bluuebunny/crossref_metadata_2025 huggingface dataset:
Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Moving Robot
Authors: Kristou Mehrez ,   Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Ohya Akihisa , Yuta Shin’ichi
Published: April 2016

In this paper, we introduce an approach to identify and follow a target person for a service robot application. The robot is equipped with LRF and omnidirectional camera. Our approach is based on multisensor fusion in which a person is identified using the panoramic image and tracked using the Laser Range Finder (LRF). A target person selection is implemented to improve the identification when multiple candidates are detected. Our approach is successfully implemented on a mobile robot. A simplified target person following behavior is implemented to focus on the proposed method’s efficiency. Several experiments are conducted and showed the effectiveness of our approach to identify and follow human in indoor environments.
Fluid Powered Ropeway: Self-Propelled Probe Sliding Along Flexible Tube
Authors: Mori Yotaro ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan, Tsukagoshi Hideyuki , Kitagawa Ato
Published: April 2016

This paper proposes a new method of locomotion called the “fluid powered ropeway.” It aims to collect information in dangerous buildings as rapidly and safely as possible. The device is mainly composed of a flexible flat tube and a gondola probe that is driven by fluid power using the buckling phenomenon of the tube. The big advantage is the gondola has the potential to traverse rocky terrains that wheeled and crawler-type vehicles have difficulty crossing over. This is because the drive force of the gondola is not against the ground but against the tube. In this paper, first, how to operate fluid powered ropeway in a disaster site is illustrated. Next, how to increase the drive force, how to enhance the ability of the gondola to travel over obstacles, and an analysis of the performance are discussed. Finally, the feasibility of the proposed method is verified through an experiment that uses the prototype developed.
Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot
Authors: Nozawa Shunichi ,   Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Ueda Ryohei , Kakiuchi Yohei , Okada Kei , Inaba Masayuki
Published: April 2016

The novel method we propose involves a humanoid robot manipulating objects of varying size and weight. How an object is manipulated is generally determined by size and weight. The motion generation system we developed 1) utilizes manipulation strategies defined by which contact points on the robot are to be used, 2) selects the adequate manipulation strategy based on the object, and 3) generates a full-body posture sequence for the humanoid robot with controlled reaction forces and full-body balance using the manipulation strategy as an initial condition. Our system enables the robot to manipulate an object of weight thanks to multiple strategies. Our method’s effectiveness is confirmed in experiments in which a humanoid robot manipulates six different types of objects.
A Study of Leg-Type Landing Gear for Aerial Vehicles - Development of One Leg Model -
Authors: Miyata Kazunori ,   Kanazawa Institute of Technology, 7-1 Ougigaoka, Nonoiti-mathi, Ishikawa-gun, Ishikawa 921-8501, Japan, Sasagawa Takamasa , Doi Takahiro , Tadakuma Kenjiro ,   Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan
Published: April 2016

The novel aerial landing gear we propose has multiple articulated legs requiring no flat facilities such as landing fields. Smooth landing in rough terrain is enabled by multiple articulated legs changing shape and mechanical impedance as needed. For soft landings, it decreases velocity from fast to slow. Mechanical leg design is discussed and soft landing performance demonstrated.
Rapid Short-Time Path Planning for Phase Space
Authors: Kim Chyon Hae ,   Honda Research Institute Japan Co., Ltd., 8-1 Honcho, Wako-shi, Saitama 351-0188, Japan, Tsujino Hiroshi , Sugano Shigeki ,   Department of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

This paper addresses optimal motion for general machines. Approximation for optimal motion requires a global path planning algorithm that precisely calculates the whole dynamics of a machine in a brief calculation. We propose a path planning algorithm that consists of path searching and pruning algorithms. The pruning algorithmis based on our analysis of state resemblance in general phase space. To confirm precision, calculation cost, optimality and applicability of the proposed algorithm, we conducted several shortest time path planning experiments for the dynamic models of double inverted pendulums. Precision to reach the goal states of the pendulums was better than other algorithms. Calculation cost was 58 times faster at least. We could tune optimality of proposed algorithm via resolution parameters. A positive correlation between optimality and resolutions was confirmed. Applicability was confirmed in a torque based position and velocity feedback control simulation. As a result of this simulation, the double inverted pendulums tracked planned motion under noise while keeping within torque limitations.
Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors
Authors: Mukai Toshiharu ,   RIKEN RTC, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan, Hirano Shinya , Nakashima Hiromichi , Sakaida Yuki , Guo Shijie ,   SR Laboratory, Tokai Rubber Industries, 1 Higashi 3-chome, Komaki, Aichi 485-8550, Japan
Published: April 2016

