bluuebunny/crossref_metadata_2025 huggingface dataset:
Tunnel Cross-Section Measurement System Using a Mobile Mapping System
Authors: Ishikawa Kiichiro ,   Waseda University, 17 Kikui-cho, Shinjyuku-ku, Tokyo 162-0044, Japan, Takiguchi Jun-ichi , Amano Yoshiharu , Hashizume Takumi , Fujishima Takashi ,   Mitsubishi Electric Corporation, Kamakura Works, 325 Kamimachiya, Kamakura-shi, Kanagawa 247-8520, Japan,   Japan Construction Method and Machinery Research Institute, 3154 Oofuchi, Fuji-shi, Shizuoka
Published: April 2016

This paper describes a tunnel cross-section measurement system using a mobile mapping system (MMS). The MMS features a GPS/ Dead Reckoning (DR) combined navigation system, a three-axis GPS-Gyro/ Inertial Measurement Unit (IMU), laser scanners, cameras, and the Network-based Positioning Augmentation Services (PAS). As GPS cannot be used in the tunnel, so the position estimation is done using IMU and Odometer. In this paper the result of comparison between the conventional tunnel cross-section measurement methods using 3D laser scanner and total station, and the proposed method using the MMS is described. And the examination result of the MMS's positioning accuracy that doesn't use GPS is described. The evaluation result proves that the tunnel cross-section measurement accuracy using the MMS is 7.0 mm, the MMS's measurement accuracy is not different from conventional method using a 3D laser scanner and a total station. The MMS tunnel measurement efficiency is also confirmed in this paper.
On-Chip Droplet Dispensing by a Magnetically Driven Microtool
Authors: Yamanishi Yoko ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Kihara Yuki , Sakuma Shinya , Arai Fumihito
Published: April 2016

We have investigated an active size controlled droplet generation system by using magnetically driven microtool (MMT). With a lateral motion of the MMT in microchannels, the continuous phase can be pinched off by the movement of MMT to obtain size-controlled droplets actively. With this method particle-enclosed droplet can be produced on demand to fit the size of each enclosed particle, and which is difficult to carry out by fluid dynamic force. For the current study, the system has been evaluated in terms of the frequency of MMT actuation and the size of droplets produced and which contribute to the effective transportation of cells in microchannel.
“Future Dream!” Review of The 2007 Robotics-Mechatronics Design Competition
Authors: Sakaki Taisuke ,   Department of Biorobotics, Kyushu Sangyo University, Oguro Ryuichi , Sagara Shinichi , Aoki Kanta , Ushimi Nobuhiro , Kiyota Takanori , Kikuuwe Ryo , Iwamura Makoto , Fukushima Manabu , Imado Keiji , Ikeuchi Hidetaka , Moromugi Shunji ,   Faculty of Computer Science and System Engineering, Kyushu Institute of Technology,   Department of Control Engineering, Kyushu Institute of Technology,   Department of Design, Kyushu Sangyo University,   Department of Mechanical Systems Engineering, The University of Kitakyushu,   Department of Mechanical Engineering, Kyushu University,,   Department of Mechanical Engineering, Fukuoka University,,   Department of Media Technology, Nippon Bunri University,,   Oita University, 700 Dannnoharu, Oita, Oita 870-1192, Japan,   Dept. of Mechanical Systems Engineering, Nagasaki University,
Published: April 2016

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Fifteen teams from six universities joined the competition, whose subject was “Health, care and communication aids for the elderly.” Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design.
Compact Force Sensor Using AT-Cut Quartz Crystal Resonator Supported by Novel Retention Mechanism
Authors: Narumi Keisuke ,   Department of Bioengineering and Robotics, Tohoku University, Asakura Ayumi , Fukuda Toshio , Arai Fumihito ,   Department of Micro-Nano Systems Engineering, Nagoya University
Published: April 2016

The compact force sensor we developed uses an AT-cut quartz crystal resonator whose resonance frequency changes under external force, and features high sensitivity, high-speed response, a wide measurement range, and superior temperature and frequency stability. Quartz crystal resonators were rarely used in force measurement due to their poor stress concentration during bending. The objective of this study was to construct a sensor mechanism that safely maintains the quartz crystal resonator under external force. We designed and analyzed the novel retention mechanism of the quartz crystal resonator. The proposed structure is flat, small, and sensitive. Moreover, we designed and produced a compact case for mounting the retention mechanism. Sensor output is expected to be changed by thermal expansion, so we evaluated the temperature characteristics of the assembled sensor, finding the relationship of the temperature and sensor output to be linear and temperature easily compensated for.
Functions of Mobile-Robot Step-On Interface
Authors: Matsumaru Takafumi ,   Graduate School of Engineering, Shizuoka University,, Akai Kosuke
Published: April 2016

