bluuebunny/crossref_metadata_2025 huggingface dataset:
Collison Control of the Robot Manipulator by a Learning Control Using the Weighted Least-Squares Method
Authors: Wada Hiroshi ,   Toyoda Automatic Loom Works, Ltd., 2-1 Toyoda-machi, Kariya, Aichi 448, Lapan, Fukuda Toshio , Matsuura Hideo , Arai Fumihito , Watanabe Keigo , Shoji Yasumasa ,   Faculty of Engineering, Nagoya University, 1 Furo-cho, Chigusa-ku, Nagoya 464-01, Japan,   Faculty of Science and Engineering University, 1 Honjo-machi, Saga 840, Japan,   Toyo Engineering Corp., 2-8-1 Akanehama, Narashino, Chiba 275, Japan
Published: April 2016

Collision phenomena are very fast and nonlinear, thus, it is difficult to control a manipulator by collision phenomena. Therefore, in the past, manipulators moved slowly in order to avoid collision. However, the need for high-speed operation has been increasing, making it is indispensable to control manipulators by collision phenomena. With such fast phenomena, it is effective to use learning control in a forward manner. In this paper, we have proposed a learning control method to optimize the weighted least-squares criterion of learning errors. This method is applied in order to obtain a unique control gain by the Riccati equation which has a state dimension equal to the sampling number. It is shown that the convergence of learning error can be readily assured because the present learning rule consists of a steadystate Kalman filter. Based on this learning control method, experimental results of force control with a collision phenomena are reported.
Analysis of Hand-Arm Coordinate Motion on Constraint Tasks
Authors: Sugano Shigeki ,   Waseda University, School of Science and Engineering, 1-6-1 Nishi-waseda, Shinjuku-ku, Tokyo 160, Japan, Namimoto Hideyo , Kato Ichiro
Published: April 2016

This research was conducted to study the control strategy of manipulator based on clarifying the force control mechanism of the human hand-arm by analyzing human constraint tasks with respect to biomechanism. In this paper; we describe an investigation of hand-arm function share. In addition, we apply hand-arm coordination to manipulator control using experimental results of analyzing the human tasks of moving bead balls on a shaft, which is an example of a constraint task with one degree of freedom (d.o.f.). In the human motion analysis, 6 axes of force on the task object are measured and compared in the case of constraining the hands degree of freedom and making hand free as well as in the case of with or without forced displacement along the translational direction during motion. As a result, we found that human work was performed smoothly through absorption of rotational force using hand d.o.f. and translational force using arm d.o.f. Also, it was found that there are the direction of motion and the posture easily absorbable translational force. Finally, we propose to apply the human hand-arm coordination compliance control strategy setting translational compliance by arms and rotational compliance by hands, to manipulator with more than 7 degrees of freedom. Thus, the setting of optional compliance applicable to circumstance and the resulting force control due to this become possible.
Transient Characteristics of Model-Following Servo System
Authors: Yoshida Yasuo ,   System Control Division, Government Industrial Research Institute, Shikoku, AIST, MITI, 2-3-3 Hananomiya, Takamatsu, Kagawa 761, Japan, Tanaka Masato
Published: April 2016

The model-following servo controller is useful for the nonlinear robot arm. We analyzed unit step response of this controller and cleared transient characteristics in both cases of continuous and discrete time systems. We used linear quadratic optimal control law with integral action and a criterion function considering the square of control error and weighted controlling input. The overshoot is always 8.1% regardless of continuous time, discrete time and the weight for controlling input. A function of the weight and the sampling time determines the speed of responses.
Virtual Reality System Using Psychological and Physiological Data An Application to Sports Image Training System
Authors: Kamijo Ken’ichi ,   C&C Information Technology Research Laboratories, NEC Corporation, 1-1 Miyazaki 4-chome, Miyamae-ku, Kawasaki-shi, Kanagawa 216, Japan, Fukuzumi Shin’ichi , Yamazaki Toshimasa
Published: April 2016

The authors propose a new Virtual Reality (VR) system using psychological and physiological data which reflect users’ mental state and voluntary and involuntary reactions. The VR system consists of a psychological and physiological data measurement system, human information processing model units, and an intelligent feedback system. This VR system can provide users with a more comfortable environment in virtual space. As a case study, the authors have applied the system to Sports CAI, in particular a Sports Image Training System for skiing, and an experimental prototype system has been developed. The system consists of weight measurement devices, ski scene display, and data display. According to the movement of the skier displayed on the screen, trainees can control their weight positioning for skiing. The system gives some instructions for improving skiing on the basis of weight data. The new image training method was realized by displaying psychological and physiological data in a virtual environment and by feedback of the data through real time visual information.
Rotating Shape Modeling with SPIDAR
Authors: Sato Makoto ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku Yokohama 227, Japan, Numazaki Shun-ichi , Hirata Yukihiro , Kawarada Hiroshi
Published: April 2016