In aging societies, there is a strong demand for robotics to tackle with problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. To this end, we have developed a new prototype robot named RIBA having human-type arms with tactile sensors. RIBA succeeded in transferring a human from a bed to a wheelchair and back. The tactile sensors play important roles in sensor feedback and detection of instructions from the operator. In this paper, after outlining the concept and specifications of RIBA, we will explain the tactile information processing, its application to tactile feedback and instruction detection, and safety measures to realize patient transfer. The results of patient transfer experiments are also reported.
Temperature Dependence of the Lifetime of a Droplet on a Liquid Surface
Authors: Nakai Tonau ,   Department of Mechanical and Aerospace Engineering, Graduate School of Engineering, Tottori University, 4-101 Koyama-minami, Tottori 680-8552, Japan, Ueno Takahiro , Kanzawa Kenji , Goto Tomonobu
Published: April 2016

When a liquid is dropped onto a surface of the same liquid, the droplet often remains floating on the surface for a while because of the thin air film between the droplet and the surface. We find that the time during which this phenomenon is sustained depends on the temperature of the droplet and surface. In our experiment using silicone oil at a temperature range of 20-150°C, the lifetime of a droplet was found to be longer when the temperature difference between the droplet and surface was larger at the moment of the droplet’s landing. The lifetime was longer for a cold droplet on a hot surface than the opposite case, with the same temperature difference. Time-series measurements of the temperature of the floating droplet revealed that it coalesces with the liquid surface at a certain threshold temperature difference. These results indicate that the lifetime of a droplet is determined by the time it takes the temperature difference to decrease to the threshold.
Development of the Energy Simulator for the Water Hydraulic System Under Flow Condition Changes
Authors: Ashizawa Satoshi ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya-shi, Aichi 468-8502, Japan, Watanabe Toshiya , Kamiya Yuki , Aoki Hidenori , Oomichi Takeo
Published: April 2016

The new energy simulator we developed is based on a hydraulic servosystem dynamic flow model introducing flow coefficients determined by Reynolds number. One is the pipe flow coefficient flow determined by the Moody diagram and the other is the servovalve flow coefficient based on flow model experiments. The motor dynamic model is introduced to determine efficiency such as coil resistance or rotor viscosity loss. Leakage of the hydraulic servovalve was also determined by the leak model. The feasibility of the proposed simulator was verified using computer simulation and experiments, showing differences from conventional simulators that depend on manually set parameters such as flow coefficients. Simulation and experiment results agreed well, and the proposed simulator determines hydraulic servosystem energy consumption. New simulator concepts, calculation models, and experiment results are also discussed.
Special Issue on Ambient Intelligence
Authors: Niitsuma Mihoko , Tanikawa Tamio
Published: April 2016

With research on human-assist robot systems increasingly using distributed sensors and actuators, robots are expected to provide appropriate real-time real-life support to users. Ambient intelligence, an approach important in realizing human-robot coexistence, helps robot devices adapt and act in real environments, since ambient intelligence is a technology basic to providing such abilities. Flexible, reliable system integration based on environment size and purpose is important in realizing ambient intelligence. The 8 papers in this special issue, all of which explore cutting-edge research, present the latest in ambient intelligence and its applications. The first three papers propose real-world observation in ambient intelligence. One example of major research topics in observation functions is the localization of human beings and objects, including mobile robots. Object recognition also is an important issue in supporting human beings. Papers 4 and 5 cover observation system design issues, including optimizing sensor arrangements to classify activities and for flexibly and efficiently integrating multiple distributed sensors. The last three papers discuss ways to automatically build ontology to help robots understand user intent, frameworks for flexibly and scalably integrating distributed robot technology elements, and strategy and mechanism design methodology for robot systems transferring and storing objects in home environments. We thank the authors for their invaluable contributions in submitting their latest research results to this issue. We are grateful to the reviewers for their precious time and effort. We also thank the Editorial Board members of the Journal of Robotics and Mechatronics for helping make this issue possible.
Range Estimation Technique Using Received Signal Strength Indication on Low Frequency Waves
Authors: Ohara Kenichi ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Abe Yuji , Takubo Tomohito , Mae Yasushi , Tanikawa Tamio , Arai Tatsuo ,   National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
Published: April 2016

