogawa 5180, Kosugi, Toyama, 939-0398, Japan, Fujikawa Tomohiko , Kumamoto Minayori ,   Department of Electronic Control Engineering, Toyama National College of Maritime Technology, Ebie Neriya 1-2, Sinminato, Toyama, 933-0293, Japan,   Laboratory of Image Information Science and Technology, Hongo 5-26-4, Bunkyo, Tokyo, 113-0033, Japan
Published: April 2016

In a mechanical joint drive used in robot arms, 1 actuator drives each joint. To drive joints in musculoskeletal animal limbs, in which skeletal muscles are used as actuators, a pair of bi-articular muscles drives 2 joints simultaneously in addition to a pair of monoarticular muscles for driving 1 joint. In our study, the mutual coordination of antagonistic mono-articular and antagonistic bi-articular muscles in in the horizontal arm plane were examined using electromyogram, results were analyzed by a mechanical 2-joint link model, and the relationship between the pattern of coordination of antagonistic muscles and output force generated by the arm clarified. A neural network model that generates the pattern of coordination was proposed to clarify the difference between conventional robots and animals in the force control mode for limbs.
Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot
Authors: Huang Qing-jiu ,   Artificial System Science, Graduate School of Science and Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba, 263-8522 Japan, Nonami Kenzo ,   Department of Electronics and Mechanical Engineers, Faculty of Engineers, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba, 263-8522 Japan
Published: April 2016

We propose a six-legged walking robot having two manipulators which offers added stability, mobility, and functionality. We studied neuro-based position and force hybrid motion control for walking on irregular terrain. Comparison with conventional position and force hybrid control demonstrates the high efficiency of the proposed neuro-based position and force hybrid control. The neuro-based position and force hybrid control includes six-axis force sensors in each leg, which provide control vertically, i.e., in the direction of gravity, and in the walking direction. This platform has proven to be very useful on irregular terrain including obstacles of random height and random position. Consequently, autonomous stable walking in an unknown environment has been realized through experiments.
Study of Shape Representation Using Internal Radiated-light Projection
Authors: Doi Takahiro ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo, 152-8552 Japan, Hirose Shigeo
Published: April 2016

Recent developments in 3D sensors have raised the possibility of using them in an increasing number of engineering applications. However, since most 3D sensors, such as the laser range finder, are based on the use of light, which moves in straight lines, the measurement area is limited to the front of an object, making the back an ""invisible"" surface. To calculate such unmeasurable areas, a system that memorizes shapes often encountered in objects and superimposes them on the scene is required. To realize such a type of system, an appropriate 3D shape representation is needed. This representation should 1) be able to handle and compare partial and complete sets of data of object shapes, and 2) operate quickly enough to be applicable to real-time tasks. We developed a novel shape representation framework called ""Internal Radiated-light Projection (IRP)"" to represent and compare 3D objects. This representation projects local shape information of an object on a sphere by imaginary rays from the ""kernel"" of the object. To describe local shape information and arrange shapes properly, we propose Harmonic Contour Analysis (HCA) and the Shape Matrix. These concepts are characterized by 1) simplicity; 2) the use of local shapes and their adjacent information; and, by using the Shape Matrix, 3) the consideration of the effect of gravity and stable poses for objects. In IRP representation, we can categorize objects in known classes and calculate their positions and attitudes. This paper explains the basic concept behind IRP, which is a way of representing local 3D shapes by HCA and categorizing them using the Shape Matrix. We then present experiments in object recognition for both virtual and real objects to demonstrate its efficiency and feasibility.
The Second Stage Experiments on Long Term Activity of Autonomous Mobile Robots - Repetitive Navigation for One Week in a Corridor
Authors: Hada Yasushi ,   Intelligent Robot Laboratory, University of Tsukuba, Tsukuba, 305-8573 Japan, Yuta Shin'ichi
Published: April 2016

Our goal is to enhance the autonomy of mobile robots, which must perform meaningful tasks for a long-term with regular maintenance at intervals of a week or month. Since we started this research, we recognize not only complexity but duration as indications of autonomy, which we call ""Long Term Activity"". We are studying such autonomy using an experimental robotics approach, which constructs a real robot and develops required technologies. Our experimental system, still in work, navigates a corridor environment autonomously for one week. In this paper, we present the system and some results of experiments.
Multi-Functional Application of Wide-Angle Foveated Vision Sensor in Mobile Robot Navigation
Authors: Shimizu Sohta ,   Department of Applied Computer Engineering, Tokai University 1117, Kitakaname, Hiratsuka, Kanagawa, 259-1292 Japan
Published: April 2016