To develop a human interface for shape modeling of 3-dimensional (3D) objects, it is necessary to construct a “virtual workspace” where we can directly manipulate object models as in real space. We have proposed Space Interface Device for Artificial Reality (SPIDAR) for a virtual workspace. Using SPIDAR, we can operate in a virtual workspace with visual and force sensation. We have developed a rotating shape modeling system that simulates a turntable similar to that used for modeling clay. For real-time operation, we have considered object volume and have proposed an algorithm of high-speed and natural deformation model under the condition of constant volume.
Force Display for Presentation of Rigidity of Virtual Objects
Authors: Iwata Hiroo ,   University of Tsukuba, Institute of Engineering Mechaniscs, Tsukuba, Ibaraki 305, Japan, Nakagawa Takashi , Nakashima Takahiro
Published: April 2016

This paper describes the implementation of compact force display for finger tips which presents rigid or elastic body of virtual objects. The system uses the tension of a string as a force generator. Flexibility of a string enables non-restricted motion of a finger. The rigid body is generated by a crutch mechanism, and the elastic body is generated by winding a string by DC motor.
Special Issue on Self-Organization System
Authors: Fukuda Prof. Toshio , Wada Dr. Mitsuo
Published: April 2016

This special issue was planned a year ago by Prof. T. Fukuda and Dr. M. Wada to promote the research works in new robotics and mechatronics fields from the perspective of systems theory and engineering. There have been several leading works in Japan, most of which were published in Japanese. Thus this special issue is aimed at making these works available to the world. Self-organizing systems were once studied in late 1960s and early 1970s by many scientists, who were inspired by the research work, ""Cybernetics"" and ""Perceptron"" (later Neural Networks). However, because of the lack of computational capabilities, those works provided less useful theories and results, and they left obstacles for actual implementation. Today's computational power realizes a new dimension to solve those problems through the advanced technologies and to provide new system concept and architecture based on the ""distributed autonomy"". The ""massive parallel and massive distributed system"" concept, which is made possible by today's technologies, is one of the good examples from the perspective of the computer information, advanced communication, and software technologies. These concepts are creating great incentives to the ""New Self-Organizing System"" in the modern robotic and mechatronics technologies. In this issue, the authors first discuss the relationship between the multiple robot system and the human society from the perspective of the selfevolving system of robotics in the light of information science and sociology. Then, many applications will be described in which the self-organizing system is applied to the system coordination and cooperation of the multiple robot system from the perspectives of sensing, neuro-fuzzy control, system architecture, mobile robots, intelligent communication, multiple manipulator control, and microtechnologies. Because there are many potential application fields for these concepts, including the power supply network and plant control system, we expect that through this special issue there will be more active discussions concerning these topics around the world and that there will be more growing contributions to this field.
Development of Anthropomorphic Robot Arm (Mark-2)
Authors: Maeda Yuji ,   Robotics Department, Mechanical Engineering Laboratory, 1-2 Namiki, Tsukuba, lbaraki, 305 Japan
Published: April 2016

The development of a robot with comprehensive intelligence is being promoted as part of a national project entitled ""Research and Development of Advanced Robots Technology"". In particular, there is a demand for a high technology remote control robot for use nuclear power plants, undersea operations for ocean exploitation, and fire=fighting. In order to meet this demand, research is being directed towards the developing the technology for controlling a master unit to detect the hand and arm movements of the operator and a slave unit so that those movements can be duplicated according to command signals from the master. In this paper, we report on the development of a human arm and hand, a master arm which uses a potentiometer, and an anthropomorphic five-fingered slave robot arm (Mark-2) which has the form and functions of the human upper limb. In addition, we present its control equipment and an evaluation of its operation.
Kraft: An Autonomous Robot Manipulation System Based on Geometrical Modeling and Processing
Authors: Hirukawa Hirohisa ,   Electrotechnical Laboratory, 1-1-4, Umezono, Tsukuba, lbaraki 305, Japan, Inoue Yuuki , Yoshimura Toshihide , Kitamura Shinzo , Sakakibara Satoshi , Hitomi Makoto , Sumiya Kazutoshi ,   Information Processing Center, Kobe University, Rokkaido, Kobe, Hyogo 657, Japan,   Faculty of Engineering, Kobe University, Rokkaido, Kobe, Hyogo 657, Japan,   Nippondenso Co., Ltd., 1-1, Shouwa-machi, Kariya, Aichi 448, Japan,   Matsushita Electric Industrial Co., Ltd., 1006, Kadoma, Osaka 571, Japan
Published: April 2016

This paper describes an autonomous robot manipulation system based on geometrical modeling and processing. We call it Kraft (Kobe Robot Arm Free from Teaching). Kraft plans the manipulator motion by the following sequence. Firstly, the model of the working environment is obtained interactively by a range finder and the geometric model of it. Secondly, the motion is planned from the model by a collision avoidance algorithm and an automatic generation method of the grasping position. Thirdly, the planned motion is checked by an offline simulator using graphic animation and collision detection by numerical calculation. Finally, the obtained motion is executed by a manipulator with 7 d.o.f. The burden of the software implementation has been reduced, because Kraft has a solid modeler as its kernel. It is confirmed that Kraft could plan the ""pick up"" motion autonomously in the working environment with relatively simple obstacles, and that not the preciseness of the model of the working environment but the consistency of it is crucial for the following motion planning.
Multi-Sensor Integration System utilizing Fuzzy Inference and Neural Network
Authors: Shimojima Koji ,   Faculty of Mechanical Engineering of Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan, Fukuda Toshio , Arai Fumihito , Matsuura Hideo
Published: April 2016