Recently, with the downsizing of computers and the development of wireless communication advances, sensor networks are being widely studied. However, it is necessary to know the location of each node, in order to apply sensor data. Many researchers have tried to find a good approach to position estimation in indoor environment. In our study, we focus on position estimation by using Received Signal Strength Indication (RSSI). It has the advantage of implementation with limited resources in the sensor network. However, since RSSI value is affected by multipath and obstacles, position estimation may yield considerable errors. In our research, we propose a range estimation technique with RSSI on Low Frequency (LF) waves. Since RSSI value on LF waves is less affected by multipath and obstacles compared with RSSI on Ultra High Frequency (UHF) waves used for a communication, position estimation with high accuracy can be calculated using this method. We show an RSSI measurement sensor which measures the RSSI on LF waves and a transmitter which sends radio waves on the 125 kHz band. Results of experiments using our developed modules and a ZigBee module demonstrated the robustness of RSSI on LF waves against multipath and obstacles compared with UHF waves. In this paper, a range estimation experiment was performed by applying the proposed modules and range estimation accuracy was evaluated through experiments.
Automatic Building Robot Technology Ontology Based on Basic-Level Knowledge
Authors: Ngo Trung Lam ,   Graduate School of Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan, Lee Haeyeon , Mizukawa Makoto ,   Division of Partner Robot, Toyota Motor Corporation, 4-18 Koraku 1-chome, Bunkyo-ku, Tokyo 112-8701, Japan
Published: April 2016

When robot comes to our daily life, sharing knowledge is a key factor to realize the symbiosis between human and robot. In previous research, Robot Technology (RT) ontology was proposed as a knowledge base to help robot understands human’s intention in daily activities. However, the method to build that ontology was not discussed. This paper presents our approach to build RT ontology based on basic-level knowledge. We proposed a new structure for RT ontology with Where, What, and How layers based on 4W1H. As for input data, we used educational books and MIT’s ConceptNet. Our method is able to build RT ontology automatically by extracting objects and human activities from these data sources. We also implemented a weighting mechanism for the new ontology. Result shows that our method achieved better accuracy than conventional approach using Internet data.
Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)
Authors: Fukui Rui ,   Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan, Mori Taketoshi , Sato Tomomasa
Published: April 2016

This research describes the strategy and mechanism design methodology to realize a robot system that transfers and stores daily use objects in our living space. Unlike industrial applications, there are three specific problems in the home application: (1) variation of living environment, (2) diversity of daily use objects, (3) dispersion of human activity. First, we presented a concept of strategic compliance as a basic solution for these problems and extracted three fundamental functions (regulation, assist/enforce, and navigation) for the strategy. Second, we aimed to realize a robust robot motion by introducing adequate mechanisms which are suitable for the strategy. The mechanisms are; (1) passive mechanical compliance and (2) object constraint methodology with “caging.” As an actual prototype system, a home-use logistical support robot system implemented with those strategies and mechanisms is constructed. By experiments, validity of the presented methodology was confirmed. In addition to the domestic logistical application, we considered applying the proposed system to the elderly people support, and developed prototypes of supporting instruments; lavatory and refrigerator containers. The basic design of the instruments is also introduced.
Development of Mechatronics Teaching Materials for Embedded System Engineer Education
Authors: Hyodo Kazuhito ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Noborisaka Hirokazu , Yada Takashi ,   Kondo Kagaku Co., Ltd., 4-17-7 Higashi-Nippori, Arakawa-ku, Tokyo 116-0014, Japan,   Zuco CO., LTD.
Published: April 2016

We have developed a learning environment for embedded system design. The learning environment consists of a multi-purpose controller and terminal devices. The controller consists of main processor (arm) and a multi-core microprocessor (Propeller). The main processor provides the software development environment. The Propeller chip has eight 32-bit processors and can perform simultaneous tasks for multiple users. In addition, the Propeller chip provides a reconfigurable peripheral module. This feature is very useful for the development of educational materials. Teachers can develop various educational materials with this control module.
Practical Education Curriculum for Autonomous Mobile Robot (Project Learning Program for School Based on Subsumption Architecture)
Authors: Kawazoe Yoshihiko ,   Graduate School of Engineering, Saitama Institute of Technology, 1690 Fukaya, Saitama 369-0293, Japan, Mitsuoka Masaki , Masada Sho
Published: April 2016

There are presently no robots around us in our society if we define a robot as an autonomous machine working in the arena of offices, homes, disaster sites, etc., not in factories. Mechatronics, dynamics, and robotics involving humans are a world of strong nonlinearity. This paper investigates the approach to the emergence of the target behavior of an autonomous mobile robot by learning with Subsumption Architecture (SA) to break through the problems of the conventional robotics with the SMPA (Sense-Model-Plan-Act) framework in the real world. It has showed the way things are learned in the real world with SA and has been developed into a practical curriculum for education as an introduction to robotics that has an intellectual and emotional appeal.
An Integrated Hands-on Training Program for Education on Mechatronics
Authors: Iribe Masatsugu ,   Osaka Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka 572-8530, Japan, Tanaka Hiroaki
Published: April 2016