To improve HFAMRO-1 mobile robot maneuverability and safety, we added a step-on interface (SOI) to direct robotic or mechatronic tasks and operations (HFAMRO: “human-friendly amusing” mobile robot). To do so, a projector displays a direction screen on a floor or other surface, and an operator specifies a button showing the selected movement by stepping or pointing. We modified the direction screen so that among buttons displayed on two lines, stepped-on buttons directing movement are displayed only on the lower line. We also shortened retention time and had selected movement executed only when the foot was removed from the stepped-on button. The robot has 2 SOIs and multiple projection screens, and can be controlled from either direction for the same function. We synchronized direction and preliminary-announcement screens to inform passers-by which way the robot would move. Using range scanner data, the robot distinguishes feet from other objects based on size and autonomous movement fusion control to avoid obstacles is implemented.
Hovering Control of a Tail-Sitter VTOL Aerial Robot
Authors: Kita Koichi ,   Department of Aerospace Engineering,, Konno Atsushi , Uchiyama Masaru
Published: April 2016

This paper describes system development and hovering control of a tail-sitter VTOL aerial robot. The tail-sitter VTOL aerial robot developed from model aircraft parts, sensors, microcomputers, and other components hovers autonomously thanks to attitude, altitude, and position control. Attitude control error averages 1-2°and altitude control error several centimeters. The aerial robot demonstrated both fixed-point hovering and trajectory tracking in hover mode.
An Emotional Model Based on Location-Dependent Memory for Partner Robots
Authors: Kubota Naoyuki ,   Tokyo Metropolitan University, Wakisaka Shiho
Published: April 2016

With user expectations for user-friendly robots growing, the question of what makes a robot “user-friendly” continues to be debated. With the human need to add an “emotional” aspect to robots – “humanoid” shape such as Asimo and “fuzzy-feely” appeal such as Paro – we propose an emotional model based on location-dependent memory for partner robots. Focusing on the functions of emotion in social interaction, our proposed model is based on emotions, feelings, and mood and “episodic” memory related to changes in feeling. We propose map building and behavior control based on the emotional model. Experimental results demonstrate the feasibility of the emotional model and related behavior based on location-dependent memory.
Development of Energy Autonomous Type Pneumatic Walking Support Shoes
Authors: Takaiwa Masahiro ,   The Graduate School of Natural Science and Technology,  Okayama University, Noritsugu Toshiro
Published: April 2016

One of the most common causes of injury among the elderly is falls caused mainly by age-related muscular deterioration, particularly in dorsiflexion. Walking plays an important role their independence and well-being. Unlike previously proposed active assist systems, our assist approach used user power rather than an external source such as electricity, making it energy-autonomous. Required specifications for the equipment are derived and the validity of proposed walking support shoes is verified through some experiments.
Educational Project for Robotics and Mechatronics Using Tele-Control System Between National College of Technology and Toyohashi University of Technology
Authors: Imamura Takashi ,   Department of Production Systems Engineering/Cooperative Research  Facility Center/Information and Media Center,, Miyoshi Takanori , Miyake Kazunari , Arai Shinichi , Okada Tatsuya , Yamamoto Manabu , Duong Minh Duc , Okabe Masayuki , Kitagawa Hideo , Ichimura Tomoyasu , Nishiyama Eiji , Kawai Yasunori , Oyama Shinya , Terashima Kazuhiko ,   Dept. of Electronic Control Engineering, Gifu National College of Technology,   Dept. of Electronic Control Engineering, Oyama National College of Technology,   Dept. of Information and Communication Engineering, Kumamoto National College of Technology,   Dept. of Electrical Engineering, Ishikawa National College of Technology,   Dept. of Computer Engineering, Hakodate National College of Technology
Published: April 2016

This study targeted building up the basis of research for telecontrol between the National Colleges of Technology (NCTs) and Toyohashi University of Technology (TUT) using the Internet, and considered experience-based education using telecontrol. We constructed telecontrol environments for four NCTs and TUT, and a total of over 140 students worked in this environment as operators of telecontrol. We investigate the quality of communication environments, studied the amount of operator work, and had operators fill out questionnaires to evaluate the telecontrol environment and the contents of experience-based education using telecontrol. We confirmed by comparing the communication environment with the amount and accuracy of operator work for verification that the built-up control environment enabled telecontrol experiments to be done safely on the Science Information Network (SINET). Over 80% of the operators surveyed evaluated experiment “interest” and “utility” positively.
Neuro-Fuzzy Control of Power-Assist Omnidirectional Wheelchair Using Human-Friendly Touch Panel
Authors: Terashima Kazuhiko ,   Toyohashi University of Technology, Kitagawa Hideo , Miyoshi Takanori , Kitamura Sou , Urbano Juan ,   Gifu National College of Technology
Published: April 2016

