bluuebunny/crossref_metadata_2025 huggingface dataset:
Parallel Formation of Three-Dimensional Spheroid Using Microrotational Flow
Authors: Ota Hiroki ,   Department of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohoama 223-8522, Japan, Miki Norihisa
Published: April 2016

We propose three-dimensional (3D) spheroid formation involving perfusion and a lab-on-a-chip containing spheroid-forming chamber arrays. Cells are collected forming a spheroid in the chamber in microrotation. We previously reported a single chamber form hepatic spheroids 130 to 430 µm in diameter, controlling size by varying chamber diameter and cell density. Here, we scaled the system up by a factor of 10 while maintaining size control of 180±30 µm in diameter. Results were comparable to those using a single-chamber device. Long-term culture confirmed that cells in the spheroid maintained viability and diameters did not change after 24 hours. The system is readily applicable for creating size-controlled spheroids ensuring reliable, predictable in vitro data for drug screening and biological research.
Fabrication of Line and Grid Patterns with Cells Based on Negative Dielectrophoresis
Authors: Yasukawa Tomoyuki ,   Graduate School of Material Science, University of Hyogo, 3-2-1 Kouto, Kamigori, Ako, Hyogo 678-1297, Japan, Suzuki Masato , Shiku Hitoshi , Matsue Tomokazu ,   JST-CREST, 5 Sanbancho, Chiyoda-ku, Tokyo 102-0075, Japan,   Graduate School of Environmental Studies, Tohoku University, 6-6-11 Aramaki, Aoba, Sendai 980-8579, Japan
Published: April 2016

The rapid, direct fabrication of two-dimensional line patterns with biological cells in a culture medium we report here is based on negative dielectrophoresis (n-DEP). It easily creates a versatile cell micropattern without specially pretreating culture slides. When an alternating electric field, typically 1 MHz, was applied to an InterDigitated band Array (IDA) electrode with four subunits, n-DEP force directs cells toward a weaker of electric field strength region. Cells aligned above attracted bands within 1min. Applying AC voltage for 5 min enables cells to adhere to the cell culture slide. When 12 Vpp is applied, 45-65% cells remain in line after the device is washed and disassembled. Resulting adsorbed cell lines were immersed in a medium to culture cells. n-DEP patterning did not significantly damage cells for growth because of the cell number increased by growth. We fabricated cell grid patterns to demonstrate formation of different patterns. After the device was disassembled and excess cells removed, the culture slide was reassembled with the IDA electrode and was rotated 90° to the previous setup. Second cells were patterned in lines the same way, forming grid patterns on the slide. Micropatterns aligned cells at desired locations enabling a biomimetic structure to be generated with biological functions and to detect cellular response to many kinds of drugs for simultaneous high-throughput screening.
Optical Adhesion Control of Hydrogel Microtools for On-Demand Immobilization and Measurement of Cells on a Microfluidic Chip
Authors: Maruyama Hisataka ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai 980-8579, Japan, Fukuda Toshio , Arai Fumihito ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

Optical adhesion control of hydrogel microtools, made of hydrophilic photo-crosslinkable resin, was developed for on-demand immobilization and measurement of cells on a microfluidic chip. The hydrogel microtool was manipulated by optical tweezers and modified by spiropyran chromospheres, which was a photochromic polymer. We developed on-demand control of uni/bidirectional adhesiveness of the microtool by control of electrolyte concentration in a solution. Photo illumination controls the adhesiveness of the microtools. In case of unidirectional control of adhesiveness, the microtools adhere to glass, other microtools and cells by illumination of ultraviolet (UV) light. Spiropyran chromospheres were used for bidirectional control of adhesiveness to cell. In case of bidirectional control of adhesiveness, the microtools adhere to cells by UV illumination. On the other hand, the microtool detaches from the adhered cells by visible (VIS) light illumination. Electrolyte concentration in the solution controlled these adhesiveness controls. Adherence of the microtool was enough to keep its position on a microfluidic chip. We applied these immobilization methods to measure the local conditions around cells by modifying the microtool with a pH indicator, bromothymol blue (BTB). Local measurements of the ambient pH value of yeast cells were performed by immobilizing the cell on the surface of the pH sensing microtool. Moreover, culture monitoring of a single yeast cell was demonstrated by immobilization to the microtool.
EU CyberCars-2 Final Demo Results: IAI-CSIC Standpoint
Authors: Alonso Javier ,   Centro de Automática y Robótica, UPM-CSIC, Carretera de Campo Real, km. 0.200, 28500 La Poveda, Arganda del Rey, Madrid, Spain, Pérez Joshué , Milanés Vicente , González Carlos , Pedro Teresa de
Published: April 2016

In our work on decision and control algorithms for cooperative driving maneuvers developed by the AUTOPIA group of the IAI-CSIC1 in EU project CyberCars-2 (CC2), we focused on defining and developing the software architecture and procedures enabling transparent cooperation between cybercars and dual-mode cars in complex maneuvers tested in the final CyberCars-2 demo. After briefly outlining a common architecture definition, a detailed study of cooperative maneuvers and an analysis of decision and control primitives for cooperative driving, we report on the final demonstration, the data it provided and its control algorithms. The main contributors to this work are: IAI-CSIC, INRIA, and TNO. Note that three different vehicles with different architectures and different control can cooperate using the data exchanged and a common decision algorithm to conduct complex cooperative maneuvers.

