bluuebunny/crossref_metadata_2025 huggingface dataset:
Physical Explication and Realization of the Turning Motion of a Cat by Analysis and Experiment Using a Robot Cat
Authors: Kawamura Takashi ,   Department of Mechanical and Control Engineering, University of Electro-Communications 1-5-1 Chofugaoka, Chofu Tokyo, 182 Japan, Yamafuji Kazuo , Kobayashi Tsuyoshi
Published: April 2016

Over turning motion of a cat at free fall in the air was investigated analytically and experimentally. Firstly, a live cat was modeled by a double circular column jointed with a spine at the one end of each column. And the dynamic characteristics of the model was analyzed based on the law of conservation of angular momentum. Then computer simulation was carried out. The results due to the simulation coincide well with those derived by the analysis, and validity of the modeling was shown. And a ROBOT CAT composed of a double circular column and a new type of backbone was developed in order to execute turning motion at free fall just like a cat. The robot successfully performed the complete overturning (180 degrees rotation) from the upside-down posture within 0.6 second. Therefore, the robot can change its posture to land on its feet if released from about 1.8m height quite upside-down.
Impedance Control of a Pneumatic Servo System with Adaptive Control Method
Authors: Noritsugu Toshiro ,   Faculty of Engineering, Okayama University, Tsushimanaka 3-1-1, Okayama, Japan, Wada Tsutomu , Asanoma Toshiaki ,   Tsuyama National College of Technology,,   Mitsubishi Heavy Industry Corp.
Published: April 2016

One of the typical features of a pneumatic servo is a relatively high compliance due to air compressibility. This feature may be useful for constrained tasks such as deburring, polishing, and assisting humans, in which the relationship between position and force is important. If this relationship of a pneumatic servo becomes actively controllable, it can be effectively applied to these tasks. In order to control this relationship, an impedance control concept has recently been proposed. The impedance of the overall control system depends not only on the manipulator but also on the manipulated object of which the characteristics are usually unknown. Therefore, to attain the desired impedance over extensive operating conditions, an adaptive control strategy is required. This paper proposes an impedance control method of a pneumatic servo, using a position based approach, where an adaptive position control system is constructed inside the force feedback loop. The proposed method is applied to an experimental pneumatic servo system comprised of a pneumatic cylinder, electro-pneumatic proportional control valves, and a spring object. From the experiments, the following has been verified: 1) both static stiffness and dynamic impedance of the pneumatic servo system can be independently regulated by setting a desired reference model; 2) the impedance can be held constant with changes in system parameter such as object stiffness; and 3) the instability problem for the low stiffness setting can be overcome by setting high damping in the reference model. The proposed impedance control method may prove to be effective for both improving a pneumatic servo and developing its new applications.
Analysis of Recognition Processes by Measurement of Brain Waves and Temperature Distributions
Authors: Ide Hideto ,   Faculty of Engineering, Aoyama Gakuin University, 16-1 Chitosedai 6-chome, Setagaya-ku, Tokyo 157, Japan, Uchida Masafumi
Published: April 2016

In the past, in study of the evoked brain wave, the averaging was the most general method for analysis of signal components in brain wave. Specially, the averaging was applied for several evoked brain waves on the process of recognition to the stimulation, i.e. P300. However, any information for the averaging. The averaging is difficult to evaluate the evoked brain wave because of it's characteristics. In this study, it was the purpose to reveal the frequency range, the latency and the acyive parts of brain by following two method. 1) frequency and statistic analysis of evoked brain wave 2) measurement of temperature distribution on the surface of the head. The experiment for the measurement of the evoked brain wave was applied to fifteen men whose age were from 22 to 25. After frequency and statistic analysis, and waves were obtained at about 300ms latency. This result is as same as the averaging's result. From the temperature measurement, it was considered that the recognition to the stimulation was performed at the parietal lobe.
Evaluation of Communication Structure for Cellular Robotic System
Authors: Ueyama Tsuyoshi ,   Nippondennso Co., Ltd., I Shinmichi, Takatana-cho, Anjo-shi, Aichi 446 Japan, Fukuda Toshio , Arai Fumihito ,   Faculty of Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan
Published: April 2016

This paper deals with an evaluation of the communication architecture for Cellular Robotic System (CEBOT) with plural master cells. The CEBOT consists of a large number of autonomous robotic units called ""cells,"" that is, the system is one of distributed robotic systems. The communication architecture is one of the important issues for distributed intelligent systems. To evaluate the effectiveness of the communication architecture, we use the network energy, which is proposed by us in the previous paper. The issue of the communication architecture for the distributed robotic system is also one of the grouping issues for the group robotic system. In this paper, we consider each master cell as a coordinator in each sub-network, where the sub-network is constructed by a master cell as a core. To evaluate the grouping network, we propose the cross-dependence matrix, which presents the relation between the cells and the task steps depending on a given task. The simulation results presents the grouping examples of the cellular network. According to the simulation results, we also describe the effect for the group structure of community or a society.
Postural Control of Living Organisms and Its Engineering Systems
Authors: Nishihara Kazue ,   Industrial Products Research Institute, Agency of Industrial Science and Technology 1-4, Higashi 1-chome, Tsukuba, Ibaraki 305 Japan, Wada Mitsuo , Hashimoto Ryouichi
Published: April 2016