An omnidirectional power-assist wheelchair must be adaptable to needs of individual attendants. We modified our neuro-fuzzy controller to improve diagonal movements. We also developed an innovative touch panel interface providing easy real-time input and feedback. Experiments confirmed the wheelchair's adaptability to user needs.
Supporting Robotic Activities in Informationally Structured Environment with Distributed Sensors and RFID Tags
Authors: Murakami Kouji ,   Graduate School of Information Science and Electrical Engineering, Kyushu University, Hasegawa Tsutomu , Kurazume Ryo , Kimuro Yoshihiko ,   Institute of Systems, Information Technologies and Nanotechnologies
Published: April 2016

This paper describes a platform of ambient intelligence for robots working in an ordinary environment for daily human life. To enable autonomous robotic activity, vision sensors and RFID tags are distributed in the environment and are connected to a network. Sensor data is integrated and is provided to robots to support their activities. Based on sensor function analysis and robot data requirements, we designed and implemented a data management system which integrates real-time data from sensors and robots. Experiments confirmed that robots made decisions and completed tasks successfully using data provided by the data management system.
Robot Technology Ontology Targeting Robot Technology Services inKukanchi— “Interactive Human-Space Design and Intelligence”
Authors: Ukai Ken ,   College of Engineering, Shibaura Institute of Technology, Ando Yoshinobu , Mizukawa Makoto
Published: April 2016

In a society in which people and robots cooperate together in the same environment, robot technology (RT) services will be required to consider user intent and situation. This paper focuses on RT ontology providing RT services appropriate to the situation inKukanchi— “interactive human-space design and intelligence.” A user’s direct requests are defined as a “main task” and incidental tasks required to achieve the main task as “tsuidetasks.” This paper proposes and introduces RT ontology and details validation experiments for certain “tsuidetasks.”
Cooking Procedure Recognition and Support by Ubiquitous Sensors
Authors: Murakami Sho ,   Graduate School of Systems and Information Engineering, University of Tsukuba, Suzuki Takuo , Tokumasu Akira , Nakauchi Yasushi
Published: April 2016

This paper proposes cooking support using ubiquitous sensors. We developed a machine learning algorithm that recognizes cooking procedures by taking into account widely varying sensor information and user behavior. To provide appropriate instructions to users, we developed a Markov-model-based behavior prediction algorithm. Using these algorithms, we developed cooking support automatically displaying cooking instruction videos based on user progress. Experiments and experimental results confirmed the feasibility of our proposed cooking support.
Observation of Human Activities Based on Spatial Memory in Intelligent Space
Authors: Niitsuma Mihoko ,   Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Hashimoto Hideki ,   Institute of Industrial Science, the University of Tokyo
Published: April 2016

Intelligent Space (iSpace) we propose as an intelligent environment provides information and physical services to users via intelligent agents such as mobile robots, computer devices, and digital equipment. A suitable human interface is needed to enable users to operate agents in iSpace. For this, we previously proposed spatial memory. Here, we have improved system functions to make it more widely applicable. Specifically, we present four spatial memory problems and discuss solutions, focusing on user authentication, for which we propose a new procedure using spatial memory. By introducing the spatial human interface in iSpace, we also observe human activity in the environment via the history of human interface use involving several experiments.
Special Issue on Mechatronics Technologies from Asia to the World
Authors: Tanaka Takayuki ,   Co-Editor, Associate Professor, Graduate School of Information Science and Technology, Hokkaido University, Kaneko Shun'ichi , Ming Aiguo , Umeda Kazunori ,   Co-Editor, Professor, Graduate School of Information Science and Technology, Hokkaido University,   Co-Editor, Associate Professor, Dept. of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications,   Co-Editor, Professor, Dept. of Precision Mechanics, Chuo University
Published: April 2016

Mechatronics - an ever-growing field enblacing actuators and sensors, electronics and mechanics, controls, system design and integration was founded in Japan at the end of the 1960s. It now supports industrial development, the global economy and inventions that enable people to live comfortably around the world.Asia is one of the most active areas in mechatronics research. Asian experts meet and mix in meetings and conferences such as the Japan-China symposium on Mechatronics started in 1988, Asia International Symposium on Mechatronics (AISM) organized by the Japanese Society of Precision Engineering and Chinese committees since 2004 to bring together researchers and engineers in this multidisciplinary field to stimulate new ideas, to share knowledge on practical problems and solutions, as well as to facilitate cooperation for the future.This special issue on “Mechatronics Technologies from Asia to the World” includes many of the fine papers presented at AISM2008 in August 2008, and encourages scientists in related fields to submit their research to encourage interested researchers in developing systems and technologies to become more skilled, smarter and tougher in the real world.We thank the authors for their interesting contributions and the reviewers for their devoted time and effort.
Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles
Authors: Noritsugu Toshiro ,   The Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan, Takaiwa Masahiro , Sasaki Daisuke
Published: April 2016

In the future, when the average age of the members of society becomes advanced, an innovative technology to assist the activities of daily living of elderly and disabled people and to assist in the heavy work in nursing will be desired. To develop such a technology, an actuator that is safe and user-friendly is required. It should be small, lightweight, and sufficiently soft. Such an actuator is available in artificial muscle made of pneumatic rubber. We have developed some types of pneumatic rubber artificial muscles and applied them to wearable power assist devices. A wearable power assist device is fitted to the human body to assist the power of muscles that support the activities of daily living, rehabilitation, training, and so on.