This paper presents a concrete multi-functional application of Wide-Angle Foveated Vision Sensor (WAFVS) in which a special optical lens, designed by mimicking the human eye, plays a major role. The author has conducted experiments of obstacle avoidance in mobile robot navigation. 3D information of obstacles and locational information of mobile robot, which are characterized by the lens property, are acquired from central vision with high accuracy and peripheral vision with fewer pixels, respectively. Cooperation between them is executed by flexible parallel processing to improve navigation quality.
Development of Motion Data Description Language for Robots Based on eXtensible Markup Language - Realization of Better Understanding and Communication via Networks
Authors: Kitagishi Ikuo ,   NTT Cyber Space Laboratories, NTT Corporation, Yokosuka-shi, Japan, Machino Tamotsu , Nakayama Akira , Iwaki Satoshi , Okudaira Masashi ,   NTT Cyber Solutions Laboratories, NTT Corporation, Musashino-shi, Japan,   Musashi Institute of Technology, Yokohama-shi, Japan (Ex. NTT Cyber Space Laboratories, NTT Corporation, Yokosuka-shi, Japan)
Published: April 2016

To realize a ubiquitous robot and software avatar society, we propose the concept of a MotionMedia content sharing platform. MotionMedia is defined as a physical communication medium that includes the actual motion of robots or physical end-effectors - called the ""5th medium,"" after audio, text, image, and video. MotionMedia is expected to be disseminated worldwide once its value in realizing better understanding and communication between people via broadband networks through the support of advanced communication media is recognized. To share MotionMedia content, especially motion data, a motion data modeling and formulation system for human-type robots based on eXtensible Markup Language (MotionXML) has been developed. MotionXML leads to specifications for conveying and reproducing robot motion via networks. It enables the same set of motion data to be shared by robots that have different structures and control interfaces. An application program interface (MotionAPI) has also been developed as a common access interface for MotionXML, enabling application developers to handle MotionXML easily and to develop applications more rapidly.
Real-time Auditory and Visual Multiple-speaker Tracking For Human-robot Interaction
Authors: Nakadai Kazuhiro ,   Kitano Symbiotic Systems Project, ERATO, Japan Science and Technology Corp. Mansion 31 Suite 6A, 6-31-15, Jingumae, Shibuya-ku, Tokyo, 150-0001 Japan, Hidai Ken-ichi , Okuno Hiroshi G. , Mizoguchi Hiroshi , Kitano Hiroaki ,   Digital Creatures Laboratory, Sony Corp.,   Graduate School of Informatics, Kyoto University,   Department of Mechanical Engineering, Tokyo University of Science,   Sony Computer Science Laboratories, Inc.
Published: April 2016

This paper addresses real-time multiple speaker tracking because it is essential in robot perception and human-robot social interaction. The difficulty lies in treating a mixture of sounds, occlusion (some speakers are hidden) and real-time processing. Our approach consists of three components: (1) the extraction of the direction of each speaker by using interaural phase difference and interaural intensity difference, (2) the resolution of each speakers direction by multimodal integration of audition, vision and motion with canceling inevitable motor noises in motion in case of an unseen or silent speaker, and (3) the distributed implementation to three PCs connected by TCP/IP network to attain real-time processing. As a result, we attain robust real-time speaker tracking with 200 ms delay in a non-anechoic room, even when multiple speakers exist and the tracking person is visually occluded. In addition, the feasibility of social interaction is shown through application of our technique to a receptionist robot and a companion robot at a party.
Development of A Five-finger Prosthetic Hand Using Ultrasonic Motors Controlled by Two EMG Signals
Authors: Ohga Makoto ,   Eastern Hiroshima Prefecture Industrial Research Institute, Takeda Mikio , Matsuba Akira , Koike Akira , Tsuji Toshio ,   Hiroshima Prefectural Institute of Science and Technology,   Graduate School of Engineering, Hiroshima University
Published: April 2016