Application of the postural control mechanisms to the flexible movemen mechanisms will develop the humaninterface technology which aims to aid and substitute human motor function. In this research study, physiological and biomechanical knowledge of the postural control mechanisms of living bodies are summarized to give basic materials to the future mechanical equilibrating technology. (a) Postural control system of living organisms. The system is composed of four stratified subsystems of spine and brain stem, cerebellum, basal ganglia, and cerebrum. Spinal reflex, which is thought to be a fundamental servo mechanism, maintains automatically man's standing posture. Brain stem reflex controls posture and dynamical balance of a body to stabilize involuntary motions. Cerebellum, conducting cooperation control of partial motions of the body, adjusts posture and maintains equilibrium. Basal ganglia is thought to be a higher nerve center to stabilize slow and repetitive body actions. Cerebral motor cortex executes fine and subtle controls in voluntary actions. (b) Mechanical equilibrators. Mechanical equilibrafors must be of use in future legged robots travelling on rough terrain surfaces. The following three equilibrators were examined; 1) The leg supporting pivot slides up and down, right and left, 2) The leg supporting pivot has a torque generator, 3) The upper limb is equipped with some reaction mechanisms. (c) Problems of balance and walking controls. Dynamic motion of a leg-body system is achieved by three control modes of leaping hight, posture and balance control. The three modes of the motion control should be realized by the sensor directed parallel and stratified controling architecture. Considering coming aging society, postural control technology in the medical and welfare fields is hopeful of advance in assistance and substitution of man's lower limb function.
The Driving Pipeline: A Pipelined Architecture for Outdoor Mobile Robots
Authors: Goto Yoshimasa ,   Matsushita Electric Industrial Co., Ltd. 3-10-1 Higashi-mita, Tama-ku, Kawasaki, Kanagawa 214, Japan
Published: April 2016

The Driving Pipeline is a driving control scheme for a mobile robot that drives the robot vehicle outdoors continuously and adaptively. Although the basic idea of the Driving Pipeline originates from a pipelined computer architecture, the Driving Pipeline adopts more complex execution management for adaptive vehicle motion. Like the pipelined computer architecture, the Driving Pipeline segments necessary computation for robot vehicle motion into several successive subprocesses and executes them on the pipelined processing modules that operate in parapel. Because of this pipelined architecture, the Driving Pipeline offers high computation performance, and then vehicle's high speed and continuous motion. Unlike the pipelined computer architecture, however, the Driving Pipeline adjusts execution cycles in order to adapt vehicle motion both to driving environment and computation resources in robot systems. For adaptive control, the Driving Pipeline introduces control parameters and defines required relations among them. Because of the explicit control scheme, the Driving Pipeline not only enables adaptive control but also analyzes the robot navigation. The Driving Pipeline illustrates mid level navigation between the driving control and the high level map navigation. Introducing this navigation layer offers more adaptability to the environment.
Neuromagnetic Responses to ON/OFF Stimuli of Red Point Light
Authors: Odaka Kazumi ,   Information Science Laboratory, NTT Basic Research Laboratories, 3-9-11 Midori-cho, Musashino, Tokyo 180, Japan
Published: April 2016

This report describes the waveform structures of the magnetic fields produced by the human brain for the ON, luminance increase, and OFF, luminance decrease, responses to the stimuli of a red point light presented to the central and peripheral parts of the retina; These responses are analyzed and described as a function of 1) intensity of luminance, 2) duration of stimulation, 3) position of stimulus in the retina. Results also show that both the magnetic ON and OFF responses are quite similar.
An Efficient Path-Planning Algorithm for a Robotic Manipulator by Automatic Selection Search of Indispensable Regions in Its Configuration Space
Authors: Noborio Hiroshi ,   Faculty of Engineering, Osaka Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka 572, Japan, Watanabe Motohiko , Fujii Takeshi
Published: April 2016

In this paper, we propose a feasible motion planning algorithm for a robotic manipulator and its obstacles. The algorithm quickly selects a feasible sequence of collision-free motions while adaptively expanding a graph in the implicit configuration joint-space. In the configuration graph, each arc represents an angle difference of the manipulator joint; therefore, an arc sequence represents a continuous sequence of robot motions. Thus, the algorithm can execute a continuous sequence of collision-free motions. Furthermore, the algorithm expands the configuration graph only in space which is to be cluttered in the implicit configuration joint-space and which is needed to select a collision-free sequence between the initial and target positions/orientations. The algorithm maintains the configuration graph in a small size and quickly selects a collision-free sequence from the configuration graph, whose shape is to be simple enough to move the manipulator in practical applications.
Motion Control of the Brachiation Type of Mobile Robot Using Cerebellar Neural Model
Authors: Saito Fuminori ,   Graduate School at Nagoya University, Fukuda Toshio , Arai Fumihito ,   Department of Mechano-Informatics and Systems at Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya, Aichi 46401, Japan
Published: April 2016