In this paper, some types of pneumatic rubber artificial muscles developed and manufactured in our laboratory are presented. Furthermore, two kinds of wearable power assist devices driven by the rubber artificial muscles are described. Finally, some evaluations clarify the effectiveness of pneumatic rubber artificial muscle for innovative human assistance technologies.
Perception-Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton
Authors: Kiguchi Kazuo ,   Graduate School of Science and Engineering,  Saga University, Saga, Japan, Liyanage Manoj , Kose Yasunori
Published: April 2016

This paper presents perception assistance with an active camera for an upper-limb power-assist exoskeleton that assists user perception as well as user motion when the user interacts with the environment using sensors of the exoskeleton. The active stereo camera monitors user interaction with the environment, so the exoskeleton identifies objects that can be touched or grabbed by the user. Stereo camera positioning is controlled to continuously track the exoskeleton end-effector, ensuring that the user's hand always lies within the camera viewfield. If any obstacle might block the camera viewfield, the camera is controlled to avoid the obstacle. The effectiveness of the proposed concept is evaluated in experiments.
Measurement of Three-Dimensional Environment with a Fish-Eye Camera Based on Structure from Motion - Error Analysis
Authors: Terabayashi Kenji ,   Dept. of Precision Mechanics, Faculty of Science and Engineering, Chuo University 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Mitsumoto Hisanori , Morita Toru , Aragaki Yohei , Shimomura Noriko , Umeda Kazunori ,   CREST Program, Japan Science and Technology Agency (JST),   Toyota Motor Corporation,   Nissan Motor Co.,Ltd. 1-1 Morinosatoaoyama, Atsugi-shi Kanagawa 243-0123, Japan
Published: April 2016

This paper proposes a method for measuring 3-dimensional (3D) environment and estimating camera movement with two fish-eye images. This method deals with large distortion of images from a fish-eye camera to calibrate internal and external camera parameters precisely by simultaneous estimation. In this paper, we analyze 3D measurement accuracy based on a theoretical model and evaluate it in practical analysis in experimental and real environments. These analyses show that the theoretical measurement error model works over a wide range of fish-eye views.
3D Hand Pose Estimation Using a Single Camera for Unspecified Users
Authors: Hoshino Kiyoshi ,   Graduate School of Systems and Information Engineering, University of Tsukuba 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Tomida Motomasa
Published: April 2016

The three-dimensional hand pose estimation this paper proposes uses a single camera to search a large database for the hand image most similar to the data input. It starts with coarse screening of proportional information on hand images roughly corresponding to forearm or hand rotation, or thumb or finger bending. Next, a detailed search is made for similarity among selected candidates. No separate processes were used to estimate corresponding joint angles when describing wrist’s rotation, flexion/extension, and abduction/adduction motions. By estimating sequential hand images this way, we estimated joint angle estimation error within several degrees - even when the wrist was freely rotating - within 80 fps using only a Notebook PC and high-speed camera, regardless of hand size and shape.
Evaluation of Spoken Language Understanding by Oxygenated Hemoglobin Concentration
Authors: Nozawa Akio ,   Meisei University, 2-1-1 Hodokubo, Hino, Tokyo, Japan, Mizuno Tota , Asano Hirotoshi , Ide Hideto ,   Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa, Japan,   Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa, Japan
Published: April 2016

The subjective understanding of spoken language understanding is quantitatively evaluated by variations in oxygenated hemoglobin concentration measured by near-infrared spectroscopy. English listening comprehension tests consisting of two levels of difficulty were taken by 4 subjects during measurement. A correlation was found between subjective understanding and variations in oxygenated hemoglobin concentration.
Detection of Driver's Fight or Flight Reaction by Spatio-Temporal Spectrum Differential Analysis ofFacial Skin Thermogram
Authors: Asano Hirotoshi ,   Faculty of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa, Japan, Ide Hideto
Published: April 2016

Before a person has a car accident, he may have several “close calls.” These “close calls” may cause a person to experience tension and fear. People experience the “fight or flight reaction” (FFR) under such circumstances, as it is known that people exhibit the FFR when they feel anxiety, strain, or threat. If the manifestation of the FFR in a driver can be determined using a biological measurement, it would be an extremely effective indicator that might help in the prevention of car accidents. In this research, we conducted FFR-arousing experiments using a driving simulator, and the STSDA method was used to detect spatio-temporal changes in the skin temperature on facial skin thermograms accompanying the occurrence of the FFR.
Automatic ROI Detection and Evaluation in Video Sequences Based on Human Interest
Authors: Rokunuzzaman Mohammad ,   Dept. of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Nagoya-shi 464-8603, Japan, Sekiyama Kosuke , Fukuda Toshio
Published: April 2016