Recently the difficulties arising from changes of our lifestyle and the curtailment of school hours in primary and secondary education constrict university students learning mechatronics engineering. For the purpose of improving such a serious situation, we propose a new type of hands-on training program for mechatronics education. The program consists of two parts; one is to develop the physical sense of mechanical hardware design and the problem solving ability, the other is to develop the creativity and the sense of system integration. In this paper we report the results of the program to freshmen, and verified the effectiveness by a questionnaire survey on the students.
Laboratory Experiment on Control Engineering Using Inverted Pendulum and a 32-Bit DSP CPU
Authors: Yokosawa Kazuhiko ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Ikeda Keisuke , Tomiyama Ken
Published: April 2016

The major objective of the control engineering laboratory course teaching materials we have improved is to enable students to experience control theory effectively by stabilizing an inverted pendulum on a cart. Having used questionnaires and experiments to identify course weaknesses we tested our modifications to teaching materials in mock classes. We found that although students liked the new teaching materials, they could not, in practice, stabilize their pendulums. Considering all constraints, we implemented new hardware specifications for shorter pendulums. This enabled students to stabilize their pendulums and, in doing so, proved the effectiveness of the developed materials.
Improvement of Introductory Engineering Education of Mechatronics Based on Outcomes Evaluation by Defining Rubric– Continuous PDCA Cycle Achievement with Reducing Teaching Assistants’Work Load –
Authors: Morijiri Shin’ya ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan, Ando Yoshinobu , Yoshimi Takashi , Mizukawa Makoto
Published: April 2016

We have developed amechatronics education program using line tracing robots controlled by microcomputers. Each studentmakes a robot, including essential elements of the robot system. Through this curriculum, students acquire knowledge, skills, and techniques of mechatronics systems through actual experience. We have also developed a system to aid the work of Teaching Assistants (TAs). We have evaluated and improved the work of TAs’.
Obstacle Location Classification and Self-Localization by Using a Mobile Omnidirectional Camera Based on Tracked Floor Boundary Points and Tracked Scale-Rotation Invariant Feature Points
Authors: Tasaki Tsuyoshi ,   Toshiba Research & Development Center, Toshiba Corporation, 1 Komukai-Toshiba-cho, Saiwai-ku, Kawasaki 212-8582, Japan, Tokura Seiji , Sonoura Takafumi , Ozaki Fumio , Matsuhira Nobuto
Published: April 2016

For a mobile robot self-localization and knowledge of the location of all obstacles around it is essential. Moreover, classification of the obstacles as stable or unstable and fast self-localization using a single sensor such as an omnidirectional camera are also important to achieve smooth movements and to reduce the cost of the robot. However, there are few studies on locating and classifying all obstacles around the robot and localizing its self-position fast during its motion by using only one omnidirectional camera. In order to locate obstacles and localize the robot, we have developed a new method that uses two kinds of points that can be detected and tracked fast even in omnidirectional images. In the obstacle location and classification process, we use floor boundary points where the distance from the robot can be measured using an omnidirectional camera. By tracking those points, we can classify obstacles by comparing the movement of each tracked point with odometry data. Our method changes a threshold to detect the points based on the result of this comparison in order to enhance classification. In the self-localization process, we use tracked scale and rotation invariant feature points as new landmarks that are detected for a long time by using both a fast tracking method and a slow Speed Up Robust Features (SURF) method. Once landmarks are detected, they can be tracked fast. Therefore, we can achieve fast self-localization. The classification ratio of our method is 85.0%, which is four times higher than that of a previous method. Our robot can localize 2.9 times faster and 4.2 times more accurately by using our method, in comparison to the use of the SURF method alone.
Image-Searching for Office Equipment Using Bag-of-Keypoints and AdaBoost
Authors: Aoyagi Seiji ,   Faculty of Engineering, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan, Kohama Atsushi , Inaura Yuki , Suzuki Masato , Takahashi Tomokazu
Published: April 2016

For an indoor mobile robot’s Simultaneous Localization And Mapping (SLAM), a method of processing only one monocular image (640×480 pixel) of the environment is proposed. This method imitates a human’s ability to grasp at a glance the overall situation of a room, i.e., its layout and any objects or obstacles in it. Specific object recognition of a desk through the use of several camera angles is dealt with as one example. The proposed method has the following steps. 1) The bag-of-keypoints method is applied to the image to detect the existence of the object in the input image. 2) If the existence of the object is verified, the angle of the object is further detected using the bag-ofkeypoints method. 3) The candidates for the projection from template image to input image are obtained using Scale Invariant Feature Transform (SIFT) or edge information. Whether or not the projected area correctly corresponds to the object is checked using the AdaBoost classifier, based on various image features such as Haar-like features. Through these steps, the desk is eventually extractedwith angle information if it exists in the image.
Stability Control of a Three-Dimensional Passive Walker by Periodic Input Based on the Frequency Entrainment
Authors: Suzuki Soichiro ,   Department of Mechanical Engineering, Kitami Institute of Technology, 165 Koencho, Kitami, Hokkaido 090-8507, Japan, Takada Masamichi , Iwakura Yuta ,   Graduate School of Mechanical System Engineering, Kitami Institute of Technology, 165 Koencho, Kitami, Hokkaido 090-8507, Japan
Published: April 2016