In our previous study, we confirmed the effectiveness of the heuristic method to control a brachiation robot (BMR) that we have proposed. In addition, we proposed a method using the spline interpolation to obtain suitable driving inputs for unexperienced targets derived from already experienced targets. In this paper, in order to obtain driving inputs in the case of multiple changes of control situations, we use a CMAC neural model to interpolate driving inputs obtained from experiences. Furthermore, we use trajectory feedback control and arm-direction feedback control to achieve precise laddercatching.
Collision Avoidance for a Multiple-DOF Manipulator Based on Empty Space Analysis of the 3-D Real World
Authors: Onda Hiromu ,   Electrotechnical Laboratory, AIST, MIITI, 1-1-4 Umezono, Tsukuba, Ibaraki 305, Japan, Hasegawa Tsutomu , Matsui Toshihiro ,   Department of Computer Science and Communication Engineering, Faculty of Engineering, Kyushu University, Hakozaki 6-10-1, Higashi-ku, Fukuoka 812, Japan
Published: April 2016

This paper describes a new method for finding collisionfree paths for a multiple-degree of freedom (DOF) manipulator with rotational joints and a grasped object. The method first analyzes the structure of empty space in the 3-D workspace. Based on this space analysis, the path search is divided and direction which appears to be most promising is determined in the 3-D workspace. Finally, the path search is systematically executed in the joint space in the direction equivalent to the promising direction. This method is applicable to various problems regardless of the number of degrees of freedom of the manipulator, its structure, and the presence of a grasped object.
PEM-Modelling: A Framework for Designing Intelligent Robot Control
Authors: Heikkilä T. ,   Technical Research Centre of Finland (VTT), Electronics Laboratory, P.O.Box.200, SF-90571 OULU, FINLAND, Röning J. ,   University of Oulu, Department of Electrical Engineering, SF-90570 OULU, FINLAND
Published: April 2016

A framework for functional design of intelligent robot control is proposed. It consists of a hierarchical logical model with motion and manipulation task decomposition, sensor processing and modelling sub-structures. Each computational module, both related to task decomposition and sensor processing, is proposed to consist of modules, each of which having three generic activities: planning, executing and monitoring. Planning encompasses task decomposition activities, executing activates a mechanism to carry out the plan and monitoring observes the validity of the plan in relation to real situations. The time dependencies of planning, executing and monitoring are described with a meta-control mechanism, for which examples are introduced. The importance within the different meta-control schemes is, that they result in different different overall behavior, particularly in erroneous or unexpected situations. The framework has been verified through a practical prototype.
Motion Control of a Robot Composed of Three Serial Links with Curved Contour (Ist Report; Concept and Dynamic Control of the Robot)
Authors: Nakakuki Kazuo ,   University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan, Yamafuji Kazuo , Shikata Osamu ,   Nitto Seiko Co., Ltd., 29, Umegahata, Ayabe, Kyoto 623, Japan
Published: April 2016

The authors developed several kinds of robots having a smaller number of actuators than links. Motion controls of these robots were successfully accomplished using dynamic interference forces. For example, a swing and mobile robot was developed consisting of pivoted double-link arms and a single motor. This robot is capable of shifting itself from one horizontal bar to another by utilizing vibrational excitation. In this study, we elaborated a robot composed of three serial links with a curved contour and made it perform several dynamic motions. The outer contour of each link has a large curvature, and the links are connected serially. The two outer links of the robot have the same configuration which is different from that of the central link. Two DC servomotors are installed in the two outer links. These links can move freely around the connection joints, and constitute a part of a large arc having a certain angle which is controlled by the motions of the outer links. This robot can induce large vibration on all links by swinging the two outer links while lying on the floor, and can eventually bring itself up to a standing position. On the other hand, the robot can lie down from a standing posture without sustaining a shock on impact. The robot can perform movements like those of young children on the floor. In this paper, we mainly report on the concept of the robot, the simulation procedure and experimental results for the standing-up action.
An Object Locating Method with Uncertainties Applied to an Ultrasonic Multi-Sensor System
Authors: Heikkilä Tapio ,   Technical Research Centre of Finland Electronics Laboratory, P.O.Box 200, SF-90571 Oulu, Finland, Järviluoma Markku , Voutilainen Osmo ,   University of Oulu, Systems Engineering Laboratory, Linnanmaa, SF-90570 Oulu, Finland
Published: April 2016

We present a model-based iterative algorithm for estimating the position and orientation of regular objects applied to multiple ultrasonic distance measurements. It is based on standard minimum error covariance estimation that minimizes the weighted square sum of the measures reflecting errors between the real and nominal objects. A discussion is also provided about the use of the variance/covariance estimate as a measure of uncertainty in designing the configuration of the ultra-sonic multi-sensor system.
Harmonious Control System for Multiple Mobile Investigation Robots
Authors: Takeno Jun’ichi ,   School of Science and Technology Meiji University, 1-1-1, Higashi-mita, Tama-ku, Kawasaki, Kanagawa 214, Japan, lijima Kiichirou , Kato Kozo , Nishiyama Sakae
Published: April 2016