This paper describes an approach for automatic detection and evaluation of Region of Interest (ROI) based on human psychology of interest and relevance. It is very challenging to determine the cognitive boundary of the scene in real time due to its complexity in decision making. We have proposed a novel method to solve this problem by using human cognitive processes of attention, interest generation and relevancy. Our method successfully determines this cognitive boundary as ROI which is significant by its information content based on interest and relevancy. The effectiveness of ROI detection is checked with Eye tracker system. The highest detection accuracy found is 81.25% which is higher than the existing method. The ROI evaluation is compared with evaluation by human observers. The subjective correlation is found 85% with human evaluation. The experimental results show that our method is imitating human decision making for ROI detection and evaluation.
Miniaturization Design of Piezoelectric Vibration-Driven Pneumatic Unconstrained Valves
Authors: Jien Sumadi ,   Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu 525-8577, Japan, Hirai Shinichi , Honda Kenshin ,   R&D Department, Toray Engineering Co., Ltd., 1-1-1 Sonoyama, Otsu, Shiga 520-0842, Japan
Published: April 2016

The growing demand for an increased power-toweight ratio in a wearable robot’s components has helped drive trends in miniaturization in component production. This is because such “assist-bots” must maximize their usefulness as they minimize weight restrictions on the users wearing them. These trends have been hindered by the lack of ultra precision assembly and the limited availability of mini solenoid valves. An unconstrained valve driven by a PiezoElectric Actuator (PEA) is thus proposed for its simplicity and high miniaturization potential. In this paper, the realization ofminiaturized unconstrained valves is discussed, which covers the valve design towards miniaturization and implementation in robotics. A LC tuner improves PEA efficiency, increasing the output flow of small unconstrained valves.
3-D Sensing for Flexible Linear Object Alignment in Robot Cell Production System
Authors: Domae Yukiyasu ,   Advanced Technology R&D Center, Mitsubishi Electric Corp., 8-1-1 Tsukaguchi Hon-machi, Amagasaki 661-8661, Japan, Okuda Haruhisa , Kitaaki Yasuo , Kimura Yuta , Takauji Hidenori , Sumi Kazuhiko , Kaneko Shun’ichi ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan
Published: April 2016

We have constructed 3-D sensing system for alignment of connector-fitted cables as flexible linear objects which used to be difficult to be automated at the production sites. In the system an industrial robot has a 3-D sensor and a monocular camera mounted at the hand. 3-D sensor, using space encoding method, allows the robot to make high-precision measurements of the order of sub-millimeters, but emphasis is placed on precision at the expense of fields of view. In addition, active sensing methods such as the space encoding method is hard to take measurements for black cables, as well as it has some difficulties with measurements of semitransparent plastic connectors depending on view-points. To cope with those problems, our system is such that the monocular camera on the robot is moved for motion stereo to take measurements on cable shapes; connector’s poses are coarsely estimated from the measurement results; and such view-points as will ensure stable measurements are computed by space encoding method to take precision measurements of connectors. Technical features of the system could be summarized as follows: 1) Determination of view-points to measure connectors, based on measurements of cable shapes, requires no more than two measurements, without repeated searches, to grab semitransparent plastic connectors. 2) Performance of stereo correspondence for plain or black cables, which tends to result in a failure with the aids of no more than irradiated slit patterns and epipolar constraints, has been improved through sequential correspondence inmotion image sequence and its stability evaluations. At the operation tests in the validation system, the robot is assigned a task to assemble the cables into industrial servo amplifiers available on the market, in which automatic alignment of 200 connector-fitted cables has successfully been accomplished in succession to confirm constant performance of the system.
Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment
Authors: Sakai Atsushi ,   Department of Mechanical Engineering, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki, Kanagawa 214-8571, Japan, Saitoh Teppei , Kuroda Yoji
Published: April 2016

In this paper, we propose a set of techniques for accurate and practical Simultaneous Localization And Mapping (SLAM) in dynamic outdoor environments. The techniques are categorized into Landmark estimation and Unscented particle sampling. Landmark estimation features stable feature detection and data management for estimating landmarks accurately, robustly, and at a low-calculation cost. The stable feature detection removes dynamic objects and sensor noise with scan subtraction, detects feature points sparsely and evenly, and sets data association parameters with landmark density. The data management calculates landmark existence probability and spurious landmarks are removed, utilizes landmark exclusivity for data association, and predicts importance weights using the observation range. Unscented particle sampling is based on Unscented Transformation for accurate SLAM. Simulation results of SLAM using our landmark estimation and experimental results of our SLAM in dynamic outdoor environments are presented and discussed. The results show that our landmark estimation decrease SLAM calculation time and maximum position error by 80% compared to conventional landmark estimation, and position estimation of SLAM with Unscented particle sampling ismore accurate than FastSLAM2.0 in dynamic outdoor environments.
Micro Rubber Structures for Passive Walking
Authors: Suzumori Koichi ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan, Saito Fumitaka
Published: April 2016