1. The Industrial Automation Institute (IAI-CSIC) merged with the Polytechnic University of Madrid to become the Robotics and Automation Center (CAR-UPM-CSIC) on March 1, 2010.
Road-Crossing Landmarks Detection by Outdoor Mobile Robots
Authors: Chand Aneesh ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Yuta Shin‘ichi
Published: April 2016

Notably, a salient shortfall of most outdoor mobile robots is their lack of ability to autonomously cross roads while traveling along pedestrian sidewalks in an urban outdoor environment. If it has the ability to intuitively cross a road, the robot could then travel longer distances and more complex routes than originally possible. To this effect, the authors have been developing technologies that attempt to endow such a road-crossing function to outdoor mobile robots. In this paper, a system for road-crossing landmarks detection and localization for outdoor mobile robots is presented. We show how a robot equipped with a single monocular camera and laser range finder sensor can accurately detect, identify and localize roadcrossing landmarks such as pedestrian push button boxes, zebra crossings and pedestrian lights that the robots needs to be aware of and use in order to autonomously cross roads. In addition, experimental results and future plans are discussed.
Design for a 2-DOF Motion Platform
Authors: Wu Ping-Lin ,   Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu, Taiwan 30010, R.O.C., Chang Yang-Hung , Liao Chung-Shu , Chieng Wei-Hua ,   Develop Department, Injoy Motion Corporation, Datong St. 6-1, Tucheng City, Taipei County, Taiwan 236, R.O.C.
Published: April 2016

This study investigates the feasibility of adopting the 2-DOF motion platform design to combine optimal workspace and mechanical advantage, which is considered as important for low-cost simulators. A design method to optimize an objective function is presented. This method consolidates some major issues related to workspace volume, workspace symmetry, and actuator power requirements. Performance indices obtained from the inverse/forward kinematics are adopted within a global optimization procedure, GA, to determine the design spread-angle that improves the static and dynamic performance.
Identification of Contact Conditions by Active Force Sensing - Estimated Parameter Uncertainty and Experimental Verification -
Authors: Yamada Takayoshi ,   Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Tanaka Akira , Yamada Manabu , Funahashi Yasuyuki , Yamamoto Hidehiko ,   MISUZU-Corp Co., Ltd, 1606 Wakasato, Nagano, Nagano 380-0922, Japan,   Graduate School of Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya, Aichi 466-8555, Japan,   Department of System Engineering of Human Body, Chukyo University, 101 Tokodachi, Kaizu, Toyota, Aichi 470-0393, Japan
Published: April 2016

Accomplishing assembly tasks using robots requires that contact conditions between grasped objects and environments be identified and controlled during task execution. We propose estimated parameter uncertainty of contact location and direction, discussing four contact types – point, soft-finger, line, and planar contact. We formulate a least-squares function (i.e., performance index) including contact location and direction. The uncertainty of estimates is derived using the rest error of minimized index. The effectiveness of our proposed method is demonstrated through experiments.
Emulation of Fast and Slow Pains Using Multi-Layer Sensor Modeled the Layered Structure of Human Skin
Authors: Matsunaga Nobutomo ,   Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Jap, Zengin Aydin Tarik , Okajima Hiroshi , Kawaji Shigeyasu
Published: April 2016

In human and robot coexistence, human sensory and emotional feelings are aroused in the case of interaction. This causes such an unpleasant feeling called pain. It’s an important feeling in avoiding danger. For more safe interaction between human and robot, it becomes important for robots to sense pain. To emulate fast and slow pain, we use a pain emulation system consisting of a pain model and a multilayer sensor. After an overview of the superficial pain model, we discuss a multilayer sensor we developed to model the laminated human skin structure. We measure sensor response and emulate fast and slow pain using our proposed system in experiments. Results confirmed that, the proposed system responds similarly to both fast and slow pain in the subjects tested.
Special Issue on New Frontiers in Research on Robotics and Mechatronics (Part 1)
Authors: Hasegawa Yasuhisa , Suzuki Keiji
Published: April 2016