This paper describes an EMG controlled prosthetic hand with five fingers actuated by ultrasonic motors. The grasping mechanism proposed is capable of determining the joint angle of each finger in a way that the five fingers can follow the shape of objects and realize a flexible grasp. Estimation of the motion intended by an amputee is realized by using a neural network involving statistical structures from surface myoelectric signals. The present paper shows that discrimination of four or six kinds of limb-functions is realized with a small number of two electrodes by utilizing the frequency characteristics of EMG signals.
Direct Production for Prosthetic Sockets using Rapid Prototyping
Authors: Hagihara Shigeru ,   Regular member, Yamanashi Prefectural Industrial Technology Center, 2094, Ohtsu-cho, Kofu, Yamanashi, 400-0055 Japan, Kasai Shin'ichi , Ishida Masafumi , Shimizu Seiji , Kijima Kazuhiro , Oshiba Katsuhiko ,   Yamanashi Prefectural Technology Center
Published: April 2016

The number of people of having legs amputated due to traffic accidents or diabetes is increasing. To solve problems of artificial limb supply, CAD/CAM is starting to be used for creating artificial limb components. Many parts of the manufacturing process for the prosthetic industry remain to be automated, however Rapid prototyping technology may be useful in producing prosthetic sockets. We tested the ability of laser lithography in manufacturing prosthetic sockets, detailed as follows: (1) Construction of the production system for prosthetic sockets, (2) Material testing (tensile strength, bending strength, impact test), (3) Environmental test (humidity test, solar radiation test), (4) Structural load test (repeated load test, breaking test, wear test, field test), and (5) Allergic reaction test. Experiments confirmed the practicality of this system.
Master-Slave Control for Construction Robot Teleoperation
Authors: Yamada Hironao ,   Department of Human and Information System, Gifu University, 1, Yanagido, 1-chome, Gifu, 501-1193 Japan, Kato Hidetoshi , Muto Takayoshi
Published: April 2016

We propose a master-slave teleoperated construction robot consisting of an excavator as the construction robot and two joysticks for operating the robot remotely. A fork glove on the front of the excavator grasps objects. The slave corresponds to the fork glove and the master to joysticks used by an operator In such remote control, the operator needs a realistic ""feel"" of force from feedback from the fork glove. To attain effective feedback, as reported previously, we proposed variable-gain symmetric-position, but found the disadvantage that the operator could not get a realistic feel when grasping a soft object at a comparatively slow velocity. We propose an improvement to overcome this problem.
Development of ""Souryu I & II"" -Connected Crawler Vehicle for Inspection of Narrow and Winding Space
Authors: Takayama Toshio ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama Meguro-ku, Tokyo, 152-8552 Japan, Hirose Shigeo
Published: April 2016

In large-scale disasters such as earthquakes, people who have been trapped inside collapsed houses or buildings must be located and rescued as soon as possible, because it becomes difficult to survive, as the time passes. The prototype of ""Connected Crawler Vehicle for Inspection of Narrow and Winding Space"", named ""Souryu"" has been developed for the purpose of searching for such victims. In order to stand practical use, the necessity of easy control and toughness are the basic concepts of this vehicle, and based on these principles, we determined the actual vehicle mechanical characteristics. In this paper, the mechanical design and performance of ""Souryu I"", and the way of improvement for ""Souryu II"" will be discussed and the effectiveness will be confirmed by some basic experiments and field tests.
A Novel Robot Vision Applicable to Real-time Target Tracking
Authors: Shimonomura Kazuhiro ,   Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871 Japan, Inoue Keisuke , Kameda Seiji , Yagi Tetsuya ,   Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, wakamatsu, Kitakyushu, 808-0196 Japan
Published: April 2016

We designed a vision system with a novel architecture composed of a silicon retina, an analog CMOS VLSI intelligent sensor, and FPGA. Two basic pre-processes are done with the silicon retina: a Laplacian-Gaussian (∇2G)-like spatial filtering and a subtraction of consecutive frames. Analog outputs of the silicon retina were binarized and transferred to FPGA in which digital image processing was executed. The system was applied to real-time target tracking under indoor illumination. Namely, the center of a target object was found as the median of the binarized image. The object could be tracked within the video frame rate in indoor illumination. The system has a compact hardware and a low power consumption and therefore is suitable for robot vision.
Wearable Haptic Interface Using ICPF Actuators for Tactile Feel Display in Response to Hand Movements
Authors: Konyo Masashi ,   Graduate School of Science and Technology, Kobe University, 1-1 Rokkodai, Nada, Kobe, 657-8501 Japan, Akazawa Kazunobu , Tadokoro Satoshi , Takamori Toshi ,   Faculty of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe, 657-8501 Japan
Published: April 2016