Sensors are important for recognizing the system state environmental status in the intelligent robotic system. Thus, the sensor integration system (SIS) has been studied in a wide range of applications. In this paper, it is shown that the SIS can expand the measurable region of sensors with higher accuracy by multiple sensors and that operators can use the system as easily as a single high-performance sensor system. Systems which have been reported so far do not have flexibility for changing/replacing sensors. Thus, this paper presents an approach to the SIS with the knowledge data base of sensors, so the proposed SIS has the flexibility for changing/replacing sensors. This system consists of four subsystems: 1) sensors as hardware sensing devices, 2) knowledge data base of sensors (KBS), 3) fuzzy inference, and 4) neural network(NN). This system can estimate the error for the sensor’s measured value by fuzzy inference with KBS. The measured values are integrated by NN. The inferred error and measured value are put into NN. Then, NN’s output gives the integrated value of multiple sensors. The proposed system is shown to be effective through extensive experiments.
Study on a Two-Link Horizontal Bar Gymnastics Robot with Passive Joint (Motion Control Using Feedforward Control Based on Inverse Dynamics)
Authors: Kojima Hiroyuki ,   Gunma University, 1-5-1, Tenjin-cho, Kiryu, Gunma 376, Japan, Mitomo Hiroyuki , Wada Yuuki , Sakamoto Kenji ,   Pioneer, 1-4-1, Meguro, Tokyo 153, Japan,   Victor, 4-8-14, Nihonbashi-honcho, Chuo, Tokyo 103, Japan
Published: April 2016

This paper describes a motion control method of a twolink horizontal bar gymnastics robot with a passive joint by the use of a feedforward control based on inverse dynamics. A direct current servomotor is placed only at the second joint, and the first link is controlled by the coupling forces and the moments between the active and passive joints. The dynamic behavior of the robot is described by the use of a system with two equations of motion. In the design of the control system, the feedforward control angle of the first joint is first obtained by numerical simulation with the first equation of motion for a desired second joint angle. Then, the feedforward control torque of the servomotor is computed by applying inverse dynamics to the second equation, and the feedforward control voltage is obtained in consideration of the electric circuit of the servomotor. Furthermore, experimental results are given, and the effectiveness of the present motion control method is confirmed.
A Study of the Control of the Variable Structure-Type Locomotive Robot (4th Report, Postural Change and Locomotion by Jumping of the Control Arm/Leg-Type)
Authors: Hirabayashi Tomokazu ,   Seiko Epson Co., Ltd., 3-3-5, Daiei-cho, Okaya, Nagano 394, Japan, Yamafuji Kazuo ,   The University of Electro-Communications, 1-5-1, Choufugaoka, Choufu-shi, Tokyo 182, Japan
Published: April 2016

The variable structure type locomotive robot developed in this study can be any of three variations (models) by the selection of controlling arms, wheels, and legs, in addition to the body. This paper reports the postural change and jumping motion of a third model of the robot which is composed of a pair of controlling arms and a leg mounted on each end of the body. Because the model was constructed to simulate the human body, its motions bear quite a resemblance to those of a human. The main results obtained by this study are as follows: (1) Sittingdown and standing-up motions were achieved by using control methods proposed in this study; (2) Locomotion by jumping at the standing-up posture of the robot was attained; and (3) It was verified experimentally that the compound center of gravity feedback controls unstable postures of the robot such as jumping and standing on the tip of the leg.
Dynamic Walking Control of the One-Legged Robot with Controlling Rotor
Authors: Yamafuji Kazuo ,   Member of Electrical Communication University, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan, Takemura Yoshihito , Fujimoto Hiroshi ,   Japan Ject, 13-33, Kobushi-cho, Tokorozawa, Saitama 359, Japan
Published: April 2016

This paper deals with the newly developed 'O-jiro (Onelegged ,jigging robot)' which realizes stilts-walking. The impact of stepping by two legs disturbs the balance of the body, so this robot has a vertical arc-shaped plate for its leg. A single motor swings the leg cyclically, so the supporting point moves from side to side like steps of stilts-walking. At the same time, another motor drives a rotor mounted on the top of the body to turn the lifted leg toward the direction in which the body leans (forward or backward), so the O jiro can remain stable. He can thus realize stable stilts-walking, with a simple mechanism and only two actuators. As a results of experiments, it has been confirmed that he can remain stable standing and that this mechanism is useful as a locomotive robot.
Motion Control of the Parallel Bicycle Type Mobile Robot which is Composed of a Triple Inverted Pendulum (lst Report, Stability Control of Standing Upright, Ascending and Descending of Stairs)
Authors: Yasui Tsuyoshi ,   Fujikoshi Co., Ltd., 20, Ishigane, Toyama, Toyama 930, Japan, Yamafuji Kazuo ,   University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan
Published: April 2016

