bluuebunny/crossref_metadata_2025 huggingface dataset:
Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems
Authors: Terashima Kazuhiko ,   Department of Production Systems Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580, Japan, Miyoshi Takanori , Mouri Keisuke , Kitagawa Hideo , Minyong Panya ,   Department of Electronic Control Engineering, Gifu National College of Technology, 2236-2 Kamimakuwa, Motosu-city, Gifu 501-0495, Japan,   Department of Mechatronics Engineering, Pathumwan Institute of Technology, 833 Rama 1 Rd., Pathumwan, Bangkok 10330, Thailand
Published: April 2016

This paper proposes an intelligent massage control system that uses a multi-fingered robot hand with hybrid impedance control, which is able to recreate the movement and force of a human massage therapist. Therefore, various massage points, such as changes in the stiffness of human skin muscle, can be controlled by using an impedance control method. A hybrid impedance control, comprised of position-based and force-based control methods, was developed. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also identifies human skin muscle through robot perception of impedance to decide on the parameters of the impedance controller. A strategy using impedance control to implement an adaptive control system is presented, under the conditions of both soft and hard skin and muscle. The effectiveness of this massage control system using a multi-fingered robot hand with hybrid impedance control is demonstrated through realistic massage experiments involving pushing and rubbing motions.
A Study on Adaptive Arch Structure Applying Variable Geometry Truss (Mechanism of Movable Arch Roof with External Panel)
Authors: Inoue Fumihiro ,   Technical Research Institute, Obayashi Corporation, 4-640 Shimokiyoto, Kiyose-shi, Tokyo 204-8558, Japan
Published: April 2016

This paper describes a movable arch roof with external panels as an actual design of an adaptive structure using a VGT (Variable Geometry Truss) mechanism comprising an elementary truss structure with extendable members. This movable arch structure comprises several VGT units jointed in series and pin jointed at each end. It is a stable structure because its edge is restrained, but this reduces its variety of shape change. Various arch shapes can be determined by using inverse analysis to solve the structure shape from the member lengths. An actual movable roof pavilion composed of such a movable arch and an external panel was designed, and the behaviors of a movable roof and the joint mechanism of the roof elements were verified by numerical simulation and a model experiment. As a result, the performance of the proposed movable roof structure was confirmed, and the basic technology and design approach were established.
Development of an Automated Microscope for Supporting Qualitative Asbestos Analysis by Dispersion Staining
Authors: Kawabata Kuniaki ,   Kawabata Intelligent System Research Unit, RIKEN, Hirosawa 2-1, Wako, Saitama 351-0198, Japan, Morishita Soichiro , Takemura Hiroshi , Hotta Kazuhiro , Mishima Taketoshi , Asama Hajime , Mizoguchi Hiroshi , Takahashi Haruhisa ,   RACE, The University of Tokyo,   Faculty of Science and Technology, Tokyo University of Science,   Department of Information and Communication Engineering, The University of Electro-Communications,   Department of Information and Computer Science, Saitama University
Published: April 2016

This paper introduces automated microscopic observation supporting qualitative asbestos analysis. Visual qualitative asbestos evaluation generally involves dispersion staining. Operators conventionally check and count asbestos fibers visually by microscope. We are developing automated microscopic observation to support qualitative asbestos analysis. The system images fibers by microscope and saves them automatically to a database. We introduce system concepts and performance using the prototype we developed.
Hollow, Variably Configured Segmented Wheel Suitable for Snow Travel
Authors: Takaoka Shotaro ,   School of Science and Technology, Graduate School, Ryukoku University, 1-5 Yokoya, Seta Oe-cho, Ohtsu, Shiga, Japan, Horikawa Kazuya , Nagano Akinori , Iwamoto Taro
Published: April 2016

A highly maneuverable robot vehicle for snow travel is required for robot rescue to avalanche. The variably configured segmented wheel (VCSW) seems to be applicable because of its high surmounting capability. Formerly, this VCSW has been developed to traverse rough terrain, muddy roads, water and underwater. VCSW consists of six vanes, a hub, spokes, and a drive wheel. These vanes are pushed and towed by the eccentric hub through spokes periodically based on wheel rotation. Vane movement effectively prevents slippage and sinking in snow. Vane control was located at the wheel center in the original design, so when traversing snow surfaces, scooped-up snow caught between a vane and the vane control mechanism remained stuck in the wheel. The modification we designed for the wheel locates vane control on one side of the wheel to make the wheel center empty so that scooped-up snow is discharged efficiently, as confirmed in experiments.
Possibility of Head-Shape Simplification for an Acoustical Telepresence Robot: TeleHead
Authors: Toshima Iwaki ,   NTT Communication Science Laboratory, Aoki Shigeaki ,   Kanazawa Institute of Technology
Published: April 2016