The final goal of this work is the development of functional rubber sheets with micro rubber structures such as friction free, adhesion, and impact adsorption rubbers, etc. We report a micro rubber structure that can successfully perform flexible passive walking with 3 V-shaped units consisting of 4 legs to achieve very low friction. We show how to miniaturize and integrate this structure to produce, by means of a micro rubber molding process using the stereo lithography method, a rubber sheet with 64 legs. The prototype is designed, fabricated, and tested. Under certain conditions, the 64-legged rubber sheet successfully realizes flexible passive walking down an incline.
Grasp Planning for a Multifingered Hand with a Humanoid Robot
Authors: Tsuji Tokuo ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), AIST Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Harada Kensuke , Kaneko Kenji , Kanehiro Fumio , Maruyama Kenichi
Published: April 2016

This paper presents grasp planning for a multifingered hand with a humanoid robot. Our planner selects different ways of grasping even for the same object according to object position/orientation. If the planner cannot find a feasible grasp with arm/hand kinematics, it switches to full body motion planning. These functions are necessary for realizing the robust grasp planning. Our planner defines convex models on both the object and each grasp type. In considering geometrical relationships among these convex models, we determine the parameters required to define the final grasping configuration. We demonstrate effectiveness of grasp planning through simulation and experimental results.
Skin Color Registration Using Recognition of Waving Hands
Authors: Irie Kota ,   Graduate School of Science and Engineering, Chuo University, Takahashi Masahito , Terabayashi Kenji , Ogishima Hidetoshi , Umeda Kazunori ,   Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan,   CREST Program, Japan Science and Technology Agency (JST)
Published: April 2016

This paper proposes skin color registration using the recognition of waving hands. In order to recognize hand gestures from images, skin colors are useful information. The proposed method can register skin colors simply and quickly because it uses just a few waves of the hand. The method consists of 2 steps. First, the regions of the waving hands are extracted from low-resolution images without using color information. Second, the color values of the extracted regions are classified into background colors and hand colors depending on time series of color images. The color information classified as hand colors is registered as skin colors. The proposed method is robust against lighting conditions and individual differences in skin color, because the skin color is registered as an adapted skin color in each case. Several experiments are conducted to demonstrate the effectiveness of the proposed method.
Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform
Authors: Yamanobe Natsuki ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Tsukuba Central 2, Umezono, Tsukuba, Ibaraki 305-8568, Japan, Neo Ee Sian , Yoshida Eiichi , Kita Nobuyuki , Nagata Kazuyuki , Yokoi Kazuhito , Takano Yosuke ,   Service Platforms Research Labs, NEC Corp.
Published: April 2016

The OpenRT Platform, an integrated development environment for component-based robot system development, is being constructed in order to enhance intelligent robot research and development efficiency. In this paper, a mobile manipulator system that can bring human indicated objects like a service dog is developed based on the OpenRT Platform. The system works with several components providing manipulation, locomotion, and communication functions developed as examples modularizing intelligent robotic functions. These components are integrated using scenario tools in the OpenRT Platform for achieving target tasks.
Design and Fabrication of All-in-One Unified Microfluidic Chip for Automation of Embryonic Cell Manipulation
Authors: Yamanishi Yoko ,   JST PRESTO, Department of Mechanical Science & Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Sakuma Shinya , Iyanagi Tomohiro , Arai Fumihito , Arai Tatsuo , Hasegawa Akiyuki , Tanikawa Tamio , Ichikawa Akihiko , Satoh Osamu , Nakayama Akihiro , Aso Hiroshi , Goto Mitsuhiro , Takahashi Seiya , Matsukawa Kazutsugu ,   Tohoku University, Japan,   Nagoya University, Japan,   Osaka University, Japan,   AIST, Japan,   KHI, Japan,   FHK, Japan,   NILGS, Japan
Published: April 2016

We developed a microfluidic chip for automation of cloning process based on a new protocol. The protocol is based on removal of the zona pellucida outside the chip which contributes to simplify on-chip automation of cloning. Then, the oocytes are put into the chip. The design concept of the chip is summarized as follows. (1) The oocyte is cut into two parts. (2) The divided half oocyte is sorted with and without nucleus. (3) The half oocyte without nucleus is coupled with a donor cell, and (4) they are fused by an electrical field. For the current study, the all-in-one unified microfluidic chip was designed to execute (1) cutting, (2) sorting, and (3) coupling parts continuously for this process. Basic functions of these parts as well as fusion part are verified independently. Then, all-in-one unified microfluidic chip was successfully designed and fabricated.
Improvement of Performance for Musculoskeletal Robots by Mountable Actuator Units
Authors: Ohta Shigeki ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Hongo Kazuo , Nakanishi Yuto , Mizuuchi Ikuo , Inaba Masayuki ,   Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8585, Japan
Published: April 2016