In the previous papers, we reported the motion control methods and experimental results on the parallel bicycle which is composed of a double inverted pendulum type body pivoted on the axis of parallel wheels and a pair of controlling arms suspended from the upper end of the body. The inverted pendulum type parallel bicycle can stabilize itself skillfully and move according to the servo reference by means of its controlling arms or the wheels. However, it cannot negotiate uneven paths such as stairs. For travels on uneven paths, we have developed a new type of parallel bicycle with an articulated joint connecting two divided body sections. This bicycle can change its configuration by folding its body, and can adapt itself to different environments or applications. Some control methods for the new vehicle and experimental results are described in detail in this paper.
Distinction of Glossy Colored Objects Using Gray Level
Authors: Yamaba Kazuo ,   Mechanical Engineering Labolatory, 1-2 Namiki, Tsukuba, Ibaraki 305, Japan, Miyake Yoichi ,   Faculty of Engineering, Chiba University, 1-33-Yayoi, Inage-ku, Chiba 260, Japan
Published: April 2016

A new measuring apparatus for color images has been developed in order to distinguish glossy colored objects under fluorescent lamp illumination. The color image apparatus is mainly composed of a zoom lens, a mirror box, MOS cameras, a microcomputer and a color image processor. The zoom lens can automatically blur an image by the microcomputer. It is a very effective method for obtaining a blurred image in detecting glossy colored objects. Gloss can be omitted by blurring an original image of objects. In the blurred image, it is known that tristimulus values are not affected by image restoration if the modified Wiener filter method is employed. The blurred image is restored by the filter and is processed by a new analogical method utilizing a fuzzy set theory based on a visual psychophysical method. As a result of this experiment, it can be concluded that the system demonstrates the possibility of highly accurate distinction of glossy colored objects.
An Automatic System for Identification of Human Faces Using Fiber Grating Vision Sensor
Authors: Terada Kenji ,   Keio University, 3-14-1, Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa 223, Japan, Yamaguchi Junichi , Nakajima Masato ,   Sogo Security Service Co., Ltd., 1-6-6 Motoakasaka, Minato-ku, Tokyo 107, Japan
Published: April 2016

In this paper, the authors describe an automatic system for the identification of human faces. In this system, the fiber grating vision sensor which has been developed by the authors is employed for the 3-D shape of the faces. To identify human faces, a multi-layered neural network is used in which the inputs are two component values of normal vector at data spot on the surface of human faces. The experiments using the developed system is performed to demonstrate the efficacy of this system and the experimental results are shown.
Topographic Structure of Alpha Wave Activity by Means of Principal Component Analysis
Authors: Tsuji Yoichi ,   Department of Electrical Engineering, Ashikaga Institute of Technology, Omae 268-1, Ashikaga, Tochigi 326, Japan, Takase Hidekazu , Nagasawa Kazuyuki , Itoi Misao
Published: April 2016

In order to find out the topographic structure in alpha wave activity, the principal component analysis method was applied to 17 channel scalp EEGs. Three kind of topographic structures were obtained from the factor loadings of principal components as follows: frontal-occipital, centoral or lateral activity. These structures may be related to the mechanism of alpha activity on the brain.
Optrode Type Oxygen Sensor
Authors: Toba Eiji ,   Faculty of Textile Science and Technology, Shinshu University, 5-15-1, Tokida, Ueda, Nagano 386, Japan, Ichikawa Masayo
Published: April 2016

This paper describes a fiber optic oxygen sensor using phosphorescence and its application to clinical examinations. Since the quenching ratio of phosphorescence is proportional to oxygen partial pressure by the SternVolmer's formula, it is possible to estimate the oxygen concentration from the measured emission intensity. Combining an optical bundle with a luminescent material: Ru(bpy)32+/Nafion membrane, we have fabricated a luminous probe. This probe was experimentally investigated and was observed as having the characteristics of an oxygen concentration sensor in visible light. The probes were demonstrated to have certain advantages for example they can be operated in both liquid and gas phases. Also, they are stable to pH and flow velocities. As a clinical application, the probe can reliably measure oxygen concentrations of whole blood in vivo.
Output of Cam Motion Curve by DC Servo Motor (2nd Report) -Residual Vibrating Characteristics of Motor Load-
Authors: Kanzaki Kazuo ,   Kanazawa Instritute of Technology, 7-1 Ohgigaoka, Nonoichi, Kanazawa-South, Ishikawa, 921 Japan, Kobayashi Nobuaki
Published: April 2016