We built an acoustical telepresence robot named TeleHead. TeleHead has a user-like dummy head and is synchronized with the user’s head movement in real time. The user-like dummy head improves sound localization accuracy. However, making a user-like dummy head for each user is not realistic from the viewpoint of engineering. Therefore, we made several kinds of simplified dummy head and examined their influence on sound localization. The results show that, among the dummy heads tested, the user-like dummy head is the best one for sound localization experiments. When subjects used a simple rugby-ball-like dummy head, they could not localize sound at all. The results suggest that an accurate dummy head improves sound localization accuracy and point to the possibility of simplifying dummy heads for practical use in sound localization.
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fourth Report: Step-Over Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, Nakano Eiji
Published: April 2016

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-over gait, which is one part of the adaptive gait, is described. The proposed method is evaluated by simulations and experiments. The point of the flow of the step-over gait is described. When the body reaches an obstacle, it does not come to advance easily. In this case, the robot can not always understand the height of the obstacle, since its forefeet sometimes do not touch it. Therefore, the robot raises its body as possible as it can, and gets over the obstacle. After getting over it, the body is lowered until it touches the ground. The system judges whether the body touches the ground by the information on load sharing ratio of legs.

This paper is the full translation from the transactions of JSME Vol.72, No.721.
Special Issue on Selected Papers from ROBOMEC'08 (Part 2)
Authors: Umeda Kazunori ,   Co-Editor, Professor,, Murakami Hiroki ,   Program Chair of ROBOMEC2008 and
Published: April 2016

The Robotics and Mechatronics Conference 2008 (ROBOMEC'08) was held at the “Big Hat” in Nagano, Japan, June 5-7, 2008, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Minoru Hashimoto of Shinshu University served as organizing chair, Prof. Takashi Kawamura of Shinshu University as general chair, and Hiroki Murakami of IHI Corporation as program chair. The conference motto was “Robotics and Mechatronics for Sustainable Industrial Development.” A record-breaking 1,054 papers were presented in about 70 sessions, including Nano/Micro Fluid System and Medical and Welfare Robotics and Mechatronics. Participants numbered over 1,500, making it a great success.

This special issue presents 13 papers from the conference. Of the 109 outstanding presentations recommended for submission, 42 were submitted and reviewed. Of these, 28 excellent papers have been accepted including the first 15 already published in Part 1 (Vol.21, No.2).

We thank the authors for their invaluable contributions to this issue and the reviewers for their extensive time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
Parameter Setting Method for Sit-Stand Assist System Based on Human Model
Authors: Hirata Yasuhisa ,   Department of Bioengineering and Robotics, Tohoku University, Higuchi Jun'ichi , Hatsukari Takuro , Kosuge Kazuhiro ,   Research and Development Div., Paramount Bed Co., Ltd.
Published: April 2016

The simple sit-stand support we have designed consists of a handrail and height-adjustable electric bed for assisting the user to stand from sitting on the bed. The human-model-based evaluation indexes for sit-stand movement enabled us to set support parameters such as handrail position, bed height, and foot positioning stabilizing the user and reducing the user's muscle burden. Support system parameters take into account the user's physical dimensions and disabilities, as verified in experiments.
Fabrication of Articulated Microarm for Endoscopy by Stacked Microassembly Process (STAMP)
Authors: Narumi Keisuke ,   Department of Bioengineering and Robotics, Tohoku University, Azuma Daisaku , Arai Fumihito
Published: April 2016

Recently it is expected to develop endoscopic tools to grip and lift a target tumor in Endoscopic Submucosal Dissection (ESD). We proposed a new ESD surgery concept in which two wire-driven microarms (1.8 × 1.8 × 22 mm) from the tip of endoscope help lift the tumor to cut. This paper emphasizes a new fabrication method of arm which is fabricated by Stacked Microassembly Process (STAMP). STAMP is a fabrication method of three-dimensional structure by stacking up two-dimensional sheet layers. Generically it is difficult to build a micro-order three-dimensional structure, but we overcame this problem by this method. The microarm was composed of five layers which were fabricated separately using photolithography and electroplating. In the end, individual layers were assembled together and fixed. The microarm used the elastic deformation of metal to bend (Cu or Phosphor Bronze). A strain gauge was attached to the elastic joint as an angle sensor. We calibrated the relation between the angle and output of the strain gauge using image processing program. As the relation was good linearity (R2= 0.9933), we constructed PID feedback control system. Finally, we fabricated a gripper which loaded into the tip of the microarm. The gripper could lift up a piece of meat (2 g).
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, Nakano Eiji
Published: April 2016

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the integrated gait of the normal gait and the adaptive gaits for large rough terrain is proposed. The proposed gait has following features: 1. There is a path from a gait to any other gait. 2. The robot does not fall into the endless loop of detection, because it moves whenever it detects something. 3. A gait changes finally to step-over gait which has the maximum ability of movement when the robot can not move. The robot can move on rough terrains where irregular ruggednesses up to 0.2 m in height or depth exist by using the integrated gait. The effectiveness of the integrated gait is verified through simulations and experiments.