In order to display delicate touch feeling of surface of some materials, active touch of human hand movements should be considered. In this paper, a wearable stimulation device which can produce various distributed stimuli on human skin in response to hand movements was developed using ICPF (Ionic Conducting Polymer gel Film) actuators. Characteristics of touch feeling of roughness were measured using vibratory stimulation. The results showed that the threshold amplitude under active touch were smaller than under passive touch. A stimulation method which generates selective stimuli to sense receptors in accordance with velocities and accelerations of hand motions was proposed. It was confirmed experimentally that some kinds of pattern of driving waves express touch feelings such as starting, stopping and sliding feel of hand motions.
Evolutionary Motion Synthesis for a Modular Robot Using Genetic Algorithm
Authors: Yoshida Eiichi ,   Distributed System Design Research Group, Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-2-1 Namiki, Tsukuba-shi, Ibmaki, 305-8564 Japan, Murata Satoshi , Kamimura Akiya , Tomita Kohji , Kurokawa Haruhisa , Kokaji Shigeru ,   Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsma-cho, Midori-ku, Yokohama, Kanagawa, 226-8502 Japan
Published: April 2016

An evolutionary motion synthesis method using genetic algorithm (GA) is presented for self-reconfigurable modular robot M-TRAN designed to realize various robotic motions and three-dimensional structures. The proposed method is characterized by its capacity to derive feasible solutions for complex synthesis problem of M-TRAN through natural genetic representation. For this purpose, the behavior of the robot is described using a motion sequence including both the dynamic motions and configuration changes of the robot. It is a series of segments each of which can specify simultaneous motor actuations and selfreconfiguration by connection/disconnection, starting from a given initial configuration. This simple description can be straightforwardly encoded into genetic representation to which genetic operations can be applied in a natural manner. We adopt traveling distance achieved by the evolved motion as the fitness function of GA. To verify the effectiveness of the proposed method, we have conducted simulations of evolutionary motion synthesis for certain initial configurations. Consequently, we confirm various adaptive motions are acquired according to different initial configurations and fitness functions. We also verify the physical feasibility of the evolved motions through experiments using hardware module M-TRAN II.
High-Resolution Image Synthesis from Video Sequence by Light Field
Authors: Kobayashi Kenkichi ,   Department of Information and Computer Science, Keio University, Japan 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama, 223-8522 Japan, Saito Hideo
Published: April 2016

We propose a novel method to synthesize high-resolution images from image sequences taken with a moving video camera. Each frame in the image sequence is a part of the photographed object. Our method integrates these frames to generate high-resolution images of object by constructing a light field, which is quite different from general mosaic methods. In light fields constructed straightforwardly, blur and discontinuity are introduced into synthesized images by depth variation of the object. In our method, the light field is optimized to remove blur and discontinuity so clear images can be synthesized. We find the optimum light field for generating sharp unblurred images by reparameterizing light field and evaluating sharpness of synthesized images from each light field. The optimized light field is adapted to the depth variation of the object surface, but the exact shape of the object is not necessary. High resolution images that are impractical in the real system can be virtually synthesized from the light field. Results of the experiment applied to a book surface demonstrate the effectiveness of the proposed method.
Virtual Object Overlay onto Uncalibrated Camera Image Sequence Enabling Tracking of Natural Features
Authors: Harasaki Shunsuke ,   Graduate School of Science and Technology, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, 223-8522 Japan, Saito Hideo ,   ""Information and Human Activity"", PRESTO, Japan Science and Technology Corporation (JST), Tokyo, 108-0073 Japan
Published: April 2016