In the previous paper, it was described that the same motion as the cam displacement curves can be obtained by applying the feedforward control method; in other words, the inverse to a DC motor driving system. In this paper, it is clarified that the velocity feedback for the motor driving system reduces the effect of the real motor parameter deviation from the setting values of the inverse, even if including the displacement feedback. Furthermore, the residual vibration characteristics of one degree of freedom vibration load connected to the motor axis compensated by the above-mentioned means are studied. The numerical and experimental results in the case of the basic motion curves as the parabolic and harmonic motion cam curves are similar to the mechanical cam behavior. In addition the availability of the inverse system method for the motor output is assured dynamically, and the possibility of the open control positioning by the motor is obtained.
Study on the Sheet Escape and Feeding Mechanism Using Ultrasonic Vibration (1st Report) - Design Concept and Its Experimental Investigation -
Authors: Okabe Sakiichi ,   Faculty of Technology, Kanazawa University, 2-40-20 Kotatsuno, Kanazawa, Ishikawa, 920 Japan, Kamiya Yoshitugu , Oda Takahiro ,   Oki Electric Industry Co., Ltd., 3-1 Futaba-cho, Takasaki-shi, Gunma, 370 Japan
Published: April 2016

This paper describes sheet feeding method and its design concept using the ultrasonic vibration actuator. The ultrasonic vibration is generated by two sets of piezoelectric actuators. It is an elliptic vibration mode, which rotates two vibration modes in the Y-Z and X-Y planes. This paper also presents a direct drive method using vibratory rotor and an indirect drive method using the idling rotor about sheet feeding mechanism, and it verifies theoretical relations between amplitude UZ1 and sheet feeding speed VH ,VH* and feeding force FH ,FH*. As a result of fundamental experiments, it was proved that a sheet, such as paper and telephone card, could be easily fed using either of their methods and a the highly reliable and compact sheet feeding mechanism could be obtained.
Development of Inspection System for IC Lead Frame Defects
Authors: Tsuji Hirokazu ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259, Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 227, Japan, Maruyama Kazuo
Published: April 2016

A visual inspection system for IC lead frame defects based on the image processing technique is developed, and its inspection algorithm for the practical use is discussed. The inspection system consists of an image input system using a microscope and a TV camera, an image processing system, and a lead frame carrier. The inspection algorithm to recognize defects consists of pattern matching and local feature extraction. In the pattern matching method, minimum recognition size of defects is limited to the positioning error of the lead frame; therefore, small defects are recognized by the local feature extraction method in which local irregular patterns are detected using logical filter.
Method for Detecting Moving Obstacles Using Passive 3D Visual Sensor
Authors: Takeno Jun'ichi ,   School of Science and Technology, Meiji University, 1-1-1 Higashimita, Tama-ku Kawasaki, Kanagawa 214, Japan, Mizuguchi Naoto , Nishiyama Sakae , Sorimachi Kanehiro ,   Production and Research Laboratory, Canon, 3-30-2 Shimomaruko, Ohta-ku, Tokyo 146, Japan
Published: April 2016

Of primary importance for mobile robots is their smooth movement to the targeted destination. To achieve this purpose, mobile robots must be able to detect a person in their environment, another mobile robot, or an object not described in the map and to avoid collision with it. Recognizing the strong need for providing robots with a visual system to evade obstacles, the authors first developed a real-time visual system to detect a moving obstacle and then studied the possibility of avoiding collisions by mounting the system on a mobile robot. The visual sensor used in this system is a passive optical stereo without any mechanical moving parts. Using a special slit patten, the sensor is configured in order to split the two images obtained by individual cameras place on the right and left and to project the split images onto one CCD sensor, providing approximately 200 auto-focusing subsystems. The sub-systems can operate independently of one another, enabling real-time processing. This paper reports on a visual sensor, a solution to the measurement accuracy problem concerning the detection of moving obstacles using the sensor, and visual system experiments on real-time detection of an actually moving object using the sensor.
Electrical Characteristics of Solid Lubricant Composites Dispersed in High-Purity Mineral Oils
Authors: Watanabe Yoshitada ,   Faculty of Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo, 163-91 Japan
Published: April 2016

Solid lubricants composites based by Graphite, Molybdenum Disulfide, etc. are used in the forms of sintered alloys, dry films, or liquid films being dispersed in oil at various sliding contacts. Few researchers have, however, presented the papers regarding the electrical behaviors of those composites by the incorporation of such solid lubricants. Described in this paper are the measurement results of electrical characteristics of the test samples in which Graphite and MoS² are dispersed in highly pure mineral oils, referring to JIS C-2101. All of the samples in which MoS² was dispersed in mineral oil indicated high electrical resistance to the level obtainable on the straight mineral oils, even changing the dosages of MoS² from 0.01wt.% to l.0wt.%. On the other hand, dielectric breakdown voltages of the samples in which Graphite was dispersed in mineral oil were remarkably decreased from 41.2kV down to 8.4kV along with the increase of the dosage of Graphite from 0.01wt.% up to l.0wt.% to indicate low electric conductivity.
Special Issue on Japanese-French Congress of Mechatronics
Authors: Kajitani Makoto ,   Professor, Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan
Published: April 2016