This paper is the full translation from the transactions of JSME Vol.72, No.721.
Control of A New Type of Undulatory Wheeled Locomotor: A Trident Steering Walker Based on Chained Form
Authors: Yamaguchi Hiroaki ,   Department of Integrated Information Technology
Published: April 2016

This paper introduces and describes a new type of undulatory wheeled locomotor, which we refer to as a “trident steering walker.” The wheeled locomotor is a nonholonomic mechanical system, which consists of an equilateral triangular base, three joints, three links and four steering systems. The equilateral triangular base has a steering system at its center of mass. At each apex of the base is a joint which connects the base and a link. The link has a steering system at its midpoint. The wheeled locomotor transforms driving the three joints into its movement by operating the four steering systems. This means that the wheeled locomotor achieves undulatory locomotion in which changes in its own shape are transformed into its net displacement. We assume that there is a virtual joint at the end of the first link. The virtual joint connects the first link and a virtual link which has a virtual axle at its midpoint and a virtual steering system at its end. We prove that, by assuming the presence of such virtual mechanical elements, it is possible to convert the kinematical equation of the trident steering walker into five-chain, single-generator chained form in a mathematical framework, differential geometry. Based on chained form, we derive a path following feedback control method which causes the trident steering walker to follow a straight path. We also define a performance index of propulsion of the trident steering walker to design its control parameters. The validity of the mechanical design of the trident steering walker, the conversion of its kinematical equation into chained form, the straight path following feedback control method, and the design of the control parameters reflecting the performance index of propulsion has been verified by computer simulations.
Detection Principle of Shape and Orientation of Corrosive Defects Using Lamb Waves
Authors: Xu Chunguang ,   School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Rose Joseph L. , Zhao Xiang ,   Department of Engineering Science and Mechanics, Pennsylvania State University,   FBS Inc.
Published: April 2016

The shape and orientation of corrosive defects are critical in the evaluation of the reliability and durability of plate-like structures. And Lamb wave is considered as an effective tool for inspections of this kind corrosive plates. In this paper, the shape and orientation of plane defects are detected and presented using a circular transducer array with Lamb wave tomography approach. Here, considering a special shape defect with two-dimensions elliptical contour in the plate, the various ratios for both defect shape and orientation, individually representing different classifications of defects, is identified and investigated using Lamb wave tomography approach. And the validity of this approach has been proved through simulation experiments.
Development of Asparagus Harvester Coordinated with 3-D Vision Sensor
Authors: Irie Naoki ,   Industrial Technology Center of Nagasaki, Taguchi Nobuyoshi , Horie Takao , Ishimatsu Takakazu ,   Department of Mechanical Systems Engineering, Nagasaki University
Published: April 2016

The automated asparagus harvesting robot we developed to replace manual labor, consists of a 3-D vision sensor to detect candidate asparagus by height, a robotic arm with an end-effector to grasp candidates and cut their stems, and a mobile cart to navigate asparagus furrows. Experiments in a greenhouse confirmed the robot's feasibility.
Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier
Authors: Tsutsui Yoichiro ,   Morita Corporation, 5-5-20 Shoji-Higashi, Ikuno-ku, Osaka 544-0003, Japan, Tanaka Takayuki , Kaneko Shun'ichi , Sakata Yukinobu , Feng Maria Q. ,   Hokkaido University, Kita 14 Nishi 9, Kita-ku, Sapporo, Japan,   Toshiba Corporation, 1, Komukai-Tpshiba-cho, Saiwai-ku, Kawasaki, Kanagawa 212-8582, Japan,   University of California, Irvine, Irvine, CA, USA
Published: April 2016

The simultaneous joint torque and angle recognition for dynamic movement we propose using ultrasound echo and is test feature classifier is for application in human-machine systems such as wearable robots. Ultrasound emitted on the skin surface and reflected within the body is used to recognize features extracted from the echo. Features is change based on the muscle movement related to target joint movements enabling joint movement to be recognized. Experiments conducted to recognize elbow movement involved classifying a test data set into torque and angle classes based on feature scores rectified and integrated in 6 blocks extracted from ultrasound echoes. Correct classification was 54% for torque recognition, and 67% for angle recognition. Some data classified incorrectly was still in classes close to the correct class, with quasi correct classification 88% for torque and 94% for angle, corresponding to allowing larger classes for correct classification. Results demonstrated that recognition using our proposal was more successful than random selection at 11% for torque recognition and 13% for anble recognition. A strategy we describe for reducing the number of features to decrease calculation time cost, reduced by 50% while maintaining accuracy.
SIEN: Telescopic-Arm Climbing-Support Robot
Authors: Yamaguchi Tomoyuki ,   Department of Applied Physics, Waseda University, Sorioka Yoshiaki , Park Sunhong , Hashimoto Shuji
Published: April 2016