This study proposes a new control that stabilizes a three-dimensional (3D) passive walker without torque input at knees and ankles joints by using entrainment and a mechanical oscillator. It is difficult to stabilize a 3D biped passive walker in different environments because the range of initial conditions for stable walking is limited, so we designed a 3D biped passive walker as a passive walking platform by considering the results of human gait analysis to make the success of passive walking high. The stability of this platform was analytically determined by analyzing the frontal movement limit cycle. In the new control, the frontalmovement period is synchronized with the swing-leg period by a mechanical oscillator on the top of the walker. The mechanical oscillator controller generates a target path to synchronize oscillatormovement with swing-leg movement using frequency entrainment. The walker is stabilized when the frontal movement period was synchronized with the swing-leg period by periodic input generated by the mechanical oscillator. It was experimentally found consequently that the walker was stabilized on different slopes and flat floors.
Self-Supervised Online Long-Range Road Estimation in Complicated Urban Environments
Authors: Kuroda Yoji ,   Department of Mechanical Engineering, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki, Kanagawa 214-8571, Japan, Suzuki Masataka , Saitoh Teppei , Terada Eisuke
Published: April 2016

In this paper, we propose a long-range road estimation method for autonomousmobile robots in unstructured urban environments. Near-range road surface conditions are estimated by using remission value as reflectivity of a laser scanner. Graph cut algorithm is applied to estimate road region robustly also in complicated environments. Moreover, we propose a novel image segmentation method to estimate long-range road surface. A compact texture/color feature is integrated with level-set method to estimate precise road boundaries robustly. Our proposed image segmentation approach gives better performance compared with standard classification approach. Finally, we run our autonomous mobile robot in “Tsukuba Challenge 2009” and our university campus, and experimental results have shown a marked increase accuracy in road estimation over standard methods.
Optical Odor Imaging by Fluorescence Probes
Authors: Matsuo Hirotaka ,   Department of Electronics, Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan, Furusawa Yudai , Imanishi Masashi , Uchida Seiichi , Hayashi Kenshi ,   Graduate School of Systems Life Science, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan,   Department of Advanced Information Technology, Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
Published: April 2016

Odor gas detection is important for the detection of explosives, environmental sensing, biometrics, foodstuffs and a comfortable life. Such odor-source localizations is an active research area for robotics. In this study, we tried to detect odor chemicals with an optical method that can be applied for the spatiotemporal detection of odor. We used four types of fluorescence dyes; tryptophan, quinine sulfate, acridine orange, and 1-anilinonaphthalene-8-sulfonate (ANS). As analyses, we measured the following four odor chemicals, 2-furaldehyde, vanillin, acetophenone, and benzaldehyde. The fluorescence-quenching mechanism of PET (Photoinduced Electron Transfer) or FRET (Fluorescence Resonance Electron Transfer), which occur between fluorescence dyes and odor compounds, could prevent unintended detection of various odorants that is caused by their unspecific adsorption onto the detecting materials. The fluorescence changes were then observed. Thus, we could detect the odor substances through fluorescent quenching by using the fluorescence dyes. Odor information could be obtained by response patterns across all the fluorescence dyes. Moreover, we captured odor images with a cooled CCD camera. Shapes of the targets that emitted odor could be roughly recognized by the odor-shape images. From the spatiotemporal images of odors, twodimensional odor expanse could be obtained.
Data Communication Support for Reusability of RT-Components – Converter Classification and Prototype Supporting Tool –
Authors: Suenaga Tsuyoshi ,   Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara 630-0192, Japan, Takemura Kentaro , Takamatsu Jun , Ogasawara Tsukasa
Published: April 2016

In RT-Middleware, a data-centric communication pipeline between RT-Components called Data Port is designed for improving software reusability. OMG standardization such as the Robotic Localization Service is also promoted. However, the actual I/O specification is different in each developer. In this paper, we first enumerate all connection patterns of possible communication by adjusting protocols. We then propose a supporting tool for flexible data communication. The proposed tool generates source code based on information on the desired conversion. We actually implement the prototype tool of the automatic source code generator and evaluate it.
Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane
Authors: Kamikawa Kenji ,   Hitachizosen Corporation, 2-2-11 Funamachi, Taisho-ku, Osaka 551-0022, Japan, Takubo Tomohito , Mae Yasushi , Inoue Kenji , Arai Tatsuo ,   Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan,   Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan
Published: April 2016