Robotics and Mechatronics Conference 2010 (ROBOMEC’10) was held at the Asahikawa Taisetsu arena in Asahikawa, Japan, on June 13-16, 2010, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Masashi Furukawa of Hokkaido University served as the General Chair and Prof. Keiji Suzuki of Hokkaido University as the Program Chair. The conference theme was “Robotics, Mechatronics, Big-bang, Frontier,” detailing expectations of major technology expansion in robotics and mechatronics. Over 1,100 presentations were made in 86 sessions, and participants numbered 1500 including those from abroad, making it a great success. The ROBOMEC’10 program committee selected 136 outstanding presentations. We recommended that authors submit original works for this issue, and received 53 papers. This special issue, Part 1 presents 15 papers strictly reviewed and accepted from among them. The remaining accepted papers will appear in the next issue as Part 2. We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
Engineering Experiments in Manufacturing Education
Authors: Satoh Hiroshi ,   Department of Electronic Control Engineering, Nagaoka National College of Technology, 888 Nishikatakai, Nagaoka, Niigata 940-8532, Japan, Toyama Shigehiro , Ogawa Nobuo , Umeda Mikio , Takahashi Akira , Usui Makoto , Oyanagi Hisaya ,   Technical Support Center for Education and Research, 3rd Technology Group, Nagaoka National College of Technology,   Technical Support Center for Education and Research, 2nd Technology Group, Nagaoka National College of Technology
Published: April 2016

This paper deals with engineering experiments in manufacturing education. In the Department of Electronic Control Engineering of Nagaoka National College of Technology, an engineering experiment in manufacturing education, “electronic circuit designs and manufacturing,” has been carried out since 2003. The theme of this experiment has been changed from that of basic electronic dice to original electronic circuits. These electronic circuits have not involved the use ot the microcomputers - only logic IC. Moreover, we have introduced a new experiment theme, “basic mechatronics,” since 2009. In this paper, we report on new experiment themes for manufacturing education and the results of surveys carried out after the experiments.
Effect of Reduced Plantar Sensation on Human Gaits on Various Terrains
Authors: Suzuki Shinichiro ,   Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Chaki Akira , Sekiguchi Kentaro , Ding Ming , Takemura Hiroshi , Mizoguchi Hiroshi
Published: April 2016

The aim of this study is to investigate the effects of plantar tactile sensibility on the gaits of subjects walking on regular and irregular terrains. We took 3-dimensional measurements of gait motions with a method of ice immersion to reduce plantar sensation, and we compared it to the measurements under normal (not iced) conditions. The subjects were 8 healthy men (21.9±0.8 years old). In these experiments, the subjects immersed their feet in ice water for 30 minutes. We conducted the experiments on even terrain and uneven terrain (48 trials in total per subject). We also measured 6-axis plantar reaction forces of subjects while they were walking. The subjects were 5 healthy young men (22.6±0.5 years old), and there were 25 trials in total. As a result, the results of the gait velocity (p <0.07), step length (p <0.96), and step width (p <0.5) on even terrains did not change significantly after the ice immersion. By contrast, on uneven terrain with a gait of free velocity, the gait velocity (p <0.01) and the step length (p <0.01) significantly decreased after the ice immersion. On uneven terrain with a gait of maximum velocity, the step length (p <0.01) significantly decreased, and the step width variability (p <0.03) increased after the ice immersion. Force variability in the back-to-front direction (p <0.03) and moment variability in pitch axis (p <0.004) significantly decreased, and roll axis moment variability (p <0.05) significantly increased after the ice immersion. These results support the hypothesis that reduced plantar sensation has a significant effect on human gaits, especially when a person is walking on uneven terrain.
3D Terrain Reconstruction by Small Unmanned Aerial Vehicle Using SIFT-Based Monocular SLAM
Authors: Suzuki Taro ,   Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Amano Yoshiharu , Hashizume Takumi , Suzuki Shinji ,   Department of Aeronautics and Astronautics, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

This paper describes a Simultaneous Localization And Mapping (SLAM) algorithm using a monocular camera for a small Unmanned Aerial Vehicle (UAV). A small UAV has attracted the attention for effective means of the collecting aerial information. However, there are few practical applications due to its small payloads for the 3D measurement. We propose extended Kalman filter SLAM to increase UAV position and attitude data and to construct 3D terrain maps using a small monocular camera. We propose 3D measurement based on Scale-Invariant Feature Transform (SIFT) triangulation features extracted from captured images. Field-experiment results show that our proposal effectively estimates position and attitude of the UAV and construct the 3D terrain map.
Robot Hand Whose Fingertip Covered with Net-Shape Proximity Sensor - Moving Object Tracking Using Proximity Sensing -
Authors: Hasegawa Hiroaki ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, East-4th Bldg., 1-5-1 Chofugaoka, Chofu-city, Tokyo 182-8585, Japan, Suzuki Yosuke , Ming Aiguo , Ishikawa Masatoshi , Shimojo Makoto ,   Department of Mathematical Engineering and Information Physics, Faculty of Engineering, The University of Tokyo, #6 Bldg., 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Published: April 2016