To ensure safe and efficient operation of mobile robots in a work space, it is essential that the robots maintain global maps reliable in a given environment. The system proposed in this paper is for the study of global maps using mobile robots in order to maintain the global map information as reliable as possible. The system is a coordinate control method designed to dynamically detect specific information in global maps using robots. The basic principle of this method is the study of the information about environments using mobile robots that move along Chinese postman routes in an environment. Mobile robots are controlled to detect environmental variations represented by the discovery of impassable points, and to equalize the reliability of global maps as far as possible through their activities coordinated with other robots. This paper evaluates the harmonization of such a global map control system using mobile robots, ie. the reliability of information described in global harmonized work to equalize the reliability of global maps.
A Monitoring System for PAPI
Authors: Inaba Kiyoaki ,   The Nippon Signal Co., Ltd. 3-3-1, Marunouchi, Chiyoda-ku, Tokyo 100, Japan
Published: April 2016

One of the facilities at airports is a PAPI (Precision Approach Path Indicator). This is for giving an instruction on the angle of approach to the pilots of an airplane in landing mode by means of light generated from lamps place on the ground. The PAPI light is clearly distinguished between the white color in the upper part and red color in the lower part by means of a high-precision optical system. The PAPI lighting system consists of four lighting devices which are arranged horizontally forming all different elevation angles, and the way the white and red colors are arranged gives information on the angle of approach. For this reason, the lighting devices must have correct elevation angles and project light with pre-set brightness. A system has been developed for monitoring PAPI light by directly receiving light from the lighting devices by means of light receivers placed forward of the lighting devices and focusing and transmitting the light with optical fibers and checking the light by means of amorphous Si color sensor. This paper will introduce this system.
Fractal Analysis of Event Related Potential
Authors: Ide Hideto ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-6, Chitosedai, Setagaya, Tokyo 157, Japan, Yagi Shinjiro
Published: April 2016

We have tried to apply fractal analysis to time series which have 1/f power spectrum. Before carrying out any analysis, we expand the idea of fractal to time series. We examine the fractal dimension of time series to simulate the Brawnian function. We apply fractal analysis to observational data of event related potential (ERP) and compare averaging results with those based on fractal analysis.
Special Issue on Biological Information and the Applications for Robot Control
Authors: Ide Hideto ,   Professor, College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan
Published: April 2016

A biological body has many outstanding features that we cannot create. Current advanced technology must be used to measure and determine some of these features. For example, human hands have the feature that allows individual fingers to independently operate and the feature that combines multiple fingers to hold an object. A combination of both features enables advanced and complicated tasks to be performed. In addition, hands are multifunctional; and they feel warmth, coldness, pain, and material quality by touch. Currently, very few fingertip end-effectors for industrial robots and artificial hands for the handicapped have the above functions. Improvements in these functions are expected in various fields. To make artificial hands perform the same functions as human hands, it is necessary to analyze the human operations and functions. From this perspective, the editor planned the special issue of ""Biomeasurement"" and wishes to express his sincere thanks to many researchers for contributing papers.
Development of Automatic Scoring System for Sleep EEG Using Fuzzy Logic
Authors: Tsuji Yoichi ,   Department of Electrical Engineering, Ashikaga Institute of Technology, Omae 268-1, Ashikaga, Tochigi 326, Japan, Usui Takefumi , Sato Yasuhisa , Nagasawa Kazuyuki
Published: April 2016

Determination of the EEG sleep stages by clinicians is a time consuming task, because of a great amount of record obtained during one night. Therefore, an effective computer technique for an automatic processing EEG is strongly desired. We tried to make an automatic scoring system for human sleep EEG stages by a computer. The specific EEG wave form (e.g. delta, theta, alpha or spindle wave) was detected by means of a specific algorithm using a Fuzzy logic and an ""if...then..."" procedure. The scoring results by this system and clinicians agreed with each epoch more than 72%. This system is an available system for the clinical sleep EEG.
Design and Positioning Control of Microhead Actuator for Optical Disk Storage System (Design Guidelines for a Collocation-Type Actuator)
Authors: Nanjo Yoshito ,   NTT Human Interface Laboratorires., 3-9-11, Midori-cho, Musashino-shi, Tokyo, 180 Japan, Shimokura Ken-ichiro , Kogure Kenji
Published: April 2016

This paper describes the mechanical design of a microhead actuator for disk storage systems and its positioning control method. A new concept called ""quasi collocation"" is introduced to discuss the stability of positioning control systems for the structure. A simple actuator model is fabricated, and its dynamic characteristics are numerically and experimentally examined. On the basis of these results, a sensor and driving coils are positioned appropriately to achieve the quasi collocation. A trial servo system for this actuator experimentally confirms a wide control bandwidth beyond the mechanical resonance frequency.
Study on Optical Servo System (Modelling for Photovoltaic Effect in PLZT Element)
Authors: Nakada Takeshi ,   Mechanical Engineering Laboratory, 1-2 Namiki, Tsukuba, Ibaraki 305, Japan, Dong-Hui Cao , Kimura Makoto , Chi-Yu Hsien ,   Tokai University, 1117 Kita-kaname, Kanagawa 259-12, Japan
Published: April 2016