It is very difficult to decide and to optimize the layouts of muscle which may completely fulfill the demands for muscle tension and joint stiffness of tendon driven systems at the design stage. However, muscle that can be easily added to the system depending on the situation makes it possible to seek optimal layouts of muscle through experimentation. This paper describes the development of two types of actuator units which can be easily added to the tendon-driven system. One is the regulable stiffness actuator unit which a nonlinear spring element is built into, and the other is an actuator unit which is smaller than actuator unit with regulable stiffness. To verify the effects of the actuator units on performance, we experiment with a musculoskeletal humanoid, Kojiro, to which the two types of actuator units developed are added.
Development of Deskwork Support System Using Pointing Gesture Interface
Authors: Sugi Masao ,   Tokyo University of Agriculture and Technology, Nakanishi Hisato , Nishino Masataka , Tamura Yusuke , Arai Tamio , Ota Jun ,   The University of Tokyo,   Honda Motor Co. Ltd.
Published: April 2016

The authors have proposed a deskwork support system called an “Attentive Workbench” (AWB), which uses a camera, a projector, and automatically moving trays to support the user both physically and informationally. This research intends to build an interface between the user and the AWB system based on pointing gestures. Considering the specific purposes of the AWB, a simple, reliable, and highly responsive interface is implemented. We demonstrate a deskwork support system with actual automatically moving trays that uses the proposed interface.
A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations
Authors: Kamezaki Mitsuhiro ,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Iwata Hiroyasu , Sugano Shigeki ,   Waseda Institute for Advanced Study (WIAS), Waseda University, 1-6-1 Nishi Waseda, Shinjuku-ku, Tokyo 169-8050, Japan,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

The state identification framework we propose supports complex construction machinery operations using a dual arm. Such support requires compatibility with different types of support and commonality among various operator skill levels. Our framework is organized into (i) real-time task phase identification defined using joint load applied based on environment constraints and (ii) time-series attentional condition identification defined as an internal work-state condition classified by the operational support necessity level and dependent on the vectorial or time-series data selected by the identified task phase. Experiments are conducted using the instrumented hydraulic dual arm system for transport and removal tasks, including complex dual-arm operations. Results show that the number of erroneous contacts, internal force applied, and mental workload decreased without any increase in time, confirming that operational support based on our framework greatly improves individual operator work performance.
Risk Management System Based on Uncertainty Estimation by Multi-Robot
Authors: Kato Daichi ,   Department of Micro System Engineering, Nagoya University, Furo-cho 1, Chikusa-ku, Nagoya 464-8603, Japan, Sekiyama Kousuke , Fukuda Toshio
Published: April 2016

The risk management we propose uses multi-robot patrols to maintain security, which we treat as equivalent to minimizing observational uncertainty of a place - we call this place checkpoint i (i = 1,2, . . . ,n). We therefore formulate the uncertainty by entropy in information theory. Robots patrol and observe the checkpoint’s condition and update the patrol schedule based on the estimated uncertainty of checkpoints in real time. To relieve uncertainty, we propose Earliest Deadline First scheduling with adaptive Risk Estimation (EDFRE), then compare EDFRE with simple EDF scheduling and evaluate EDFRE adaptability to changes under different initial conditions. Results demonstrated EDFRE’s effectiveness in dynamic situations.
Asbestos Detection in Building Materials Through Consolidation of Similarities in Color and Shape Features
Authors: Nomoto Atsuo ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Hotta Kazuhiro , Takahashi Haruhisa ,   Meijo University, 1-501 Shiogamaguchi, Tenpaku, Nagoya 468-850, Japan
Published: April 2016

As the general public has become increasingly aware of problems caused by asbestos, it is a pressing issue to check for the presence of asbestos fibers in buildings and elsewhere. In this paper, we propose a method using computers to detect and count asbestos particles in microscope images. Noting that asbestos particles have distinctive colors and shapes, we have extracted color and shape features to detect them. As detectors, we have used Support Vector Machine (SVM), which has better performance in utility than other classifiers. We do not consider it possible to properly utilize similarities in color and shape features if we input consolidated features of colors and shapes into a kernel function. We have therefore defined weighted summation of kernels applied to colors and shapes respectively. As a result, we have confirmed that the use of weighted summation of kernels can improve the precision of detection.
Microfluidic Device with Integrated Glucose Sensor for Cell-Based Assay in Toxicology
Authors: Kimura Hiroshi ,   Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan, Takeyama Hirokazu , Komori Kikuo , Yamamoto Takatoki , Sakai Yasuyuki , Fujii Teruo ,   Department of Mechanical and Control Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, Tokyo 152-8550, Japan
Published: April 2016