Occlusion in several millimeters from an object to be grasped made it difficult for a vision-sensor-based approach to detect relative positioning between this object and robot fingers joint grasping. The proximity sensor we proposed detects the object at a near range very effectively. We developed a thin proximity sensor sheet to cover the 3 fingers of a robot hand. Integrating sensors and hand control, we implemented an objecttracking controller. Using proximity sensory signals, the controller coordinates wrist positioning based on palm proximity sensors and grasping from fingertip sensors, enabling us to track and capture moving objects.
Evaluation of Basic Driving Characteristics and Implementation of Redundant Speed Limiting Function of a Double-Motor Driving System
Authors: Watai Eri ,   Dept. of Electro-Mechanical Engineering, Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka 572-8530, Japan, Jeong Seonghee
Published: April 2016

The final goal of this paper is to develop an actuator system with high safety and driving performance using a double-motor driving method. In order to realize the goal, firstly, the driving characteristics of the driving method is identified through several experiments. As a result of the experiments, it was clarified that the relationship between rotational speed and torque of the driving method becomes linear in case of a small offset voltage. In addition, it was verified that the motor torque generated by an offset voltage should be larger than the static friction of a gear reducer in order to reduce a backlash on the output shaft. A Safety Related Part (SRP) for the driving system is implemented to avoid an over speed. The SRP consists of two-channel safety parts capable of executing safety function to cut-off power to motors independently. Through several experiments, it was confirmed that the safety function was well conducted in case of a single failure of a sensor system.
Development of Small Motor Driver Integrating Sensor Circuit and Interchangeable Communication Board
Authors: Ito Nobuyuki ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Urata Junichi , Nakanishi Yuto , Okada Kei , Inaba Masayuki
Published: April 2016

This paper deals with humanoid robot motor driver and sensor boards, whose communication systems are expensive to upgrade because they are implemented in both types of boards. Then, we must re-develop motor driver boards and sensor boards to change communication function. Function of communication with host computer is the very important function. However, it is hard to evaluate and compare methods of communication. So, we divide the function of motor driver to communication and driving motor. And we suggest the configuration of interchangeable communication system.
Modulation of Musical Sound Clips for Robot’s Dynamic Emotional Expression
Authors: Jee Eun-Sook ,   Div. of Mechanical Engineering, KAIST, #2314, Building #N5, 373-1 KAIST, Guseong-dong, Yuseong-gu, Daejeon 305-701, Korea, Kim Chong Hui , Kobayashi Hisato ,   Human-Robot Interaction Research Center, KAIST, (Agency for Defense Development, Daejeon, Korea), 373-1 KAIST, Guseong-dong, Yuseong-gu, Daejeon 305-701,Korea,   Graduate School of Art and Technology, Hosei University, 4-7-1 Fujimi, Chiyoda-ku, Tokyo 102-8160, Japan
Published: April 2016

Sound is an important medium for human-robot interaction. Single sound or music clip is not enough to express delicate emotions, especially it is almost impossible to represent emotional changings. This paper tries to express different emotional levels of sounds and their transitions. In this paper, happiness, sadness, anger, and surprise are considered as a basic set of robots’ emotion. By using previous proposed nominal sound clips of the four emotions, this paper proposes a method to reproduce the different emotional levels of sounds by modulating their musical parameters ‘tempo,’ ‘pitch,’ and ‘volume.’ Basic experiments whether human subject can discern three different emotional intensity levels of the four emotions are carried out. By comparing the recognition rate, the proposed modulation works fairly well and at least shows possibility of letting humans identify three intensity levels of emotions. Since the modulation can be done by dynamically changing the three musical parameters of sound clip, our method can be expanded to dynamical changing of emotional sounds.
Probabilistic Localization of Mobile Wireless LAN Client in Multistory Building Based on Sparse Bayesian Learning
Authors: Umetani Tomohiro ,   Department of Intelligence and Informatics, Konan University, 8-9-1 Okamoto, Higashinada, Kobe, Hyogo 658-8501, Japan, Yamashita Tomoya , Tamura Yuichi ,   Graduate School of Natural Science, Konan University
Published: April 2016

This paper describes a method for localizing wireless mobile clients in a multistory building using a public wireless Local Area Network (LAN) system. Physical location data on personal devices and mobile robots is important to information services and robot applications. Wireless mobile clients are localized in a multistory building using public wireless LAN access points placed, three-dimensionally in the building. Information on the floor number and client location is acquired probabilistically, with estimation providing a probabilistic model for localization based on sparse Bayesian learning. Results of experiments confirm the feasibility of our proposal.
Visual Marker System for Autonomous Object Handling by Assistive Robotic Arm
Authors: Tanaka Hideyuki ,   National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Tomizawa Tetsuo , Sumi Yasushi , Lee Jae Hoon , Do Hyun Min , Kim Bong Keun , Tanikawa Tamio , Onda Hiromu , Ohba Kohtaro
Published: April 2016