SIENrepresents a novel safety measure concept in making climbing service robots feasible, e.g., in keeping them from falling off a wall due to concavity, convexity, or insufficient adhesion. The wall climbing-support robotSIENwe developed uses a telescopic arm to support itself. The arm has a joint with sensors to detect robot speed and direction of movement.SIENfollows and supports the climbing robot based on feedback using detected force.SIENenabled the robot to climb walls reliably and safely, as demonstrated in experimental results.
Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction
Authors: Hamaguchi Masafumi ,   Department of Electronic and Control Systems Engineering,  Shimane University, Taniguchi Takao
Published: April 2016

Damping control we propose for sloshing in cylindrical containers carried by a wheeled mobile robot enables the container to tilt independently in the direction of movement and orthogonally through the use of a dual-swing active-vibration reducer. The robot follows a curved sloping path. Sloshing generated by robot movement is damped by the vibration reducer, which keeps the container level on a slope. Vibration reduction is managed by an optimal servo controller having a Kalman filter. Experimental results demonstrate our damping control proposal's usefulness and feasibility.
Functionally Layered Video Coding Based on JP2K for Robot Vision Network
Authors: Udomsiri Sakol ,   Dept. of Electrical Engineering, Nagaoka University of Technology, Taguchi Hideki , Takahashi Tomoyuki , Iwahashi Masahiro , Kimura Tetsuya ,   Dept. of System Safety, Nagaoka University of Technology 1603-1, Kamitomioka, Nagaoka, Niigata 940-2188, Japan
Published: April 2016

We propose video coding that extracts minimum information for robots to reduce data transmission in a robot vision network where a ceiling map is generated from ceiling video from an indoor search robot and shared among search robots. Video signals are conventionally decomposed into several components and only visually significant components are transmitted. We propose that only required components for ceiling map generation and auto localization be designated as the basic layer and that other components be assigned as the enhancement layer. Only the basic layer is transmitted and received in regular communication between the robots. The enhancement layer is additionally transmitted to enable users to browse images. Experiments verified that transmission data volume was reduced by 15%, enabling more users and robots to link up in networks whose communication channel transmission is limited.
Dynamic Locomotion of Quadrupeds Tekken3&4 Using Simple Navigation
Authors: Fukuoka Yasuhiro ,   Department of Intelligent Engineering, College of Engineering, Ibaraki University 4-12-1 Nakanarusawa-cho, Hitachi, Ibaraki 316-8511, Japan, Katabuchi Hiroki , Kimura Hiroshi ,   Automotive Systems Group, Hitachi, Ltd., 1671-1 Kasukawa-cho, Isezaki, Gunma 372-0023, Japan,   Division of Mechanical and System Engineering, Graduate School of Science and Technology, Kyoto Institute of Technology Matsugasaki-Goshokaido-cho, Sakyo-ku, Kyoto 606-8585, Japan
Published: April 2016

We developed self-contained quadruped robots Tekken3 and Tekken4, which walk dynamically and stably for a long time changing direction through simple navigation. Using new equipment with a laser range finder for the navigation, Tekken3&4 walked naturally along a wall using simple control, walked longer than earlier quadrupeds Tekken1&2. Tekken4 conducted 33 walking demonstrations during 11 days at the 2005 Aichi Exposition in Japan (view at [1]). We discuss Tekken3&4 mechanical design concepts and simple navigation control for long-term walking along a wall at the exhibition.
MPID Control Tuning for a Flexible Manipulator Using a Neural Network
Authors: Mansour Tamer ,   Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6-01 Aramaki-aza, Aoba-Ku, Sendai 980-8579, Japan, Konno Atsushi , Uchiyama Masaru
Published: April 2016

This paper studies the use of neural networks as a tuning tool for the gain in Modified Proportional-Integral-Derivative (MPID) control used to control a flexible manipulator. The vibration control gain in the MPID controller has been determined in an empirical way so far. It is a considerable time consuming process because the vibration control performance depends not only on the vibration control gain but also on the other parameters such as the payload, references and PD joint servo gains. Hence, the vibration control gain must be tuned considering the other parameters. In order to find optimal vibration control gain for the MPID controller, a neural network based approach is proposed in this paper. The proposed neural network finds an optimum vibration control gain that minimizes a criteria function. The criteria function is selected to represent the effect of the vibration of the end effector in addition to the speed of response. The scaled conjugate gradient algorithm is used as a learning algorithm for the neural network. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the neural network appears in the reduction of the computational time and the ability to tune the gain with different loading condition.
Effectiveness Evaluation of Precomputation Search Using Steering Sets
Authors: Suzuki Yumiko ,   Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara 630-0192, Japan, Thompson Simon , Kagami Satoshi ,   Digital Human Research Center, National Institute of Advanced Science and Technology, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan
Published: April 2016