We have developed a cell-based assay platform using a microfluidic device integrating a glucose sensor into a cell culture device with closed-loop perfusion. Online measurement of cell kinetic change associated with cell status change was achieved by measuring glucose concentration change in the device with a cell exposed to a toxic material. The cell-based assay platform, which is integrated with a sensor and a perfusion system, was expected to improve measurement accuracy and efficiency, leading to the discovery of new tools in such wide-ranging fields as drug discovery, life sciences, and medical research.
Development of Microfabrication Technology with Maskless Photolithography Device Using LCD Projector
Authors: Itoga Kazuyoshi ,   Institute of Advanced Biomedical Engineering and Science at TWIns, Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan, Kobayashi Jun , Yamato Masayuki , Okano Teruo
Published: April 2016

The maskless photolithography device we developed requires no photomask, by modifying Liquid Crystal Display (LCD) projector optics from magnified to reduced projection. The second-generation device we developed produces a practical centimeter-scale micropattern by dividing a large mask pattern and divisionally exposing it synchronized with an auto-XY stage, applying it to cellmicropattern and microfluidic device production. Although advantageous in producing maskless micropatterns, problems arise in jagged pattern boundaries due to the liquid crystal panel structure and collapse pattern of the boundary divided on divisional exposure using the auto-XY stage. The third-generation maskless photolithography device we developed had a more accurate auto-XY stage and solved problems caused by hardware through software such as control of the auto-XY stage.
2DOF Magnetically Driven Microtool for Soft Peeling of Zona Pellucida
Authors: Yamanishi Yoko ,   JST PRESTO, Department of Mechanical Science & Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Kawahara Tomohiro , Iyanagi Tomohiro , Hagiwara Masaya , Mizunuma Takehito , Inomata Naoki , Kudo Shogo , Arai Fumihito ,   Nagoya University, Japan,   Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

We automated removal of the swine oocyte zona pellucida using a 2DOF magnetically driven microtool (MMT) on a microfluidic chip. Multiple oocytes can be manipulated simultaneously highly stably, providing strong advantages over conventional manual manipulation using pipetting. We propose automating this process by activating a soft polymer microtool on a disposable microfluidic chip to stably mass-produce peeled oocytes - a breakthrough in high throughput and effective oocyte manipulation in cloning and fertility treatment.
Nanoliters Discharge/Suction by Thermoresponsive Polymer Actuated Probe and Applied for Single Cell Manipulation
Authors: Takeuchi Masaru ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Nakajima Masahiro , Kojima Masaru , Fukuda Toshio ,   Center For Micro-nano Mechatronics, Nagoya University
Published: April 2016

We propose the Thermoresponsive Polymer Actuated (TPA) probe which uses thermoresponsive polymer poly (N-isopropylacrylamide) (PNIPAAm) volume change as an actuator. The proposed probe is applicable to single cell analysis, especially single cell manipulation. The TPA probe can discharge and suck solution in several nanoliters (nl) using the volume change. Normally, it is difficult to realize solution discharge and suction less than several dozen nl by the conventional air- or oil-pressure-actuated probe. We designed the TPA probe for low-cost fabrication and disposable use. The probe also takes in and ejects on a nl order by simply switching a heater on and off. PNIPAAm solution volume change was evaluated in this paper. The manipulation of single microbead and the suction of target cell were also demonstrated by the TPA probe in the semi-closed microchip. It is considered that the TPA probe can contribute to the manipulation of single cell.
Real-Time Decision Making for Autonomous City Vehicles
Authors: Furda Andrei ,   Intelligent Control Systems Laboratory (ICSL), Institute of Integrated and Intelligent Systems, Griffith University, Brisbane, QLD 4111, Australia, Vlacic Ljubo
Published: April 2016

This paper addresses the topic of real-time decision making by autonomous city vehicles. Beginning with an overview of the state of research, the paper presents the vehicle decision making & control system architecture, explains the subcomponents which are relevant for decision making (World Model and Driving Maneuver subsystem), and presents the decision making process. Experimental test results confirmthe suitability of the developed approach to deal with the complex real-world urban traffic.
Stress Presumption of the Long Driving Using the Facial Thermal Image
Authors: Asano Hirotoshi ,   Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara-shi, Kanagawa 229-8558, Japan, Onogaki Hitoshi , Muto Takumi , Yokoyama Syuichi , Ide Hideto ,   Kogakuin University, 1-24-2 Nishi-Shinzyuku, Shinzyuku-ku, Tokyo 163-8677, Japan
Published: April 2016

There is a close relationship between car accidents and the physiological and psychological states of drivers. Stress may lead to a feeling of fatigue or a decrease in attentiveness. Therefore, it is an important subject from viewpoints such as that of accident prevention to evaluate the mental state of drivers behind the wheel. This research aims at the development of technology that will take quantitative measurements of stress based on facial skin temperature. It is based on the relation between facial skin temperature and changes in mental state. Presumption of stress level of a driver was attempted from the change in temperature pattern of a series of readings.