The lst Japanese-French Congress of Mechatronics was held at Besancon City in France from October 20 to 23, 1992. The congress was cosponsored by the Japan Society for Precision Engineering and 1'Institut des Microtechniques de Frenche-Comte. A total of 216 persons participated in the congress, 72 from Japan and 144 from France and other European countries. The total number of announced papers was 84, 49 from Japan and 35 from Europe. In addition, three special addresses were made each from Japan and Europe. The number of robotic addresses totalled 30, the largest number by field. Among these 30 addresses, 23 were made by Japanese participants. Studies in a wide range of mechatronics were also announced which were related to sensors and measurement system and machine vision. Besancon is the capital of Doubs and is an ancient city with a history of 2000 years. Doubs is bordered by Switzerland and has been active in the precision industry, such as watches, since old times. It is mostly industrialized and has been interested in mechatronics. Unique studies have been conducted by some research and educational institutes including Ecole Nationale Superieure de Mechanique et des Microtechniques. The congress received attention as being unique and attracted many participants for the following reasons: there was very little interaction between Japan and France in the field of precision engineering or mechatronics and the French industry, a specific existence in Europe, has recently taken a great interest in Japanese technology. The editorial committee of this periodical urged authors to contribute papers suitable for the periodical among those announced at the congress and contained their contributions in it. Technological interactions between Japan and Europe will become more important. In 1994, the 2nd Japanese-French Congress of Mechatronics (International) will be held at Takamatsu City in Japan. I hope that many researchers and engineers of mechatronics worldwide will join the congress and have discussions on mechatronics to stimulate its growth.
Drive of a Piezoelectric Cycloid Motor in a High Frequency Range
Authors: Hayashi Iwao ,   Faculty of Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan, Iwatsuki Nobuyuki , Fujimoto Koosuke ,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, 227 Japan,   Research Center of Production Technology, Canon Inc., 3-30-2 Shimo-maruko, Ohta-ku, Tokyo, 146 Japan
Published: April 2016

A piezoelectric cycloid motor was proposed by the authors, and their experiments revealed that the rotational principle was effective and that the motor kept its rotational speed constant up to its maximum output torque. However, the maximum torque was small, and the rotational accuracy was poor. In this report, the motor is driven in a high frequency range including the motor's resonance frequency to obtain improved characteristics. Because the driving amplitude of the stator is increased by resonance, the inertial effect of the stator is expected. As a result, the maximum output torque has been increased to six times, while the rotational accuracy has been much improved.
Free-Form Surface Modeler with Artificial Reality
Authors: Takahashi Hidetomo ,   Dept. of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan, Kanai Satoshi
Published: April 2016

The purpose of this study is to provide an intuitive and efficient interface system of the free-form surface modeler for the operator. To realize this, we apply Artificial Reality (AR) to the surface modeler. In this paper, we describe the special functions of the modeler: 1) the bilateral I/O device through which the position and orientation of the operator's hand and flexing angle of his fingers can be measured and reactionary force can be returned; 2) gesture analysis of the operator's hand, which enables him to generate the shape of curves and surfaces; and 3) the deformation of the shape of the curves and the surfaces based on the elastic deformable model with force feedback to the operator's hand through the bilateral I/O device.
Basic Design and Synchronized Motion Control for Hexapod Walking Machine
Authors: Inagaki Katsuhiko ,   Department of Electrical Engineering., Hosei University, 3-7-2 Kajino-cho, Koganei, Tokyo, 184 Japan, Kobayashi Hisato
Published: April 2016

This paper discusses a new mechanism and a new method of motion control for a multi-legged walking machine. The new mechanism provides high energy efficiency which is one of the most important points of walking machines. This problem is solved combining a gasoline engine and an electromagnetic clutch system. In addition, synchronized motion control is also proposed for this mechanism. This control is based on the notion of an autonomous distributed control. Thus, this system has sufficient flexibility and reliability.
Effect of the Motion in Horizontal Plane on the Stability of Biped Walking
Authors: Kodama Ryoji ,   Shizuoka Univeristy, 5-3 Johoku 3-chome, Hamamatsu, Shizuoka, 432 Japan, Nogai Toru , Suzuki Katsumi
Published: April 2016

The human act of walking consists of 3-dimensional motion in the sagittal plane, frontal plane, and horizontal plane. However, in a lot of walking robots investigated by many researchers, motions were only considered in the sagittal plane or in the sagittal and frontal planes. If robot walking is modeled to real human walking, then motion in the horizontal plane should also be considered in robot walking. In this paper, our purpose is to investigate the effect of motion in the horizontal plane on biped walking robot. The authors study the effect using an inverse pendulum model. Firstly, we explain horizontal motion in human walking and analyze the walking motion of a robot model. The results of computer simulation are also presented.
Learning Control System of Biped Locomotive Robot Using Neural Networks
Authors: Kurematsu Yasuo ,   Department of Information Processing Engineering, College of Industrial Technology, 1-27-1 Nishikoya, Amagasaki, Hyogo, 661 Japan, Murai Takashi , Maeda Takuji , Kitamura Shinzo ,   Department of Computer and Systems Engineering, Faculty of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo, 657 Japan
Published: April 2016