We present a new pruning method for compact precomputed search trees and evaluate the effectiveness and efficiency of our precomputation planning with steering sets. Precomputed search trees are one method for reducing planning time; however, there is a time-memory trade-off. Our PreComputed Search tree (PCS) is built with pruning based on a rule of constant memory, i.e., Maximum Size Pruning method (MSP), which is the preset pruning ratio. UsingMSP, we get a large, reasonably sized precomputed search tree. Applying a Node Selection Strategy (NSS) to MSP, extends the tree’s outer edges and enhances the path reachability. We also checked the dispersion in real 5150m2indoor environments, we found the obstacle rate to be 5%. On the uniformed scattered obstacle map with a less than 13% obstacle rate, precomputation planning runtime with steering sets is more than two orders of magnitude faster than the planning without precomputed search trees. With steering sets, our precomputed search tree finds an optimal path at obstacle rate of 12%. Precomputation planning also produces a smooth optimal path speedily in an indoor environment.
Development of Small Fish Robots Powered by Small and Ultra-Light Passive-Type Polymer Electrolyte Fuel Cells
Authors: Takada Yogo ,   Graduate School of Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi-ku, Osaka-shi, Osaka 558-8585, Japan, Araki Ryosuke , Nakanishi Yukinobu , Nonogaki Motohiro , Ebita Kazuaki , Wakisaka Tomoyuki
Published: April 2016

Small fish robots, the size of a killifish – 5 cm long – are potentially in finding disaster victims in flooded areas, because of their ability to navigate narrow confines. Powering such robots, however, becomes a question, since the easiest answer – rechargeable batteries – has low energy density. The “Power Tube” we developed is a small and ultra-light passive-type polymer electrolyte fuel cell. Based on this fuel cell technology, we fabricated a 110 mm fish robot combining a drive, consisting of a DC motor and link, with a Power Tube having a hydrogen generator. We also fabricated an energy-efficient submersible fish robot with neodymium magnets and coil actuators, that methanol-fueled Power Tubes powered with a voltage booster.
Development of a Pneumatic Surgical Manipulator IBIS IV
Authors: Tadano Kotaro ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama-shi, 226-8503, Japan, Kawashima Kenji , Kojima Kazuyuki , Tanaka Naofumi ,   Tokyo Medical and Dental University, 1-5-45 Yushima, Bunkyo-ku, Tokyo 113-8519, Japan
Published: April 2016

In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the force estimation had a sensitivity of only 3 N because of inertia and friction effects. In this paper, we develop a new and improved model of the pneumatic surgical manipulator, IBIS IV. We evaluate its performance in terms of force estimation. The experimental results indicate that IBIS IV estimates external forces with a sensitivity of 1.0 N. We also conduct an in-vivo experiment and confirm the effectiveness and improvement of the manipulator.
A Study of Scanning the Ultrasound Probe on Body Surface and Construction of Visual Servo System Based on Echogram
Authors: Aoki Yusuke ,   Graduate School of Bio-Applications and Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8588, Japan, Kaneko Kenta , Sakai Taro , Masuda Kohji
Published: April 2016

We have developed a scanning method of the ultrasound probe on body surface to construct visual servo system based on acquired echogram by the standalone medical robot, which is developed in our laboratory to move the ultrasound probe on patient abdomen in three-dimension. The visual servo system detects local change of brightness in time series echogram, which is stabilized the position of the probe by conventional force servo system in the robot, to compensate not only periodical respiration motion but also body motion. Then we integrated control method of the visual servo with the force servo as a hybrid control in both of position and force. To confirm the feasibility of application, we experimented tracking the gallbladder in echogram by minimizing abdominal response variations.
Development of the Small Flow Rate Water Hydraulic Servo Valve
Authors: Watanabe Toshiya ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpakuku, Nagoyashi, Aichi 468-8502, Japan, Inayama Tomokazu , Oomichi Takeo
Published: April 2016

A small capacity servo valve was developed for a small size water hydraulic manipulator, focusing the saving energy. The new servo valve optimizes the machines small flow rate use, makes the stroke longer for wideband use, reduces leakage and makes control easier. The test and evaluation of the servo valve was conducted by examining flow rate characteristics, leakage characteristics and responsibility. The flow rate and leak rate of the servo valve shows to be the same as the oil hydraulic servo valve, while the step and frequency response show good controllability for the water hydraulic manipulator.
Development of a Robot Balanced on a Ball - First Report, Implementation of the Robot and Basic Control -
Authors: Kumagai Masaaki ,   Tohoku Gakuin University, Ochiai Takaya ,   Graduate school, Tohoku Gakuin University
Published: April 2016