We discuss new geometric registration overlaying a virtual object onto an uncalibrated camera image sequence enabling extracting and tracking of natural features. To achieve correct registration, we apply a special space defined by two base images and trifocal tensors between base images and uncalibrated camera images. By extracting and tracking natural features, we construct augmented reality without markers whose 3D positions are known. Since we apply points and lines, fewer registration errors occur.
Pattern Recognition by Hierarchical Feature Extraction
Authors: Misaki Daigo ,   Graduate School of Engineering and Faculty of Engineering, Tokyo Metropolitan University, 1-1 Minami-Osawa, Hachioji, Tokyo, 192-0397 Japan, Aomura Shigeru , Aoyama Noriyuki
Published: April 2016

We discuss effective pattern recognition for contour images by hierarchical feature extraction. When pattern recognition is done for an unlimited object, it is effective to see the object in a perspective manner at the beginning and next to see in detail. General features are used for rough classification and local features are used for a more detailed classification. D-P matching is applied for classification of a typical contour image of individual class, which contains selected points called ""landmark""s, and rough classification is done. Features between these landmarks are analyzed and used as input data of neural networks for more detailed classification. We apply this to an illustrated referenced book of insects in which much information is classified hierarchically to verify the proposed method. By introducing landmarks, a neural network can be used effectively for pattern recognition of contour images.
Hand Shape Recognition using Higher Order Local Autocorrelation Features in Log Polar Coordinate Space
Authors: Odo Satoru ,   Faculty of Engineering, University of the Ryukyus, 1 Senbaru, Nishihara-cho, Nakagami-gun, Okinawa, 903-0213 Japan, Hoshino Kiyoshi ,   Institute of Engineering Mechanics and Systems, University of Tsukuba, Tsukuba, lbaraki 305-8573 Japan
Published: April 2016

The friendly communication can be more promoted between the human and computer if the function of gesture recognition is implemented to the computer system as the input interface along with the keyboards and mice. We propose a mouse-like function for estimating hand shape from input images with a monocular camera, with which a computer user feels no restraint or awkwardness. Our system involves conversion of sequential images from Cartesian coordinates to log-polar coordinates. Temporal and spatial subtractions and color information are used to extract the hand region. The origin of log-polar coordinates is chosen as the center of the acquired image, but once the hand has been extracted, the estimated centroid position of the hand region in the next frame, obtained from the current hand position and speed, is used as the origin to convert. Recognition of the hand shape is carried out by multiple regression analysis using higher order local autocorrelation features of log-polar coordinate space. Mouse-like functions are realized according to the hand shape and motion trajectory. Compared to conventional Cartesian coordinates, conversion to log-polar coordinates enables us to reduce image date and computation time, remove the variability by the scaling, and improve antinoise characteristics.
Information Assistance for Search-and-Rescue by Intelligent Data Carriers and a Data Retrieval Blimp
Authors: Kurabayashi Daisuke ,   Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8552 Japan, Noda Kenichi , Asama Hajime , Kawabata Kuniaki , Kaetsu Hayato , Hashimoto Hiroshi ,   Maki Engineering, co., ltd. 1-22-14 Nishi-shinbashi, Minato-ku, Tokyo, 105-0003 Japan,   The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo, 153-8904 Japan,   RIKEN: The Institute of Physical and Chemical Research, 2-1 Hiorsawa, Wako-shi, Saitama, 351-0198 Japan,   Tokyo University of Technology, 1404-1 Katakura-cho, Hachiouji-shi, Tokyo, 192-0982 Japan
Published: April 2016

We propose a search-and-rescue information assistance system that consists of an intelligent data carrier for rescue (IDC-R) and a data retrieval blimp (DRB). The IDC provides the environment with information storage, sensing, and processing. We incorporated auditory functionality into IDCs and used them to support search-and-rescue. IDC-Rs in buildings repeatedly call to victims and record their answers independently. A DRB flies over a disaster area and communicates with IDC-Rs to activate them and to obtain data. We have implemented actual devices and describe a feasible motion planning algorithm for a DRB.
Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 1: Hardware Development and Verification Experiments of Autonomous Flight Control System
Authors: Fujiwara Daigo ,   Graduate School of Science And Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522 Japan, Shin Jinok , Hazawa Kensaku , Igarashi Kazuhiro , Fernando Dilshan , Nonami Kenzo ,   Faculty of Engineering, China University
Published: April 2016