This paper proposes a simple gait algorithm for multilegged robots on slopes or rough terrain. This algorithm enables a robot follow a virtual plane defined by grounding points of the legs. The robot does not recognize the surrounding rough terrain. This proposed algorithm has been applied to an actual robot and proven. The robot has a touch sensor on the tip of each leg. The sensors detect contact with the ground, allowing the leg to be planted stably. When the robot moves over rough terrain, the robot body inclines as if becoming parallel to the virtual plane that is defined by the support points of the legs. The ASTERISK robot to which the algorithm has been applied has six limbs that radiate out in six directions, giving it rotational symmetry. Each leg of the robot has a cylindrical working space; the robot can move omnidirectionally without changing its posture. The movement algorithm is an easy, single-pattern operation that maintains a stable state at all times, and the robot can move without high-speed, real-time processing. The operation and effectiveness of this algorithm are verified on a slope and on steps through the experiment.
Specification and Implementation of Open Source Software Suite for Realizing Communication Intelligence
Authors: Matsusaka Yosuke ,   National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-0045, Japan, Asoh Hideki , Hara Isao , Asano Futoshi
Published: April 2016

We are presently developing a set of software called the Open Source Software Suite for Human Robot Interaction (OpenHRI). The OpenHRI has the following features: It is implemented on RT-Component, an Object Management Group (OMG) compliant robot technology component specification that can be easily integrated into any robot system. It can perform various functions, from audio signal processing to dialog management, in a uniform and reconfigurable manner. It not only implements each required function of components but also defines a meta-level specification to enable the developer to verify whether the structural design of components is correct. In this paper, we introduce the implementation of the OpenHRI, present the architectural design of the system, and provide examples of applications.
Moving Mechanism of and Control Method for a Vibration-Driven Electromagnet-Type Microrobot (Mathematical Model of Microrobot Running Straight, Investigations of Characteristics of Microrobot Running Straight and Turning by Simulation and Experiments)
Authors: Isogai Masahiro ,   Aichi University of Technology, 50-2 Manori, Nishihazamacho, Gamagori, Aichi 443-0047, Japan, Fukuda Toshio ,   Nagoya University, Furocho, Chikusaku, Nagoya 464-8603, Japan
Published: April 2016

Large numbers of studies have focused on microrobots and numerous contests are held annually to develop microrobot technologies. These activities have resulted in that various types of microrobots have been proposed. They include motor, piezoelectric-element, and electromagnet microrobots. We consider a mechanism of movement and a method of control for an electro-magnet microrobot that both runs in a straight line and turns using a single electromagnet coil by adjusting the direction of the robot’s permanent magnets and the input voltage applied to the electromagnet coil. The microrobot’s straight running forward is modeled mathematically and its motion features are studied on horizontal and inclined planes through simulation and some experiments. In addition, turning characteristics is studied using an experiment.
A Power Assist Device Based on Joint Equilibrium Point Estimation from EMG Signals
Authors: Kawase Toshihiro ,   Tokyo Institute of Technology, R2-15, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan, Kambara Hiroyuki , Koike Yasuharu ,   JST CREST, 4-1-8 Honmachi, Kawaguchi-shi 332-0012, Japan
Published: April 2016

In some researches about power assist devices, surface ElectroMyoGraphy (EMG) signals are used to estimate user intentions to move their limbs. These conventional methods mainly focus on estimation of joint torque. However, the devices based on torque estimation are inclined to cause the vibration of users’ posture originating from the waviness of the EMG signals. Focusing on estimation of states related to the joint angle may improve the performance of the power assist devices. This paper proposes a new method that estimates user joint equilibrium point and stiffness separately from the EMG and that amplifies the stiffness while tuning the device joints according to user equilibrium points. To evaluate the method, we constructed a power assist system for the wrist and compared the method with a method based on simple torque estimation during posture maintenance tasks. Our results showed that the proposed method offers a more stable operation at the same assist ratio and proved the effectiveness of the method.
Driver’s Intention Estimation Based on Bayesian Networks for a Highly-Safe Intelligent Vehicle
Authors: Sun Bo ,   Graduate School of Information Sciences, Tohoku University, Aoba-yama 6-6-05, Sendai 980-8579, Japan, Kameyama Michitaka
Published: April 2016