This paper deals with the design of an electrical model for the photovoltaic effect in a PLZT element to estimate, in advance, the performance of an optical actuator consisting of PLZT elements. The results of the basic experiment on the photovoltaic effect are shown, and they indicate that a parallel circuit including a current source, a resistance and a capacitance may be applicable to an electrical model for the photovoltaic effect, under the consideration of the lumped system. Then, the step response of the photovoltage is obtained theoretically according to the electrical model proposed. Since the theoretical results agree well with the results of the basic experiment, the electrical model proposed can be considered to be valid for practical use. Important aspects of the design of an exact model are also pointed out.
Industrial Vicissitudes and Commercialization of Technology in Japan
Authors: Nishikawa Kihachiro ,   Nishikawa Engineering Research, 18-16 Nagatsuta-3, Midori-ku, Yokohama, Kanagawa 227, Japan
Published: April 2016

Through my forty years of experience as an electromechanical engineer, I have realized that the development of technical design has been one of the most important elements necessary for Japanese industrial expansion. The cost reduction of the products, along with quality assurance and functional improvements, is one of the main purposes of the technological progress; and it is a difficult challenge. To achieve this purpose, engineers are requested to design smaller, lighter products with fewer parts. In other words, engineering designers must adopt the new technologies in order to reach their target. This demand stimulates Research and Development (R&D) activity in many related fields.
Vision Systems for Electronics Industry in Japan (Automation of Manual Adjustment Works by Image Processing Technologies)
Authors: Komatsu Tadanori ,   Toshiba Corp. Manufacturing Engineering Lab., 33, Shin-Isogo-cho, Isogo-ku, Yokohama, Kanagawa, 235 Japan
Published: April 2016

Recently, there are many technical problems involved in realizing flexible manufacturing systems in factories. Our production lines suffer from requirements for higher productivity and quality, lower cost, and the shortage of well trained operators. Among these serious problems, manual adjustment automation reflects key technologies. In this paper, problems regarding manual adjustment are summarized and image processing technologies are presented as a very powerful tool to automate the adjustment work.
Two-Level Control Structure of Magnetic Bearings
Authors: Taguchi Nobuyoshi ,   Technology Center of Nagasaki, 2-1303-8, Ikeda, Ohmura, Nagasaki, 856 Japan, Ishimatsu Takakazu , Shimomachi Takashi ,   Nagasaki University, 1-14, Bunkyo-machi, Nagasaki, 852 Japan,   Yatsushiro National College of Technology, 2627, Hirayama-shinmachi, Yatsushiro, Kumamoto, 866 Japan
Published: April 2016

Active magnetic bearings have several advantages over conventional mechanical and fluid bearings. However, when the magnetic bearings are used at high rotational speeds, whirling motions and vibrations synchronized with the rotation of the rotor should be considered. In order to suppress these unfavorable vibrations of rotor which is supported by magnetic bearings, we have developed an active vibration control system with a two-level control structure. Experimental results show that our active bearings system effectively suppresses the whirling motion.
Development of Autonomous Mobile Robot for Obstacle Avoidance
Authors: Uchida Masafumi ,   Faculty of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Yokoyama Syuichi , Ide Hideto ,   Faculty of Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo, 163-91 Japan
Published: April 2016

The potential method is superior for solving the problem of motion planning; however, it must address the problem of the real-time generation of potential field. Obstacle avoidance is a motion planning problem. In a previous study, we investigated the real-time generation of potential field. Based on parallel processing with element group, we proposed the system by Sensory Point Moving (SPM) method. As a result of computer simulation, it was confirmed that the SPM method is effective for generating an obstacle avoidance path in 2-D and a more complex working environment like a 3-D one. In this paper, we discuss the development of autonomous mobile robot for obstacle avoidance based on the SPM method.
Distributed Control System for Six-Legged Walking Robot
Authors: Nakayama Ryoichi ,   Nuclear Engineering Lab., Toshiba Corp. 8, Shinsugita, Isogo-ku, Yokohama, 235 Japan, Iida Hitoshi , Hozumi Hisashi , Okada Satoshi , Okano Hideharu , Miyazawa Tatsuo
Published: April 2016

In this paper, describe a walking robot system which has been developed based on the assumption that it will be used to perform visual inspections. The robot is designed to be static walking and cableless. The six legs are disposed symmetrically around the center of the robot's body, and each modular leg comprises a number of links. The distributed control concept is adopted for the control system, which consists of a main controllers a sub-controller, and local controllers. The local controllers and driver circuits for the DC servo motors are mounted on the individual leg modules, and special-purpose small lightweight units have been developed. The robot is automatically controlled by a sub-controller which receives walk commands from the remote unit's main controller.
Trajectory Generation of a Multi-Arm Robot Utilizing Kinematic Redundancy
Authors: Tsuji Toshio ,   Faculty of Engineering, Hiroshima University, Kagamiyama 1-4-1, Higashi-Hiroshima, Hiroshima, 724 Japan
Published: April 2016