This paper proposes the implementation and control scheme of a robot balanced on a ball. Unlike a twowheeled inverted pendulum, such as the Segway Human Transporter, an inverted pendulum using a ball moves in any direction without changing orientation, enabling isotropic movement and stabilization. The robot on the ball can be used in place of the twowheeled robots. Our robot has three omnidirectional wheels with stepping motors that drive the ball and two sets of rate gyroscopes and accelerometers as attitude sensors. It can keep station, traverse in any direction, and turn around its vertical axis. Inverted pendulum control is applied to two axes to maintain attitude. Ball acceleration is used as control input of the system, unlike most of inverted pendulums which use torque or force as input. This acceleration input makes the robot robust against change of inertia parameters, as confirmed by Nyquist diagrams. The mechanism of the robot, the control method, and the experimental results are described in this paper.
Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism
Authors: Hyodo Kazuyuki ,   Toyota Tech. Inst., 2-12-1 Hisakata, Nagoya, Aichi 468-8511, Japan, Mikami Sadayoshi , Suzuki Sho’ji ,   Future University-Hakodate, 116-2 Kamedanakano, Hakodate-City, Hokkaido 041-8655, Japan
Published: April 2016

This paper verified the stability of passive dynamic bipedal walking indoors and outdoors using a foot shape enhancing walking stability and implementing control constraint. Outdoor walking is difficult for walkers due to the unpredictable aspects of loose slopes, bumpy surfaces, and uneven friction on roads.
Pitch-Cluster-Map Based Daily Sound Recognition for Mobile Robot Audition
Authors: Sasaki Yoko ,   Digital Human Research Center, National Institute of Advanced Science and Technology, 2-3-26 Aomi, Kouto-ku, Tokyo 135-0064, Japan., Kaneyoshi Masahito , Kagami Satoshi , Mizoguchi Hiroshi , Enomoto Tadashi ,   Dept. of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan.,   The Kansai Electric Power Co. Inc., 3-11-20 Nakoji, Amagasaki, Hyogo 661-0974, Japan.
Published: April 2016

This paper presents a sound identification method for a mobile robot in home and office environments. We propose a short-term sound recognition method using Pitch-Cluster-Maps (PCMs) sound database (DB) based on a Vector Quantization approach. A binarized frequency spectrum is used to generate PCMs codebook, which describes a variety of sound sources, not only voice, from short-term sound input. PCMs sound identification requires several tens of milliseconds of sound input, and is suitable for mobile robot applications in which conditions are continuously and dynamically changing. We implemented this in mobile robot audition system using a 32-channel microphone array. Robot noise reduction and sound source tracking using our proposal are applied to robot audition system, and we evaluate daily sound recognition performance for separated sound sources from a moving robot.
Fault-Tolerant Multi-Robot Operational Strategy for Material Transport Systems Considering Maintenance Activity
Authors: Hoshino Satoshi ,   Chemical Resources Laboratory, Tokyo Institute of Technology, R1-19, 4259 Nagatsuta, Midori-ku, Yokohama, Kanagawa 226-8503, Japan, Seki Hiroya , Naka Yuji , Ota Jun ,   Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan
Published: April 2016

In automated robotic systems, a robot undergoing corrective maintenance (i.e., repair) or preventive maintenance (i.e., inspection) may become a disturbance of operations for other working robots. Therefore, maintenance of a robot has to be performed adequately. Multi-robot systems have the capability for the substitution and complement of such a robot. To introduce the multi-robot technology in industrial applications, we propose fault-tolerant multi-robot operational strategies for a material transport system focusing on the robot behavior. Working robots, while switching between normal and fault-tolerant operational strategies reactively according to the presence or absence of a robot undergoing maintenance, accomplish tasks. Through simulation experiments, the effectiveness of the proposed strategies is discussed. In addition, an integrated strategy for some failure rates of the robot is investigated. Finally, a maintenance activity for the robots is modeled on the basis of reliability engineering and the reasonability of preventive and corrective maintenance is discussed.
Automatic Counting Robot Development Supporting Qualitative Asbestos Analysis -Asbestos, Air Bubbles, and Particles Classification Using Machine Learning-
Authors: Ishizu Kenichi ,   Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Takemura Hiroshi , Kawabata Kuniaki , Asama Hajime , Mishima Taketoshi , Mizoguchi Hiroshi ,   Kawabata Intelligent System Research Unit, RIKEN,   RACE, The University of Tokyo,   Department of Information and Computer Science, Saitama University
Published: April 2016

Asbestos, particle, and air bubble counting generally supports qualitative asbestos analysis, using such procedures as dispersion staining. Operators conventionally check and count asbestos fibers visually using a microscope - a difficult, time-consuming process. The microscopic observation robot we are automating to support qualitative asbestos analysis images fibers and saves them automatically to a database. In this paper, we introduce image processing method using machine learning to count asbestos, particles, and air bubbles automatically.
Special Issue on Advances in System Cell Engineering by Multiscale Manipulation
Authors: Fukuda Toshio , Inoue Kenji , Maruo Shoji
Published: April 2016