The environment structuring concept has been used to design and develop a visual marker system for automating a robotic arm that assists those with upperlimb problems to lead independent lives. Confirmation experiments demonstrate the feasibility of our system in meeting different practical performance requirements. Combining semiautonomous control, simple visual feedback, and our system enabled the assistive robotic arm to handle objects autonomously – something that had not been previously conventionally possible.
Predictive Dynamics-Based Motion Control for the Rough-Terrain Locomotion of the Personal Vehicle Falcon-III
Authors: Ickowzcy Ewerton ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, I1-52, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Aoki Takeshi , Hirose Shigeo ,   Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan
Published: April 2016

A predictive control strategy aiming to reduce the impact generated on a personal vehicle during obstacle negotiation is proposed. Similarly to the motion executed by a cyclist when he/she is about to negotiate a step, the motion strategy uses a dynamic effect to temporarily reduce the load on the wheel of the vehicle that must negotiate the obstacle, thus reducing the impact force as well. Such motion control strategy was developed for the three-wheeled personal vehicle Falcon-III. The vehicle behavior using the predictive control strategy was first investigated for basic cases, such as when only one of the wheels had to negotiate an obstacle; later, the strategy was generalized by combining the motion derived for the basic cases. Robustness is achieved by the use of fuzzy logic to infer the displacement of the ZMP required to negotiate different obstacles. The predictive motion control strategy was compared with a conventional feedback attitude control strategy, and was shown to produce smaller impacts than simply using the feedback strategy.
Building a Search Tree for a Pilot System of a Rescue Search Robot in a Discretized Random Step Environment
Authors: Magid Evgeni ,   Intelligent Robot Laboratory, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Tsubouchi Takashi , Koyanagi Eiji , Yoshida Tomoaki ,   Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
Published: April 2016

Rescue robotics applies search and rescue robots to expand rescue capabilities while increasing safety. Mobile robots working at a disaster site are monitored remotely by operators who may not be able to see the site well and select work paths appropriately. Our goal is to provide a “pilot system” that can propose options for traversing 3D debris environments. This requires a special debris path search algorithm and an appropriately defined search tree ensuring smooth exploration. To make a path search feasible in huge real state space we discretize search space and robot movement before a search. In this paper we present path quality estimation and search tree branching functionF, which defines search tree building process online through node opening and branching. Well-defined functionFremoves unsuitable search directions from the search tree and enables dynamic path planning accounting for debris. Exhaustive simulation was used to structure and analyze data. Experiments confirmed the feasibility of our approach.
Development of Educational Materials for Construction of Mechatronic Systems and Their Application
Authors: Kaneda Tadahiro ,   Department of Technological Systems, Osaka Prefecture University College of Technology, 26-12 Saiwai-cho, Neyagawa-city, Osaka 572-8572, Japan, Yoshitani Yasumasa , Umemoto Toshitaka , Yabu Atsuo , Doi Tomoharu , Semi Masatoshi ,   Daisen Electronic Industrial Co., Ltd., 4-9-24 Nipponbashi, Naniwa, Osaka 556-0005, Japan
Published: April 2016

We have developed educational materials on mechatronics with microcomputers embedded as a core as often found in autonomous robots. The developed educational materials are expected to obviate needs for other educational materials to learn a wide range of mechatronics from autonomous robots to factory automation systems as well as learn step by step from visually comprehensible tiling programming to C-language programming. We have used the developed educational materials at the workshops we have conducted as a part of the three-year humanresource development project for small and medium enterprises. In addition, we have compiled into textbooks know-how we have acquired at the workshops and have applied it to the experimental practices of the College.
Design and Delivery of a Subject in Robotics
Authors: Fang Gu ,   School of Engineering, University of Western Sydney, Locked Bag 1797, Penrith NSW 2751, Australia
Published: April 2016

Course design in engineering should be able to address the core competencies that are required by the engineering profession. To implement this concept many courses are structured to include real-situation projects. From the view point of mechatronic engineering education, it is clear that a robotic project will be suitable to integrate the course contents. However, to provide necessary theoretical skills for students to solve real engineering problems, project only is not sufficient in the subject. In this paper the design and delivery of a subject in robotics at the University of Western Sydney (UWS) is presented and discussed. In particular, this paper reviews the concept behind the course contents, assessments and delivery design. The paper has also demonstrated the impact of such course design in student performance and perception using student survey results and final grades in classes.
Practice of School Education Using Micro Robots and Verification of its Effectiveness
Authors: Misaki Daigo ,   Department of Mechanical Systems Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo 163-8677, Japan, Arai Koichi
Published: April 2016

This paper is to report on the practice of school education using robots and verification of its effectiveness held on the subject of “assembly of robots with off-theshelf commodities” which is mainly intended for elementary and middle school pupils. Use of micro robots as teaching material in the classroom gave a great number of pupils more opportunities to touch robots and find fun in robots. In addition, questionnaire surveys conducted on incumbent teachers who attended the lecture at Kogakuin University have proved it very useful to analyze educational robots which meet the needs in the field of education.
Design Education Using Personal Mobile Robot
Authors: Takahashi Yoshiyuki ,   Department of Human Environment Design, Faculty of Human Life Design, Toyo University, 48-1 Oka, Asaka-shi, Saitama 351-8510, Japan, Takagi Motoki , Yoneda Ikuo ,   Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
Published: April 2016