Highly safe intelligent vehicles can significantly reduce vehicle accidents by warning drivers of dangerous situations. Trajectory estimation of target vehicles is expected to be used in highly safe intelligent vehicles. Trajectory estimation requires that we estimate driver intent not detectable by sensors. The Bayesian Network (BN) building we propose for trajectory estimation related to driver intent defines driver intent hierarchically to simplify the BN as much as possible. Causal driver-intent relationships are discussed reflecting real-world motion. This raises the quality of driver-intent estimation and increasing inference performance. Experimental learning based on 2D image processing is presented to acquire probabilistic BN parameters.
Design and Development of Human Interface System with 3D Measurement Functions (Concept and Basic Experiments)
Authors: Yang Jianming ,   The Faculty of Science and Technology, Meijo University, 1-501 Shiogamaguchi, Tempa-ku, Nagoya 468-8502, Japan, Imura Takashi
Published: April 2016

In this paper, an intelligent interface system for a wheelchair robot with an arm is described. The human interface system is comprised of an interface device and a signal processing module. An original idea of the authors, the interface device, which is a combination of a joystick, a Position Sensitive Detector (PSD), and a CCD camera, can realize threedimensional measurement in addition to performing the basic functions of a joystick. A principle for measuring three-dimensional positions and a method of presenting information by means of a Graphical User Interface (GUI) to verify and understand the instructions are proposed. To demonstrate the effectiveness of the intelligent operating system, a basic experiment is done.
Development of the Real-Time Position Detection Sensor for the Small Projected Objects
Authors: Kuromiya Yusuke ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya, Aichi 468-8502, Japan, Ashizawa Satoshi , Ando Daiki , Oomichi Takeo
Published: April 2016

The ceiling dismantling robot that we developed cuts ceiling boards with a high-pressure water-jet cutter. The cutting operation of the ceiling board is done below the Light-Gauge Steel (LGS) attached to ceiling boards with screws. A magnetic sensor that detects LGS was developed for this robot system. The robot can dismantle ceiling boards because of a successful mock-up experiment. This paper describes the method of screw detection that targets saving water and reducing dust. There are several problems, for example, increased noise and detecting objects as early as possible. The validity of the proposed method was verified by detecting the screws using sensor in an experimental setup.
Mouth Movement Recognition Using Template Matching and its Implementation in an Intelligent Room
Authors: Takita Kiyoshi ,   Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Nagayasu Takeshi , Asano Hidetsugu , Terabayashi Kenji , Umeda Kazunori ,   Pioneer Corporation, 1-1 Shin-ogura, Saiwai-ku, Kawasaki-shi, Kanagawa 212-0031, Japan
Published: April 2016

This paper proposes a method of recognizing movements of the mouth from images and implements the method in an intelligent room. The proposed method uses template matching and recognizes mouth movements for the purpose of indicating a target object in an intelligent room. First, the operator’s face is detected. Then, the mouth region is extracted from the facial region using the result of template matching with a template image of the lips. Dynamic Programming (DP) matching is applied to a similarity measure that is obtained by template matching. The effectiveness of the proposed method is evaluated through experiments to recognize several names of common home appliances and operations.
Building of HD MACs Using Cell Processing Robot for Cartilage Regeneration
Authors: Shimoto Takeshi ,   Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka 813-8503, Japan, Nakayama Koichi , Matsuda Shuichi , Iwamoto Yukihide ,   Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga 840-8502, Japan,   Faculty of Medicine, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582, Japan
Published: April 2016

We have been working on the development of scaffold free cell delivery system, and showing good results in the regeneration of rabbit osteochondral defect for more than three years by implantation of molded mesenchymal stem cells construct without use of exogenous factors. The entire procedure is simple, yet it takes time and labor to build a single construct by even experienced hands. Therefore, this study was aimed to develop a cell processing robot for building scaffoldfree HD MACs (High-Density Mesenchymal stem cell Autologous Constructs) for cartilage regeneration. As a result, the scaffold-free HD MACs could be obtained with manual procedure just as the same without contamination. We have implanted the construct in a rabbit with osteochondral defect in the knee. In this study, we have developed a cell processing robot for cartilage regeneration. The entire system is almost GMP ready. We are preparing clinical trials at Kyushu University Hospital for HD MACs implantation to cartilage defect with this robot system.
Attitude Determination by Globally and Asymptotically Stable Estimation of Gyroscope Bias Error with Disturbance Attenuation and Rejection
Authors: Yamato Hideaki ,   Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Furuta Takayuki , Tomiyama Ken
Published: April 2016