Recent advances in micro- and nano-robotics and mechatronics have led to the discovery of new bioscientific knowledge and the development of new methods of medical treatments and examinations. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation” (Head Investigator: Toshio Fukuda), was begun in 2005 to promote interdisciplinary research among engineering, biological, and medical fields and to promote progress in these fields. System cell engineering seeks to understand communication and control principles of a single cell focusing on multiscale manipulation - manipulation ranging from nanoscale to macroscale. By controlling the local environment around a single cell, we actively induce chemical and physical interaction inside and outside the cell and measure changes. We then clarify the mechanism behind the cell system, realize an artificial cell model based on gene expression control, and regenerate tissue by function control. Using innovative engineering, we obtain new scientific knowledge on life sciences and develop medical engineering, ultimately contributing to the good of society. Scientific Research on Priority Areas, “System Cell Engineering by Multiscale Manipulation,” was successfully concluded in March 2010. This special issue presents the latest achievements in system cell engineering and multiscale manipulation, following up on the special issue on System Cell Engineering by Multiscale Manipulation in Journal of Robotics and Mechatronics Vol.19, No.5 (October 20, 2007). Two reviews introduce challengingwork in themedical and biological fields, presenting suggestions to robotics and mechatronics engineers. Three papers develop microfluidic devices and embedded sensors. Three more papers present methods of fabricating micropatterns and microstructures using biological cells. Five papers propose novel actuators, tools, devices, and manipulation systems useful in bioscience and cell engineering. The second to the last paper in the series presents a method for micro teleoperation. The final paper discusses the simulation of self-reproduction of cells. We thank the authors for their invaluable contributions to this issue and the reviewers for their precious time and effort. We also thank the Editorial Board of JRM for making this issue possible.
Development of Time-Programmed, Dual-Release System Using Multilayered Fiber Mesh Sheet by Sequential Electrospinning
Authors: Okuda Tatsuya ,   Division of Biomolecular Chemistry, Institute for Materials Chemistry and Engineering, Kyushu University, 744 Moto-oka, Nishi-ku, Fukuoka 819-0395, Japan, Kidoaki Satoru
Published: April 2016

In general clinical pharmacotherapy, multidrug therapy is performed with a view to enhancing drug efficacy or reducing drug’s side effects. It is essential that a Drug Delivery System (DDS) for plural drugs be developed to make multidrug therapy more functional and effective. In this review, we summarize prior DDS research and recent developmental efforts for multi-DDS, as well as of the electrospinning (ELSP) method, which has recently attracted great attention as preparation technique of fine polymer fiber in various fields. We also describe a time-programmed dual-drug controlled-release system using multilayered fiber mesh sheets that have been fabricated by a sequential ELSP method we developed. In addition, we address developmental approaches for DDS devices using micromachining technologies (MEMS) as well as issues and future expectations for robotics in DDS research.
Quantitative Evaluation of Injected Molecules into Phospholipid-Coated Microdroplets for In situ Biological Reactions
Authors: Nakajima Masahiro ,   Center For Micro-nano Mechatronics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Matsuno Yuta , Kojima Masaru , Takiguchi Yohko , Takiguchi Kingo , Nogawa Kousuke , Homma Michio , Fukuda Toshio ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Division of Biological Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8602, Japan
Published: April 2016

This paper presents a quantitative evaluation of the amount of biological molecules injected into phospholipid-coated microdroplets. Research on developing an artificial cell model using lipid membrane vesicles has been pursued to determine the function between biomembranes and biological molecules. The method is needed to introduce biological molecules into the biomembrane model and observe their reactions. Conventionally, molecules are introduced into vesicles by hydrating dried lipid films or freeze-dried lipid blocks with a solution already including biological molecules. It is difficult, however, to observe reaction in real time and step-by-step for different types of biological molecules, because the reaction has already started by the time vesicles are formed. Our proposal uses micro/nanopipettes based on micromanipulation. It is demonstrated that the injection of different types of biological molecules into a phospholipid-coated microdroplet. Biological molecules, such as F-actin, heavy meromyosin (HMM), and adenosine triphosphate (ATP), were introduced into a phospholipidcoated microdroplet in sequence, and these reactions were observed inside the microdroplet. The amount of molecules introduced into the microdroplet was evaluated quantitatively from the intensity of fluorescent labels through our microchannel calibration method.
Usability Evaluation of Variable-Scale Microteleoperation System
Authors: Kanno Takahiro ,   Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto 606-8501, Japan, Yokokohji Yasuyoshi ,   Graduate School of Engineering, Kobe University, 1-1 Rokkohdaicho, Nada-ku, Kobe 657-8501, Japan
Published: April 2016