This paper proposes a method of generating trajectories of multiple manipulators by using virtual arms. First, it is shown that a closed link structure composed by multiple manipulators can be resolved into closed link structures composed by a pair of manipulators and then each closed link structure is modelled as a connected arm. A connected arm expresses a single manipulator as a pair of manipulators that are connected at the end-points. By defining a connected arm in this way, it becomes possible to make use of redundant degrees of freedom of manipulators by means of virtual arms. A virtual arm is a virtually supposed arm whose end-points are placed on the joints or links of the connected arms. The virtual arms makes it possible to treat the postures of multiple manipulators as a set of virtual end-points. This paper not only carries out the modeling of the kinematics of connected arms and virtual arms in general but also derives inverse kinematic solutions of connected arms by the use of virtual arms. In addition, the paper shows that it is possible to realize a variety of postures of manipulators while controlling the object being grasped.
The Effect of Skin Temperature on Vibrotactile Sensibility and Its Model
Authors: Ide Hideto ,   College of Science & Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Uchida Masafumi
Published: April 2016

The vibration problems of living bodies have so far been studied from the perspectives of engineering, physiology, and psychology. This study shows the relationship between vibratory sensibility and temperature in the living body. Psychological experiments were carried out by using the vibrometer of an acoustical calibration apparatus in sine, triangular, and square waves. The sensibilitythreshold measurements were made using 30-700 Hz sine waves, 30-300 Hz triangular and sawtooth waves, or 30250 Hz square waves. Each of ten subjects was kept seated. The average value of the vibratory levels, varied by ascending and descending steps, was taken as that of the threshold. As the vibrometer in the apparatus used makes a noise at frequencies greater than 250 Hz, it was masked from the subjects by presenting them with a different noise. The threshold curve for square waves was lower by 12.3 dB than that for sine waves at about 30 Hz. The threshold curve of the 26°C sine wave was lower by 10 dB than that of the 58°C sine wave vibration near 200 Hz. At stimulated frequencies above 120 Hz, the lowering of the temperature of the contact point caused the amplitude threshold to increase and the frequency at which the threshold curve was at a minimum to shift to a lower frequency. In addition, a model of the vibratory sensibility system was constructed by electronic circuits. Its spatio-temporal characteristics were compared with the neurophysiological and psychological data on human vibratory sensibility. The results showed the qualitative agreement with the fundamental neurophysiological and psychological data.
Development of Monitoring System for Human Respiratory Condition Using CA Thermo-Pile
Authors: Toba Eiji ,   Faculty of Textile of Science and Technology, Shinshu University, 5-15-1, Tokida, Ueda, Nagano, 386 Japan, Sekiguchi Sadamu
Published: April 2016

A special CA thermo-pile with high sensitivity and fine frequency characteristics, of which the gain is flat to approximately MHz, is developed as a sensor for measuring human respiratory condition monitoring system.
Latency Minimization of Parallel VLSI Processors for Robotics Using Integer Programming
Authors: Kim Bumchul ,   Department of Computer and Mathematical Sciences, Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, Miyagi, 980-77 Japan, Kameyama Michitaka
Published: April 2016

In many cases, intelligent robot systems carry out various sorts of processes where input informations of the next cycle are obtained by waiting for the results of the processing. As a result, demand is made for the development of special-purpose VLSI processors for robotics, which shorten the latency of each individual processing module to an extreme degree. In this paper, under the condition that the processing of systems is carried out step by step for each level in the data dependence graph, we present the parallel processing system with special attention paid to the parallelism within each level. Normally, in the common bus interconnection network, an enormous number of communications are required between PEs, which becomes a factor for causing the system performance to go down. However, since common buses are not only easy to reconfigure but also simple in implementation, they are considered to be suited for VLSI system. From the above, a parallel VLSI processor in which a multiple number of PEs are connected through a common bus is proposed. In the proposed system, once the performance of the PEs is determined, the latency is dependent on the number of communications between PEs. Therefore, the minimization of the latency becomes the problem of minimizing the number of communications. It will be made clear that the problem of minimizing the communications between PEs can be formulated as the integer programming and that the optimum scheduling for minimizing the latency can be carried out.
Vibration Control of Truss Structure by Piezoelectric Actuator
Authors: Shibayama Yuzo ,   NEC Corp., 4035, Ikebe-cho, Midori-ku, Yokohama, 226 Japan, Sekine Koji , Sakata Takuma , Hatayama Takayoshi , Yoshida Shiro ,   Sumitomo Heavy Industries, Ltd., 63-30, Yuuhigaoka, Hiratsuka, Kanagawa, 254 Japan
Published: April 2016

An active vibration control technique is one of the important technical subjects for the large space structures (LSS). In the LSS, the one-board instruments need more strict directional precision as the sizes and flexibility of structures increase. With this background, a piezoelectric actuator Type-II for vibration control has been experimental developed, which has five multilayered piezo-electric devices. An attempt has been made to incorporate the actuator Type-II into active members of a truss structure, which is a 6-bay, 1.8m-high truss, and to control its vibration. This paper presents an outline of the piezo-electric actuator Type-II and some experimental results which show the vibration control capabilities of the actuator Type-II.
Dynamic Modeling of Robot Force Control System and Its Application to a Parts Handling Task
Authors: Umeno Akira ,   NTT Human Interface Laboratories, 3-9-11 Midori-cho, Musashino, Tokyo, 180 Japan, Shimokura Ken-ichiro , Kakizaki Takao , Kogure Kenji ,   NTT Interdisciplinary Research Laboratories, 3-9-11 Midori-cho, Musashino, Tokyo, 180 Japan
Published: April 2016