The authors are studying the autonomous walking trajectory generation of a biped locomotive robot using the system consisting of an inverted pendulum equation and neural networks. This paper uses the trajectory generation system to simulate and to verify how the robot reacts to a change in its initial posture or the initial weight coefficient of a multi-layered neural network or an addition of disturbances during walking. The simulation test showed that the initial posture of the robot mainly determined a success in walking as well as a gait and that some disturbances did not prevent the robot from walking.
Trajectory Generation of a Multi-Arm Robot Using Virtual Dynamics
Authors: Tsuji Toshio ,   Faculty of Engineering, Hiroshima University, Kagamiyama 1-4-1, Higashi hiroshima-shi, Hiroshima, 724 Japan
Published: April 2016

In this paper, with a view to realizing coordinated tasks by multiple manipulators, a method for generating in a decentralized manner the manipulators' space trajectories necessary for cooperative tasks through the cooperation and competition of subsystems corresponding to the manipulators. This method involves the supposition of virtual dynamics for the manipulators and an effort to carry out exchanges of information among these subsystems by means of virtual interactive forces among the manipulators generated by these virtual dynamics. Thus, the method can deal not only with simple cooperative tasks like the movement of a grasped object but also with more complicated cooperative tasks including relative motions among manipulators.
Character Trainer Aid for the Blind by Using Sensor Fusion
Authors: Ide Hideto ,   Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Uchida Masafumi , Terauchi Mina ,   The Polytechnic University, 4-1-1 Hashimoto-dai, Sagamihara, Kanagawa, 229 Japan
Published: April 2016

In this investigation, we studied the utility of electric or mechanical stimuli as visual substitutes. we used mechanical and electric stimuli to present characters and colors, respectively. For the reduction of learning time and the increase of recognition rate, we devised an apparatus which is connected to a microcomputer and can present Japanese sentences including Chinese characters, with a 10 × 10 array of 100 vibrators. Color recognition is achieved by using electric stimuli. Electric stimuli were given with two Ag-AgCI electrodes attached to the root of a middle finger. Along pulse (feeling warm) stands for red, a short pulse (feeling cold) stands for blue, and a sequence of 10 pulses per second (feeling like a twitter) stands for green. The current value was 200μA. In this investigation, we examined 25 subjects. The recognition rate was 100% for the three colors (red, blue and green).
Perception of Intermittently Eliminated Speech Waves (Auditory Sense Characteristics in Case of Having Eliminated the Voice Signals at a Specified Interval)
Authors: Shirataki Jun ,   Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi, Kanagawa, 243-02 Japan, Ishihara Manabu ,   Polytechnic University, 4-1-1, Hashimoto-dai, Sagamihara, Kanagawa, 229 Japan
Published: April 2016

The present paper discusses the auditory sense characteristics concerning how a human listens to voice signals when they have been eliminated at a specified interval. The authors first clarity the clarity of voice signals when they have been eliminated at a certain interval (called the eliminated voice signals), as well as clarity a sentence understanding degree. As a result, the authors detail the relationship between the elimination cycle of eliminated voice signals and the voice section (or block). Claring on the order of 60% can be obtained up to the voice section on the order of 60%. Furthermore, in the case of a sentence, more than 90% level comprehension can be obtained even if the voice section is at 50%. The authors consider that the basic data for studying the correspondence of a man's ears to the case for a machine to have ears can be obtained by clarifying these auditory sense characteristics.
Prediction Effect on Manual Control of an Unstable System
Authors: Masui Shigehiro ,   Hosei University, 3-7-2, Kajino-cho, Koganei-shi, Tokyo, 184 Japan, Terano Toshiro , Sugaya Yoshimasa ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan,   Shimizu Corp., 1-2-3, Shibaura, Minato-ku, Tokyo, 105-07 Japan
Published: April 2016

The study of human behavior in manual control systems is reevaluated in relation to fuzzy control. Human behavior in this problem means not only physical action but also thinking processes such as cognition, reasoning, optimization decision, and learning. The human performance of this kind is related to the interface. In this paper, we investigate experimentally the effects of an interface on the manual control of a double inverted pendulum. This system is suitable to the study of human behavior, because the stability is changed sensitively with the skills of the subjects and also with the quality of the interface. Besides the general performance of the interface, the effect of prediction is experimented in detail. Then we get some qualitative and quantitative results regarding the prediction interval, the gain constants of manipulation and display, and the prediction error. These results are well explained by a hypothesis of human skillfulness suggested in brain physiology, that is, an action-model is formed in cerebellum after practice and then human action becomes more accurate and quick because of feedforward action by this model.
Biomechanical Study of Peristalsis -Simulation of Peristalsis in Case of Fluid Contents-
Authors: Umetani Yoji ,   Faculty of Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan, Inou Norio
Published: April 2016