We detail hardware and firmware development for autonomous control of a small unmanned hobby-compatible small helicopter. Preserving compatibility with hobby products greatly reduces overall cost, including that for hardware development and system maintenance. The original concept in the development of hardware, firmware, and the operating system for autonomous control flight focuses on compatibility and adaptability with conventional hobby products. The newly-developed servopulse switching unit and the pulse generator realized this concept, implementing expandability and flexibility to control. Taking the small payload into account, we dramatically downsized helicopter hardware resulting in a 2.9 kgf controller. We verified correct control performance through simulation and experiments including guiddance flights.
Robot Hand with Fingers Using Vibration-Type Ultrasonic Motors (Driving Characteristics)
Authors: Nishibori Kenji ,   Dept. of Mechanical System Engineering, Daido Institute of Technology, Minami-ku, Nagoya 457-8530, Japan, Kondo Setsuya , Obata Hirohisa , Okuma Shigeru ,   Asian Industry Co. Ltd., Kyowa-cho, Obu, Aichi 474-8588, Japan,   Dept. of Information Electronics, Nagoya University, Chikusa-ku Nagoya 464-8603, Japan
Published: April 2016

An ultrasonic motor is a promising actuator for robots since it has simple construction, high response, and high torque at low speed. This paper proposes a robot hand using vibrational ultrasonic motors, instead of moving elements, as fingers. This robot hand with three fingers can simultaneously grasp and rotate a cylindrical body. The driving characteristics of the robot hand were examined experimentally under various conditions. It was confirmed that high torque was obtained when the optimum contact angle and contact force of the ultrasonic motors were used. The reduction of output torque is small even when the diameter of the rotational body deviates from the design value.
Motion of a Miniature Robot Using Three Piezoelectric Elements Controlled by Rectangular Voltage
Authors: Torii Akihiro ,   Dept. of Electrical Engineering, Aichi Institute of Technology Yakusa-cho, Toyota 470-0392, Japan, Fukaya Yoshiyuki , Doki Kae , Ueda Akiteru
Published: April 2016

The authors report the motion of a miniature three-legged robot consisting of three piezoelectric elements operated by rectangular voltage. The small leg displacement is measured precisely by three optical sensors. We detail the relationship between leg motion legs and control signals applied to piezoelectric elements. The robot rotates in the CW and CCW directions, yielding interesting results. Step displacement is synchronized with control waveforms.
Magnetic Linear Motion Mechanism of a 2-Parallel-Finger Hand for Force Operation
Authors: Nakamura Tatsuya ,   Tokyo Metropolitan University, 1-1, Minami-Ohsawa, Hachioji, 192-0397, Liu Zhiqi
Published: April 2016

Besides assembling, processes like drilling, cutting and pasting are required in various operations in manufacturing of small sized mechanics such as watches, mobile telephones etc. Force control is essential to those dexterous operations. Also absolute positioning of micro-manipulators is required for their autonomous operations. For this purpose, a linear motion hand with two parallel fingers was proposed. It uses a novel parallel link mechanism for linear motion and controls the endeffector by measuring its position with displacement sensors. It uses magnetic suspension technology so that fine force control is realized. An experimental system composed of two one-finger units is presented. The accuracy of positioning is a few μm with a range of tens mm. The accuracy of force control is 3 mN with a range of hundreds gf. The effectiveness of the proposed hand was verified by the application to drilling and fitting.
Dynamic Control of Curve-Constrained Hyper-Redundant Manipulators
Authors: Ma Shugen ,   Department of Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi-Shi 316-8511, Japan, Watanabe Mitsuru ,   NEC Tokin Corporation, 6-7-1 Kohriyama, Taihaku-Ku, Shendai-Shi 982-8510, Japan
Published: April 2016

Hyper-redundant manipulators have high number of kinematic degrees of freedom, and possess unconventional features such as the ability to enter narrow spaces while avoiding obstacles. To control these hyper-redundant manipulators accurately, manipulator dynamics should be considered. This is, however, time-comsuming and makes implementation of real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in defined posture space where three parameters were used to determine the manipulator posture. Manipulator dynamics are modeled on the parameterized form with the parameter of the posture space path. The posture space path-tracking feed-forward controller is then formulated on the basis of a parameterized dynamic equation. Computer simulation, in which a hyper-redundant manipulator traces the posture space path well by using the proposed feed-forward controller, proved that the hyper-redundant manipulator tracks the workspace path accurately.
Flexible Rope Manipulation Using Elastic Deformation Modeling by Dual Manipulator System with Vision Sensor
Authors: Matsuno Takayuki ,   Micro System Engineering, Nagoya University, 1, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Fukuda Toshio , Arai Fumihito , Hasegawa Yasuhisa ,   Department of Mechanical and Systems Engineering, Gifu University, 1-1, Yanagido, Gifu 501-1193, Japan
Published: April 2016