In this study, we describe an educational program of robotics in the course of the department of design. Most target students are uninterested in robotics and have no background with advanced mathematics and physics. Then, we try to expand experience-based learning by using a real robot. The non-science students in the university build an actual working robot and this interests them. The robot is a mobile robot that is designed to carry the objects instead of the user. Students did machining and assembling of mechanical and electrical parts and then built the mobile robot. After the course, 84% students scored more than average.
Street Performance Robot Contest as Practice in Creativity Education
Authors: Endo Gen ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Aoki Takeshi , Suzuki Hideaki , Fukushima Edwardo F. , Hirose Shigeo ,   Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan,   Technical Department, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan
Published: April 2016

This paper introduces the curriculum for creativity education that has been conducted at the Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, for 20 years, for the purpose of systematization of education using robots. In particular, we describe the significance of the lecture and operational know-how of contests for street performance robots, which we have continuously held in the course called “machine creation.” The results of a questionnaire survey of students indicate that this course is a valuable experience for students.
Enhancing Student Engineering, Personal, and Interpersonal Skills Through Yumekobo Projects
Authors: Demura Kosei ,   Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Ishikawa 921-8501, Japan, Sakamoto Takumi , Asano Yasuki , Matsuishi Masakatsu ,   Project Education Center, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Ishikawa 921-8501, Japan
Published: April 2016

The Kanazawa Institute of Technology (KIT) established Yumekobo (the Factory for Dreams and Ideas) in 1993 to give students a place to create things freely and safely in extracurricular activities. Yumekobo has come to impact strongly on domestic and overseas universities promoting educational reform. The Yumekobo project supporting creative student group activities is no longer just a place for extracurricular activities, but has come to symbolize KIT educational philosophy. Students even cite the Yumekobo project as why they apply to be admitted to KIT. The project both improves students’ technical capability and helps develop their personal and interpersonal skills – skills not taught sufficiently in institutions of higher education. The program’s core is developing personal and interpersonal skills through student-led group activities. This paper details and assesses the Yumekobo project and its educational effect based on questionnaires conducted over the last 10 years.
Educating Robot Development in a University Laboratory from First Year – A Trial of a Robotics Club Under Observation at a Laboratory –
Authors: Kumagai Masaaki ,   Tohoku Gakuin University, 1-13-1 Chuo Tagajo, Miyagi 985-8537, Japan
Published: April 2016

A special trial university course by the author in robotics and mechatronics enables students hoping to explore robot development to use the author’s laboratory, equipment, machines, and consumable supplies such as screws, aluminum materials, and electrical parts freely in the hope that these students start developing mechatronics devices in their first year at university rather than waiting as is conventional to start research and development in their fourth year. This is, hopefully, an effective educational approach bringing robotics laboratory benefits to a traditional mechanical engineering department while minimizing cost and time. Statistical data on the number of students taking part and student job hunting are provided based on the six-year period of the program’s activity.
Education Method of Robotics with Jigsaw Method by Using RT Component
Authors: Hayashibara Yasuo ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Kotosaka Shinya , Miyake Naomi , Sato Tomomasa ,   Saitama University, 255, Shimo-Okubo, Sakura-ku, Saitama 338-8570, Japan,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Published: April 2016

This paper introduces an educationmethod of robotics with the jigsaw method by using the RT component. Robotics contains many areas of technologies, such as mechanism, electronics, and computer programming. Therefore, it may be a desirable academic discipline for studying current complex technologies. For studying robotics efficiently, we propose an education method of robotics based on the jigsaw method. The jigsaw method is an efficient method to induce collaborative learning. We apply the jigsaw method to practical training of controlling a real mobile robot. We design an education program according to the method and develop its educational tool. Our developed educational tool is portable and simple to use. It just consists of a small mobile robot, a range sensor, circuit boards, and a personal computer. The mobile robot is controlled through USB. Moreover, students make program by using RT component. The RT component is a standard software component in the field of robotics. By using the RT component, they can skip to creating programs to drive hardware. We executed an experimental lecture according to the educational program. Through the experiment, we discuss the effectiveness of the proposed method.
Quick, Cheap, and Creative Development for Robotics Education: Understanding and Experiencing Prosthetics Technology
Authors: Matsushita Kojiro ,   Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan
Published: April 2016