Dynamic modeling of robot force control systems is investigated in consideration of object dynamics. Several basic dynamics models for robot force control systems are proposed, and related stability issues are discussed. The stability of the force control system deteriorates severely when collocation mode resonance, primarily due to object dynamics, occurs near non-collocated mode resonance due to robot dynamics. The dynamic modeling is applied to a parts handling task, whose conditions focus on gripper force deviation. Manipulator end-effector trajectory planning using the trapezoidal acceleration profile as well as a gripper force control system design to suppress the force deviation are presented to achieve the task. The results obtained indicate that the force control system based on the dynamics models can satisfy the required task conditions.
Microgravity Production for the Test Capsule Falling Through the Drop Shaft
Authors: Sakurai Hideyo ,   Ishikawajima Noise Control Co., Ltd., 15-18, Hyakunincho 1-chome, Shinjyuku-ku, Tokyo, 169 Japan, Saito Shinobu , Azuma Takao , Muto Mitsuru ,   Ishikawajima -Harima Heavy Industries Co., Ltd., 1-15, Toyosu 3-chome, Koto-ku, Tokyo, 135 Japan
Published: April 2016

The world’s deepest drop shaft facility for microgravity experiment, using a former coal mine shaft of 710m in depth was constructed at Kamisunagawa, Hokkaido, Japan in 1991. The rocket-shaped capsule, in which experimental devices are loaded, falls through the drop shaft and produces microgravity of approximately 1 × 10-5G for 10 seconds. This paper provides an outline of this drop shaft facility.
Failure-Detecting Method Using Fusion of Sensor Information and Visual Knowledge
Authors: Yamaba Kazuo ,   Mechanical Engineering Laboratory, AIST 1-2 Namiki, Tsukuba, Ibaraki, 305 Japan, Miyake Yoichi ,   Faculty of Engineering, Chiba University 1-33, Yayoi-cho, Inage-ku, Chiba, 263 Japan
Published: April 2016

This paper describes a failure-detecting method for thin drills which are often used in NC machine tools and other machining equipment. It is very difficult to accurately detect a failure in a thin drill with less than 2mm in diameter by means of an acoustic emission sensor. A transistor chopper circuit was developed, having a very effective, smoothing reactor to control a DC motor at a constant torque. In this chopper circuit, high-speed switching transistors are used and the current of the DC motor is always saturated perfectly. Thus, the torque at a point of failure can easily be detected even though the value is very small. An experiment for detecting the failure torque is performed on thin drills which have diameters of 1, 1.5, and 2mm. In this paper, a color information processing signal is used to seek for the surface properties of four different kinds of materials and a fusion signal is generated before each act of drilling. On the basis of the experimental results on the metals, it has been proved that the failure detection method can automatically be applicable to the thinnest drill which is 1mm in diameter.
Modeling Fuel Injection Control Maps Using Fuzzy Logic and Neural Networks
Authors: Bastian Andreas ,   Laboratory for International Fuzzy Engineering Research (LIFE), Siber Hegner Bldg. 4F1., 89-1 Yamashita-cho, Naka-ku, Yokohama, 231 Japan
Published: April 2016

Determining the correct ignition point of the air-fuel mixture is critical in order to achieve maximum output torque and to reduce exhaust emissions. In some fuel injection control systems the amount of air cannot be detected, thus, look-up tables are utilized, which contain the amount of air for given engine speed and inlet manifold pressure. In this paper, we model the look-up table using fuzzy logic. A neural network approach is used to identify the inputs of the fuzzy model.
Disturbance Compensation Control of a Free-Flying Robot
Authors: Arai Hirohiko ,   Robotics Department, Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tsukuba, Ibaraki, 305 Japan, Tanie Kazuo
Published: April 2016

Disturbance compensation control of a free-flying space robot is considered in this paper. In the method proposed here, disturbances imposed on a nominal dynamic model are estimated and compensated by utilizing a combination of joint torque input and acceleration signals. The dynamics of the equivalent manipulator with a fixed base is treated as the nominal model, noting that the mass of the base satellite is usually much larger than that of the manipulator. The attitude of the base satellite changes because of the reaction force generated by the manipulator. However, the influence of the change is estimated and compensated as a disturbance based on a combination of the joint torque and the acceleration of the end-effector in the operational coordinate frame. Computation of the proposed control method is as simple as the control of a manipulator with a fixed base. The proposed method is robust against unknown disturbances and modeling errors. This method can also be extended to the case of a space robot with multiple manipulators and attitude control of the base satellite. The effectiveness of the method is demonstrated by computer simulations.
Space Robotics Researches at Electrotechnical Laboratory: Dexterous EV Robot Technology
Authors: Machida Kazuo ,   Electrotechnical Laboratory, MITI, 1-1-4 Umezono, Tsukuba, Ibaraki, 305 Japan, Toda Yoshitsugu , Iwata Toshiaki
Published: April 2016