In this paper we propose a flexible object manipulation method by a dual manipulator system. A flexible object such a rope and paper is easily deformed and has hysteresis. Various approaches have been made on the research for the flexible object manipulation. However in the former research works, the manipulator system works only simple task. For more complex works with flexible object, the robot has to hand over the flexible object. So, we propose a flexible object recognition method which can hand over a flexible object using vision information and flexible object model. The dual manipulator system tied a cylinder object with flexible rope by repeating handing over actions in the experiment.
Design Concept of Responsive Multithreaded Processor for Distributed Real-Time Control
Authors: Yamasaki Nobuyuki ,   Department of Information and Computer Science, Keio University, 3-14-11 Hiyoshi, Kouhoku-ku, Yokohama 223-8522, Japan
Published: April 2016

This paper describes the design concept of Responsive MultiThreaded (RMT) Processor for distributed real-time control that controls various embedded systems including robots, home automation, factory automation, etc. RMT processor integrates an 8-way multithreaded processor (RMT processing unit) for real-time processing, four sets of Responsive Link II for real-time communication, and I/O peripherals including DDR SDRAM I/Fs, DMAC, PCI64, USB2.0, IEEE1394, PWM generators, pulse counters, etc., into an ASIC chip. System designers can use various on-chip functions easily by connecting required I/Os to this chip directly. The designers can also realize distributed control systems by connecting several RMT processors with their own functions via Responsive Link II.
Development of a Universal Interface Board and its Application to Robot Controllers and Signal Processors
Authors: Kumagai Masaaki ,   Department of Mechanical Engineering at Tohoku Gakuin University, 1-13-1 Chuo, Tagajo, Miyagi 985-8537, Japan, Emura Takashi ,   Bio-Robotics Department at Tohoku University, 01 Aramaki Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

Multipurpose digital interface boards for the PCI bus were designed for robot controllers. They used a programmable logic device reconfigured for internal circuits. The user plugs the board in, then downloads circuit data to obtain various interfaces. Optional modules such as analog front ends and support software also were developed. The board enables rapid prototyping and flexible use of high-speed digital circuits. Three applications of the board — robot interfaces of DC servomotors for a walking robot, high-speed digital signal processing for a motion capture system, and pipelined image processing units — showed the effectiveness of the board.
Design of Wearable Power-Assist Device for Lower Back Support
Authors: Naruse Keitaro ,   The School of Computer Science and Engineering, The University of Aizu, Tsuruga, Ikki-machi, Aizu-Wakamatsu 965-8580, Japan, Kawai Satoshi , Yokoi Hiroshi , Kakazu Yukinori ,   Graduate School of Engineering, Hokkaido University, Kita-13 Nishi-8, Sapporo 060-8628, Japan,   Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Graduate School of Information Science and Technology, Hokkaido University, Kita-14 Nishi-9, Sapporo 060-8628, Japan
Published: April 2016

In this paper, we propose a mechanical device for supporting the lower back, which is often injured due to carrying heavy loads because of the large compression applied to the lower back that may injure spinal discs. We develop a power-assist device for supporting one degree of freedom (DOF), which is flexion and extension of the lower back, for reducing compression and assisting lifting. We evaluate the effect of the device in experiments that verify that the proposed power-assist device effectively protects against lumbago.
Body-Supported Medical Robots: A Survey
Authors: Berkelman Peter ,   TIMC-IMAG Laboratory, Institut de l’Ingénierie et de l’Information de Santé, Faculté de Médecine de Grenoble, 38706 La Tronche France, Troccaz Jocelyne , Cinquin Philippe ,   Currently at Department of Mechanical Engineering, University of Hawaii-Manoa
Published: April 2016