The peristalsis, commonly observed in animals'small intestines, serves as a skillful transport of the intraluminal contents. It is supposed that a neural control mechanism for peristalsis is immanent in the intestines, but the structure has not yet been made clear. Some studies on the peristaltic movement in view of biomechanics have been reported. However, they have given little attention to the fluid property of the actual intraluminal contents such as chyme. The authors carried out a study of the neural mechanism using a mechanical simulator which can handle actual fluid contents. The simulator was composed of a thin plastic tube corresponding to intestinal walls and 16 actuators spaced at the same short intervals on the tube. Each actuator contracts vertically and deforms the tube. The simulator was controlled by a microcomputer which performs neurodynamical simulation in real time while sensing fluid contents in the tube by mechanical sensors of the simulator. The neural mechanism for peristalsis was researched by performing simulation experiments. And finally, a neural network model was obtained which can transport various viscid fluids. The simulation also showed that this model has the function of modifying the movement according to fluidity of contents.
Bio-Mimetic Control Systems
Authors: Ito Koji ,   1) Department of Information and Computer Sciences, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi, 441 Japan 2) Bio-Mimetic Control Research Center, RIKEN, 3-8-31 Rokuban Atsuta-ku, Nagoya, Aichi, 456 Japan
Published: April 2016

Bio-mimetic control is intended to study the theoretical framework of autonomous decentralized control systems based on the nonlinear dynamical system theory. It is useful for understanding and designing the parallel-decentralized architecture and the self-organizing function which play an important part in the motor control systems. Based on these theories, research should also be directed toward the analysis of the spatiotemporal motor patterns of the locomotion and arm action as well as toward the application to the sensory-motor coordination and the cooperative control of multiple robots.
Architecture of a CAM-Based Collision Detection VLSI Processor for Intelligent Vehicles
Authors: Hariyama Masanori ,   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

Since careless driving causes a terrible traffic accident, it is an important subject for a vehicle to avoid collision autonomously. Real-time collision detection between a vehicle and an obstacle will be a key target for the nextgeneration car electronics system. In collision detection, high-computational power is essential not only in coordinate transformation but also in matching operation. In the proposed collision detection VLSI processor, the matching operation is sharply accelerated by using a content-addressable memory which evaluates the magnitude relationships between an input word and all the stored words in parallel. Parallel architecture using several identical processor elements (PEs) is employed to perform the coordinate transformation at high speeds, and each PE performs coordinate transformation at high speeds based on the Coordinate Rotation Digital Computation (CORDIC) algorithms. When the 16 PEs and 144-kb CAM are used, the performance is evaluated to be 6.48ms.
Development of a Digitally-Controlled Servo Amplifier for Robots
Authors: Shindo Yuji ,   Akashi Works, Kawasaki Heavy Industries, Ltd., 1-1 Kawasaki-cho, Akashi, Hyogo, 673 Japan, Wada Takao
Published: April 2016

Kawasaki Heavy Industries, Ltd. has developed a digitally-controlled servo amplifier for robot servo motors. The motor's armature current, position and velocity are controlled by the software in a digital signal processor. The servo is designed for high reliability, performance, flexibility and compactness. To achieve these objectives, we developed an ASIC which controls PWM signals for power transistors and encoder signals. The servo amplifier is currently used in the new Kawasaki AD series of robot controllers.
A General Method for Direct Kinematic Equation Computation of Closed Link Mechanisms
Authors: Sheng Zaiquan ,   Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu Tokyo, 182 Japan, Yamafuji Kazuo
Published: April 2016

This paper proposes a general and systematic computational scheme for the dynamic motion of closed link mechanisms. The scheme can also be extended to multiple closed kinematic mechanisms. The closed link mechanism is essentially, treated as if it were cut at one of joints. The closed link mechanism is then equivalent to an open tree structure mechanism with constraints at the cut joint: By applying d’Alembert’s principle, the dynamic motion for the equivalent open tree structure mechanism with constraints is established. Based on the constraints condition of the original closed link mechanism, we can obtain the constraint equations about the acceleration of the original closed link mechanism. Using these constraints, we derive a simple and general scheme for the dynamic motion computation of the original non-redundant and controllable closed link mechanism. The scheme avoids direct computation of Lagrangian multipliers; instead Lagrangian multipliers are treated as a part of the variables of the closed link mechanism. As shown by an example of a four-bar closed link mechanism in this paper, the scheme is simple and efficient.
Stability and Motion Control of a Unicycle (1st Report: Dynamics of a Human Riding Unicycle and Its Modeling by Link Mechanisms)
Authors: Sheng Zaiquan ,   Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182 Japan, Yamafuji Kazuo
Published: April 2016

In this paper, the dynamic characteristics of a human riding a unicycle are first analyzed by observation.: Based on observation and analysis, we discovered that the rider's body, thighs and shanks create two closed link loops; and this special mechanism plays an important role in the stability of the unicycle. We then developed a new model with two closed link mechanisms and one turntable to emulate a human riding a unicycle by a robot. Considering the nonholonomic constraint between the wheel and ground and applying recently developed general method to compute the multi-closed link mechanisms' dynamic motion, we obtained the dynamic equations of motion for this new model. Using these equations, simulation is conducted under the proposed control method. The simulation result indicates that both longitudinal and lateral stability of a human riding a unicycle can be satisfactorily emulated by the new model.