The usability of variable-scale micromanipulation system we developed previously, which consists of manipulation and vision subsystems, is evaluated. Based on preliminary usability testing results, we introduced a modified user interface providing more intuitive operation and conducted usability testing of the system including the improved interface. Results showed that variable scaling is significantly more effective than fixed scaling - but only for subjects used to the system.
Shape Recognition of Metallic Landmark and its Application to Self-Position Estimation for Mobile Robot
Authors: Fujii Hajime ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan, Ando Yoshinobu , Yoshimi Takashi , Mizukawa Makoto
Published: April 2016

This paper proposes a method of improving selfposition estimation accuracy with metallic landmarks for mobile robots. Many methods of the past selfposition estimation researches have used GPS, laserrange scanners, and CCD cameras, but have been unable to obtain landmark information correctly due to environmental factors. Metallic landmarks are useful in environments where conventional sensors do not work well. Self-position estimation accuracy is thus increased by combining metallic landmark information with that from other equipment.
Self-Supervised Mapping for Road Shape Estimation Using Laser Remission in Urban Environments
Authors: Saitoh Teppei ,   Department of Mechanical Engineering, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki, Kanagawa 214-8571, Japan, Kuroda Yoji
Published: April 2016

This paper describes the novel road surface analysis estimating road shape using laser scanner reflectivity in structured outdoor environments. The proposed approach can estimate road shape where a robot can drive safely in complex scenes including structures, curbs or low vegetation and so on. Road shapes are estimated robustly by using information of remission value as reflectivity of a laser, which much less depends on brightness of color or ambient lighting than passive camera. Our proposal is applicable to structured outdoor environments using road surface remission value distributions with self-supervised learning. This article shows that the method is successfully verified with road shape estimation at both the testing course of the 2009 Real World Robot Challenge, which is known as “Tsukuba Challenge” including low vegetation and our university campus.
Driver Assistance Systems with Communication to Traffic Lights - Configuration of Assistance Systems by Receiving and Transmission and Field Experiments -
Authors: Kato Shin ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba-shi, Ibaraki 305-8568, Japan, Hashimoto Naohisa , Ogitsu Takeki , Tsugawa Sadayuki ,   Keio University, Japan,   Meijo University, 1-501 Shiogamaguchi, Tempaku, Nagoya 468-8502, Japan
Published: April 2016

We propose some driver assistance systems with communication to traffic lights. It proposes the driver assistance system that uses information from the traffic lights with the state of the signal and time of the cycle. The demand traffic lights systems are also proposed. In addition, a consideration of the configuration and the construction of the experiment systems, and some field experiments for driver assistance are described.
Active Catheters for Neuroradiology
Authors: Szewczyk Jérôme ,   Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie (Paris VI), France, Marchandise Emilie , Flaud Patrice , Royon Laurent , Blanc Raphaël ,   Institute of Mechanics, Materials and Civil Engineering, Université Catholique de Louvain (UCL), Belgium,   Laboratoire Matière et Systèmes Complexes CNRS, Université Paris Diderot, France,   Service de Radiologie, Fondation Rothschild Hospital, Paris, France
Published: April 2016

Surgeons performing endovascular interventions have high expectations with regard to the improvement of their operating tools and, more specifically, of their catheters. Active catheters, in which the tip moves actively using Shape Memory Alloy (SMA) actuators, constitute a promising approach. In this article, we review existing SMA-based active catheters present in the literature. We analyze their performances regarding the requirements imparted to neuroradiology. Then, we propose a new analytical model for predicting the thermo-mechanical behavior of steerable catheters actuated through SMA wires. Particularly, we give an expression for the maximal achievable bending angle of the catheter tip. These results are finally applied to the design of single-use small-diameter active catheters especially devoted to neuroradiology. In particular, we present a 3.3-Fr catheter suited for navigating into the Willis’ polygon and for accurate positioning into aneurysmal cavities.
Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M
Authors: Pebrianti Dwi ,   Department of Artificial System Science, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan, WeiWang  , Iwakura Daisuke , Song Yuze , Nonami Kenzo ,   College of Information and Control Engineering, Nanjing University of Information Science And Technology, 219 Ning Liu Road, Nanjing, Jiangsu 210044, China,   Department of Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
Published: April 2016

We have investigated the possibility of a Sliding Mode Controller (SMC) for autonomous hovering and waypoint of a quad-rotor Micro Aerial Vehicle (MAV) based on an on ground stereo vision system. The object tracking used here is running average background subtraction. Among the background subtraction algorithms for object tracking, running average is known to have the fastest processing speed and the lowest memory requirement. Stereo vision system is known to have a good performance in measuring the distance from camera to object without any information regarding the object geometry in advance. SMC is known to have advantage of insensitivity to the model errors, parametric uncertainties and other disturbances. The experiment on autonomous hovering and way-point by using running average method for object tracking and SMC for the flight control shows a reliable result.