Studies on basic technologies on space robots have been conducted at the Electrotechnical Laboratory (ETL) since 1983. The research emphasizes on developing key technologies of dexterous extravehicular robots. It is categorized into four areas: space adaptive mechatronics; telerobotics; on-board skill technology; and motion control of free flying robots in 0-gravity. We have been developing several pilot models such as a dexterous space manipulator system working in a vacuum, a graphic simulator augmented teleoperation system for long-distance robots, a smart end-effector for a large space manipulator arm, and an astronaut reference flying robot. This paper overviews the space robotics research efforts at ETL and presents a current topic of the precise space telerobotics experiment on ETS-VII.
Parking Motion Planning and Control of a Car-Like Robot Using a Fuzzy Neural Network
Authors: Yamamoto Motoji ,   Dept. of Intelligent Machinery and Systems, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka, 812 Japan, Kobayashi Masaaki , Mohri Akira
Published: April 2016

This paper discusses a parking motion planning and control of a car-like robot. Because of non-holonomic constraints of the system, motion planning and control is regarded as a difficult problem. In this paper, constraints of steering operation and obstacle avoidance with garage and walls are also considered. As one approach to this problem, extracting human control strategy can be considered, because many drivers can easily park their cars in garages. This paper proposes a motion planning and control method using a fuzzy neural network (FNN). The fuzzy neural network system for parking motion planning learns good parking motions by human operations to generate motion strategy of parking. The fuzzy neural network is then used for parking motion planning in a restricted area surrounded by walls. Computer simulation demonstrates the effectiveness of the planning method. Furthermore, the method can be considered as a feedback control law for the parking of car-like robot. Therefore, an experiment of parking motion control using the fuzzy neural network is also tested.
New Model of the Ultrasonic Walking Aid for the Blind
Authors: Ohdaira Etsuzo ,   Department of Electronics and Communication Engineering, Musashi Institute of Technology, 1-28-1, Tamazutsumi, Setagaya, Tokyo, 158 Japan, Ide Masao
Published: April 2016

A phase difference type ultrasonic walking aid for the blind which uses pulse reflection can be used easily without requiring much difficult training. This new aid features three transducers on the frame of a pair of spectacles. The transducer at the center is for a transmitter, while the transducers on both sides are for receivers. The walking aid detects the distance and direction of an obstacle (target) from the travelling time of ultrasonic pulses transmitted and reflected on the obstacle and the time difference between the pulses reflected from the obstacle and received by their respective receivers. A weak point of an aid of this type is that sometimes slant, flat obstacles such as board fences could not be detected. The new model of the previous aid on which this paper reports overcame this weak point by using plural ultrasonic frequencies. The environment recognition power was improved by this walking aid.
A Robotic Truck Crane with Vibration Sensors
Authors: Tanaka Yoshio ,   Shikoku National Industrial Research Institute, 2217-14 Hayashi-cho, Takamatsu, 761-03 Japan, Ueta Tetsushi , Kawakami Hiroshi , Sumitomo Takashi ,   Faculty of Engineering, Tokushima University, 2-1 Minami-Josanjima, Tokushima, 770 Japan
Published: April 2016

To solve the problems of the shortage and increasing age of skilled operators in Japan, we propose a new concept of “robotic crane system” or “intelligent crane system” and develop the prototype system under laboratory conditions. This paper describes the hardware of the robotic crane system, control design of the flexible rotary crane using vibration sensors, and the first experimental results. In order to simulate the crane’s load swing efficiently and develop a 3-D simulator for cranes with a spherical pendulum such as a rotary crane, an efficient dynamic simulation method is also presented. This method was applied to the prototype system.
Rotation Measurement and Control of Optically Trapped Particles
Authors: Yamamoto Akihiro ,   Optical Engineering Laboratory, The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, Wako-shi, Saitama, 351-01 Japan, Yamaguchi Ichirou
Published: April 2016

When a particle of isotropic shape is trapped by a convergent laser beam, it begins to rotate around itself. This self-rotation is caused by the torque resulting from total forces acting on the particle surface. We have developed a method to quickly and automatically measure the rotation rate from temporal variation of the light scattered from the particle. The rotation rate is derived from the period of the intensity variation. The rotation rate can be measured up to 3000rpm. The rotation rate that has been proportional to the trapping beam power is feedback controlled by a loop connecting the measured rotation rate and the trapping beam power.
Automatic Combination of Modular Machine Elements Forming Complex Manufacturing Cell
Authors: Takeuchi Yoshimi ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, Chofugaoka 1-5-1, Chofu, Tokyo, 182 Japan, Asakawa Naoki , Totani Yoshihiro
Published: April 2016

This study addresses the combination technology between modular machine elements which forms futural complex manufacturing systems. It is thus important for modular machine elements to automatically combine themselves with each other to form complex manufacturing systems according to the needs. Therefore, the method of recognizing the position and attitude of modular machine elements and combining them is proposed. The validity of the method is experimentally confirmed.