This paper presents a new methodology of attitude determination for cost-effective and small inertial measurement units, consisting of tri-axial gyroscope sensors, accelerometers, and geo-magnetometers. Introduced for algorithm development is a quaternion feedback structure, where bias terms in the gyroscope rate information, appearing in the feedback loop, are identified with the theoretical guarantee of global and asymptotical stability. The bias-term identification and modification process is performed continuously without the influence of disturbance by combining the proposed disturbance evaluation scheme and conventional vector matching method with an adaptive parameter configuration. Practical validity of the presented framework is fully evaluated by experiments. It is shown that the approach in this paper can offer drift-free performance with disturbance attenuation and rejection under arbitrary attitude test motion of spatial rotation and translation.
Force Characteristics for Fine Deformation of CMC Touch Sensor and Estimation of Force Variance Using Hybrid Tactile Sensor System
Authors: Kawamura Takuya ,   Department of Human and Information Systems, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Nejigane Ko , Tani Kazuo , Yamada Hironao
Published: April 2016

Having previously proposed a hybrid tactile sensor system consisting of a Carbon Micro-Coil (CMC) touch sensor and a force sensor, the authors have been developing a method of measuring deformation of micrometer order, force variance of 10 gram order, and compression force when an object touches a sensor element and moves slightly. In this paper, to measure the force variance for deformation of several micrometers using the CMC touch sensor, the force characteristics of the CMC touch sensor are investigated. The CMC sensor element is made of silicon rubber containing CMCs several micrometers in diameter. It is considered that the sensor element constitutes an LCR circuit, and the CMC touch sensor, deformed mechanically, produces signals due to the modification of the circuit. In the experiment detailed in this paper, to clarify the characteristics of the CMC sensor with respect to the parameters of force and deformation, the outputs of the CMC sensor and the force sensor for deformation in the range of 1 to 9 µm are sampled. As a result, it is found that the force characteristics of the CMC touch sensor are almost linear in terms of force variance within the range of 0 to 1 N, regardless of a compression force of less than 3 N. Finally, to evaluate the performance of the sensor system, force variance for a slight movement of an object touching the sensor element is estimated in an experiment.
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Basic Concept and Mechanism)
Authors: Higuchi Mineo ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-honmachi, Amagasaki-shi, Hyogo 661-8661, Japan
Published: April 2016

We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator, handling a shared payload. PAS-Arms are physically passive. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the payload within a shared workspace. PAS-Arms have three joints and a three dimensional workspace, but possesses only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. The combination of CVTs and differential gears places one mechanical constraint on three angular velocities of the joints. PAS-Arms have no joint actuators and no force sensors. Thus they are potentially well suited to safety and low cost. This paper proposes a basic concept of PAS-Arms and explains a principle and a construction of PAS-Arms. We discuss the relation of PAS-Arms to conventionally actuated robots and another type of assist arms. We also describe range of transmission ratio of CVTs.1

1. This paper is the full translation from the transactions of JSME, Series C, Vol.73, No.730, 2007.
Design and Evaluation of Electromagnetic Wobble Motor
Authors: Miyake Masaki ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530, Japan, Suzumori Koichi , Uzuka Kazuo ,   TOK Bearing Co. Ltd., 21-4, 2-chome, Azusawa, Itabashi-ku, Tokyo, Japan
Published: April 2016

The purpose of this work is to develop a thin, electromagnetic wobble motor with a large amount of torque, a motor thinner than conventional ones and able to be applied to portable electric equipment. We have developed a basic model of the motor 30 mm in diameter and 5 mm in thickness. In this paper, the basic structure and control method are first presented. Next, the design of the electromagnets and the three types of gear pairs, which have different pressure angles for the reduction mechanism, are presented. Finally, the motor drive experiments are performed using two types of drive: one is a two-phase drive, and the other is a four-phase drive. Three types of gear pairs are also shown. The motor works successfully, and its great potential to be mounted in thin, portable equipments is confirmed.
Special Issue on Medical Science and Engineering Cooperation
Authors: Takanobu Hideaki , Mori Taketoshi
Published: April 2016

Intentions for health and well-being are increasing as associated technology has progressed. In 2011, the average life span of Japanese men was 79.44 years and that of women was 85.90 years. This situation has made cooperation in medical science and engineering an important issue in robotics and mechatronics research. In the same way, cooperation in medical science and engineering has come to include operations support, life support, informational intelligence, virtual reality, and so on. The following special issues in the Journal of Robotics and Mechatronics have been related to medical science and engineering: - Special Issue on Service Technology for Health andWell-Being, Vol.20, No.6. - Special Issue on Human Modeling in Robotics, Vol.17, No.6. - Special Issue on Advanced Mechatronics Technology for Life Support and Human Welfare, Vol.4, No.4. This next special issue centers on the following keywords: wheelchair, rehabilitation support system, life pattern estimation, blood flow measurement, diagnostic probe, surgical navigation, children, blood pressure, safe actuator, gait rehabilitation, measurement, and children’s behavior. We thank all of the authors who have submitted their papers for this special issue and reviewers for their time and effort. We also thank the JRM Editorial Board for the opportunity to take part in this work.