In medical robotics applications it is often advantageous for a robot to be directly mounted on or supported by the body of the patient during a medical procedure or examination. Whereas early medical robot systems were generally manipulator arms with a large base resting on the floor or mounted to the table next to the patient, several more recently developed systems rest directly on the patient. Body-supported medical robots can be designed to be much more compact and lightweight, leading to improved accuracy and safety and reduced cost, and are easier to set up and use in the operating room environment compared to conventional robot manipulator arms. Five examples of body-supported surgical robots are surveyed in this paper: The ARTHROBOT for total hip arthroplasty, PRAXITELES for knee arthroplasty, MARS for spinal pedicle screw placement and drill guiding, TER for remote ultrasound examinations, and LER for endoscope positioning in minimally invasive surgery.
Human Intention Detection and Activity Support System for Ubiquitous Sensor Room
Authors: Nakauchi Yasushi ,   Dept. of Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Ibaraki 305-8573, Japan, Noguchi Katsunori , Somwong Pongsak , Matsubara Takashi ,   Department of Computer Science, National Defense Academy, 1-10-20 Hashirimizu, Yokosuka 239-8686, Japan
Published: April 2016

In this paper, we propose the human behavior detection and activity support environment Vivid Room. Behavior in Vivid Room is detected by numerous sensors built into the room, i.e., magnet sensors for doors and drawers, microswitches for chairs, and ID tags for personnel, and information is collected by a sensor server via an RF tag system and LAN. To recognize meaningful behavior, e.g., studying, eating, and resting, we use ID4-based learning system. We also developed activity support using sound and voice taking into account human behavior in the room. Experimental results confirmed the accuracy of behavior recognition and the quality of support.
Hyper Performance of Robotics and Mechatronics
Authors: Takanobu Hideaki ,   Kogakuin University, 1-24-2 Nishi-shinjuku, Shinjuku, Tokyo 163-8677, Japan
Published: April 2016

The word “performance” is used in various scenes. If it is retrieved using performance and robot on the web, it often hits the contents of meaning close to “robot behavior.” However, robot performance can be reworded as “capabilities or functions” in research and development scenes. This explanation outlines some excellent research and development cases in the field of robotics and mechatronics from international conferences. It also introduces a mars exploration robot to you.
Resolving Crosstalk of Sonar by Applying Nonlinear Filter Based on the Sliding Mode
Authors: Emaru Takanori ,   Tanaka Lab., Dept. of Mechanical Eng. and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Tanaka Kazuo , Tsuchiya Takeshi
Published: April 2016

Ultrasonic wave sensors are widely used in mobile robots to measure distance. Time-of-flight (TOF) ranging generally used to measure distance measures the round-trip time required for a pulse of emitted energy to travel to a reflecting object and echo back to a receiver. In actual ultrasonic wave sensor (sonar) use, we must consider the existence of multiple sonars in an environment in which one may receive the echo of a signal emitted by other sonars. The receiving sonar cannot determine whether the echo was triggered by its own signal so erroneous distance shorter than actual distance is observed. This problem is generally known as crosstalk. We present a novel way to filter data generated by crosstalk using a nonlinear digital filter based on the sliding mode. Experimental verified show the validity of our proposed method.
Field Emission Properties of Individual Carbon Nanotubes in Nanorobotic Manipulation and Electron-Beam-Induced Deposition
Authors: Arai Fumihito ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Liu Pou , Dong Lixin , Fukuda Toshio ,   Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Tannenstrasse 3, ETH Zentrum CLA H 17.2, CH-8092 Zürich, Switzerland
Published: April 2016

Field emission properties of individual multi-walled carbon nanotubes (MWNTs) were studied in nanorobotic manipulation and electron-beam-induced deposition (EBID). Nanotube emitters are constructed by picking up and assembling individual nanotubes on a commercially available atomic force microscope (AFM) cantilever or a tungsten probe. The relationship between field emission current and interelectrode distance was obtained by changing the distance between the tip of the nanotube emitter and the counterpart anode, which can be potentially applied as the principle for an approaching sensor to detect nanometer scale distance by observing field emission current in real time. Field emission current on a microampere scale from a CNT emitter was shown to be strong enough for EBID without obviously degrading emitters. Deposit topology was related to current density or the emitter shape, suggesting that information on emitter geometry could be obtained from EBID deposits. Energy dispersive X-ray spectrometry (EDS) analysis of deposits from W(CO)6showed that the tungsten mass exceeds 80% on the average among compositions. Much higher voltage may degrade the emitter, and saturated current may be used to adjust the emitter length in a controlled way.