In this paper, we propose a cheap, quick, and creative developmental kit for prosthetic applications, and we report on demonstrations in robotics education based on it. The proposed kit consists of an Electro-Myo-Graphic (EMG) sensor, an EMG-to-motor controller, and a wire-driven device. It is designed to be used to provide robotics courses to help middle school / high school / university students to understand today–s science and technology – especially prosthetics technology. The concept of prosthetics technology is generally difficult for participants to understand, so we provide the following three demonstrations in the course: (1) “Simple Prosthetic Hand” is an imitation of the most common commercially-available electric prosthetic hand. The “Simple Prosthetic Hand” illustrates that a low-precision design can be inexpensive to produce yet appropriate for the understanding of prosthetic hand technology. (2) The “Rock-Scissors-Paper Prosthetic Hand” indicates research-target prosthetic hands. It clearly delivers EMG-to-motion discrimination processes. (3) The “EMG Presbyopia Spectacles” exemplify the concept that even beginners can possibly use unique ideas to design creative prosthetic applications based on daily activities. The participants’ interactions with these three demonstrations contribute to their understanding the concept of prosthetic application. We have conducted the educational courses for middle school, high school, and university students. For middle and high school students, we have provided 2-hour lectures, and the demonstrations have helped the participants to understand why and how prosthetic applications work. For university students, we have provided a 6-hour robot design course with the kit. The participants have built both simple and complicated structures, and they have enjoyed controlling them with their muscles.
Use of Cranes in Education and International Collaborations
Authors: Singhose William ,   The George W.Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332-0405, USA, Vaughan Joshua , Peng Kelvin Chen Chih , Pridgen Brice , Glauser Urs , Márquez Juan de Juanes , Hong Seong-Wook ,   Mechanical Engineering Department, Zurich University of Applied Sciences, 8401 Winterthur, Switzerland,   Universidad Politécnica de Madrid, Escuela Técnica Superior de Ingenieros Industriales, C. Jose Gutierrez Abascal, 2, Madrid 28006, Spain,   School of Mechanical Engineering, Kumoh National Institute of Technology, 1 Yangho-dong, Gumi, Gyeongbuk 730-701, Korea
Published: April 2016

This paper describes the use of cranes in system dynamics and control courses and international collaboration. Four different cranes designed and built for educational purposes are presented, and the curriculum developed to use the cranes is summarized. The cranes can be operated remotely from anywhere in the world via the Internet. This feature facilitates both educational activities and research collaboration. Example use of cranes in international collaboration and undergraduate research are described. The paper concludes with a discussion of key challenges and a program assessment.
A Home Healthcare System with Communication Robot Technologies – Development of Experimental Systems and in-Home Verification Experiments by Older Persons
Authors: Toda Kengo ,   Future Robotics Technology Center (fuRo), Fujioka Mutsuhisa , Fujii Atsuhiro , Okawa Shigeki , Shinohara Junri , Tanaka Shinji , Nakamura Takayuki , Furuta Takayuki ,   Chiba Institute of Technology (C.I.T), 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan,   Sekisui House, Ltd.
Published: April 2016

We have been researching and developing a Home Health-Care System (H2CS) using Communication Robot Technologies (CRT) that supports a worry-free home life for older persons. Through a communication robot with voice interaction, a Graphical User Interface (GUI) and a chair with built-in health data sensing devices, the system determines the user’s state of health from the results of blood-pressure, body temperature, weight and information obtained by a medical interview. Users and their physicians can study and share this information. One of the system’s most problems is continuous measurement, so we target a H2CS thatmotivates and supports older users tomaintain their daily routines through communication robot technologies. The experimental system and its confirmation experiments are detailed in the sections that follow.
HELIOS Tracked Robot Team: Mobile RT System for Special Urban Search and Rescue Operations
Authors: Hodoshima Ryuichi ,   Graduate School of Science and Engineering, Saitama University, 255 Shimo-Okubo, Sakura-ku, Saitama-shi, Saitama 338-8570, Japan, Guarnieri Michele , Kurazume Ryo , Masuda Hiroshi , Inoh Takao , Debenest Paulo , Fukushima Edwardo F. , Hirose Shigeo ,   HiBot Corporation, Meguro Hanatani Bldg.801, 2-18-3 Shimo-Meguro, Meguro-ku, Tokyo 153-0062, Japan,   Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan,   IBM Japan Ltd., 19-21 Nihonbashi Hakozaki-cho, Chuo-ku, Tokyo 103-8510, Japan,   Atelier E-N, 1-36-4 Hashikadai, Narita-shi, Chiba 286-0037, Japan,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152-8552, Japan
Published: April 2016

Fire brigades and other specialized agencies are often required to undertake extremely dangerous search and rescue operations in which it is important first to verify the safety of the environment and then to obtain clear remote images of the inside of buildings and underground areas. Several studies have addressed the possibility of using robotic tools to make such operations safer for operators and more efficient in time and resource allocations. This paper describes the development of the HELIOS team, consisting of five tracked urban search and rescue robots. Two of these have arms and grippers for specialized tasks, such as handling objects and opening doors. The other three use cameras and laser range finders to construct virtual 3D maps of environment explored, moving autonomously while collecting data using a Cooperative Positioning System (CPS). After introducing robot team specifications, we detail mechanical robot design and control systems. We then present test results for the CPS and HELIOS IX vehicle together with typical mission experiments.
Development of a “TSUMIKI” Robot Toy Based on a Figure Original to the Hokkaido Region - Examination of a Prototype Robot of Blakiston’s Fish Owl, Called “Kotan Kor Kamuy,” a Household God of the Aynu
Authors: Mitani Atsushi ,   Department of Design, Sapporo City University, 1 Geijyutsu-no-mori, Minami-ku, Sapporo 005-0864, Japan, Matsumoto Yukiko ,   Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan
Published: April 2016

The robot toy prototype detailed here is based on a figure original to Japan’s northeastern-most island of Hokkaido. Traditionally made of native ezomatsu (Picea jezoensis) wood it was the carving of a Blakiston’s fish owl, an Aynu household god called Kotan Kor Kamuy. The design concept incorporates traditional building blocks, or “tsumiki.” We detail the design process of the Blakiston’s fish owl toy and the drive mechanism. It includes an electronic circuit, a microprocessor, a servomotor, and a sensor. We also describe how we developed the effective prototype implementing these components.
Improvement of GPS and GLONASS Positioning Accuracy by Multipath Mitigation Using Omnidirectional Infrared Camera
Authors: Kitamura Mitsunori ,   Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Suzuki Taro , Amano Yoshiharu , Hashizume Takumi
Published: April 2016

This paper describes a precision positioning technique that can be applied to vehicles or mobile robots in urban or leafy environments. The availability of satellite positioning is currently expected to improve due to the presence of positioning satellites such as US GPS, Russia’s Glonass and Europe’s Galileo. Due to the serious multipath impact on positioning accuracy in urban or leafy areas, however, improvements in satellite positioning availability do not necessarily facilitate highprecision positioning. Our proposed technique mitigates the GPS and Glonass multipath using an omnidirectional infrared (IR) camera that can eliminate the need for invisible satellites using IR images. With an IR camera, the sky appears distinctively dark. This facilitates the detection of the borderline between the sky and surrounding buildings and foliage due to the difference in atmospheric transmittance between visible light and IR rays, since buildings and foliage appear white. The proposed technique can automatically and robustly mitigate the GPS and Glonass multipath by excluding invisible satellites. Positioning was evaluated with visible satellites, which have less multipath error and without using invisible satellites. Evaluation results confirmed the effectiveness of the proposed technique and the feasibility of its highly accurate positioning.
PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment
Authors: Aoyama Tadayoshi ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Sekiyama Kosuke , Hasegawa Yasuhisa , Fukuda Toshio ,   Department Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tenodai, Tsukuba 305-8573, Japan
Published: April 2016

This paper deals with the 3-D biped walking of a humanoid type robot over rough terrain. We previously proposed efficient 3-D biped walking control using Passive Dynamic Autonomous Control (PDAC) based on the assumption of point-contact and virtual holonomic constraint of robot joints. Walking adaptability has not, however, been analyzed. We thus analyze the environmental adaptability of PDAC-based walking method in this paper. The robot is modeled as a variable-length 3-D inverted pendulum whose dynamics is modeled as a 2-D autonomous system by applying PDAC. We analyze the stability of the 2-D autonomous system using a Poincaré map and derive the stable range of uneven height over rough terrain. We then experimentally validate 3-D biped walking on unknown rough terrain using our humanoid type robot, Gorilla Robot III.
Development of Microscopic Hardness and Stiffness Investigation System with MicroRobot
Authors: Pakkratoke Montree ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Hirata Shinnosuke , Kanamori Chisato , Aoyama Hisayuki
Published: April 2016

In order to investigate micro hardness and stiffness in a special chamber, the development of a small-force generator mechanism and a piezodriven microrobot is described in this paper. This small-force generator is simply composed of a Voice Coil Actuator (VCA) and the tandem leaf spring mechanism. The small force can be controlled by an electrical current, which is supplied to the coil and positioned precisely at the balance point with the parallel leaf spring with no mechanical friction. The full bridge strain gauges on both sides of the double leaf spring can detect a small force that is applied to the sample with a microindenter. This handmade small device can produce and verify small forces up to 17 mN with good linearity and a 50 µN resolution. The displacement of the indenter head can be also measured by the Linear Valuable Differential Transformer (LVDT) on the machine for monitoring the depth behavior of the indenter during the whole dwell time. The small force generator with the indenter can be implemented on the piezodriven microrobot to check the microscopic hardness and stiffness. This microrobot can move around the measurement area precisely step by step with 1 µm steps on a metal plate, so that the sample can be scanned with microscopic resolution in situ, such as in an SEM chamber. In the experiment results, the basic performance of microelasticity investigations with a certified hardness block was successfully checked and the indentation load-depth characteristics were precisely acquired on the path of the microrobot.