bluuebunny/crossref_metadata_2025 huggingface dataset:
Evolutionary Collision Free Optimal Trajectory Planning for Mobile Robots
Authors: Hashem M.M.A. ,   Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Watanabe Keigo , Izumi Kiyotaka ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University 1-Honjomachi, Saga 840-8502, Japan
Published: April 2016

We present an evolutionary trajectory planning method for mobile robots following a novel evolution strategy (NES) algorithm. The 2-D trajectory planning problem of a mobile robot among polygonal obstacles is formulated as a constrained time-optimum control problem considering motion. Unlike traditional evolutionary representation, special representation of individuals and crossover are used for the evolutionary search. Swapping crossover, insertion, and deletion mutations are used as background operators for maximum evolutionary algorithm flexibility. Polygonal obstacles in the world coordinate frame are modeled as circles from visibility and sensor modeling concepts. An appropriate cost (fitness) function is constructed as the only link between the evolutionary algorithm and environment. Our proposed evolution is effective for collision-free optimum trajectory planning in robot simulation within a heavily constrained (obstacle) environment.
Mobile Robot Architecture in Intelligent Space
Authors: Lee Joo-Ho ,   Institute of Industrial Science, University of Tokyo, 7-22-1 Roppongi, Minato-ku, Tokyo 106-8558, Japan, Ando Noriaki , Hashimoto Hideki
Published: April 2016

We propose a concept for constructing an intelligent mobile system, stating why a new mobile architecture is needed in intelligent space. Intelligent space is expected to be an authentic future environment. Intelligent space is a room or area with sensors, a network, and computers. If the environment gets intelligence, it is no long a distinct part of an intelligent mobile system and the mobile system becomes a physical agent of intelligent space. Our experiments show what is possible for a mobile robot in intelligent space.
Chrysanthemum Cutting Sticking Robot System
Authors: Kondo Naoshi ,   Laboratory of Agricultural Systems Engineering, Faculty of Agriculture, Okayama University, 1-1-1, Tsushima-Naka, Okayama 700-8530, Japan, Monta Mitsuji
Published: April 2016

Cutting sticking operation is essential on a chrysanthemum production to enhance its productivity. Since it is said that several hundred chrysanthemum seedlings are produced in a year in Japan, it takes a long time and much labor to do the sticking operation and automation of the monotonous operation is desired. A robotic cutting sticking system mainly consisted of four sections; a cutting providing system, a machine vision system, a leaf removing device, and a sticking device. First, a bundle of cuttings was put into a water tank. The cuttings were spread out on the water by vibration of the water tank. The cuttings were picked by a manipulator based on information of cutting positions from a TV camera and sent them one by one to next stage. Secondly, another TV camera detected the position and orientation of the transported cutting and indicated a grasping point in the cutting stem for another manipulator moving. Thirdly, the manipulator moved the cutting to a sticking device through a leaf removing device to cut lower leaves, and then 10 cuttings were stuck into a tray at a time.
Analysis of an Opto-Pneumatic Control System and Improvement of its Control Performance
Authors: Akagi Tetsuya ,   Department of Electronics and Control Engineering, Tsuyama National college of Technology, 624-1 Numa, Tsuyama, Okayama 708-8509, Japan, Dohta Shujiro , Matsushita Hisashi ,   Department of Mechanical Engineering, Faculty of Engineering, Okayama University of Science, 1-1 Ridai-cho, Okayama 700-0005, Japan
Published: April 2016

This paper describes an analysis of an opto-pneumatic control system and an improvement of control performance of the system. The opto-pneumatic system consists of an optical servo valve, a pneumatic cylinder and a cart. First, we built an analytical model of the system considering a nonlinear friction where exists in sliding parts. And we confirmed the validity of the proposed model by comparing theoretical results with experimental results of the characteristics of optical servo valve and cart position control. Then, we applied a sliding mode control scheme compensating a steady-state disturbance to multi- position control and follow-up control of a cart. By computer simulation, we confirmed that the control performance of opto-pneumatic control system was improved by using this control scheme.
Sub-optimal Operating Time for Saving Energy of an Articulated Manipulator
Authors: Izumi Teruyuki ,   Department of Electronic and Control Systems Engineering, Shimane University, 1060 Nishi-Kawatsu, Matsue, Shimane 690-8504, Japan, Zhou Hai
Published: April 2016

Saving energy dissipated by the manipulators is important for improving the environment. We developed an optimal, suboptimal operating to minimize dissipated energy in PTP motion. Simplified velocity such as for parabolas and trapezoids identical to the optimal velocity are taken into consideration. Velocity functions are expanded with a time scale, and each component of dissipated energy is derived proportional to the power of expansion. Optimal expansion minimizing dissipated energy is easily obtained by solving an algebraic equation, and suboptimal operating time is determined from optimal expansion. Simulation confirmed that suboptimal operating time was similar to the optimal and that dissipated energy could be saved by selecting a suboptimal operating time.
Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control)
Authors: Taguchi Kan ,   Cooperative Research Center, Momoi Yasuyuki , Yamafuji Kazuo ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu, Tokyo 182-8585, Japan
Published: April 2016

We studied stilt-like dynamic walking by a 1-legged robot with a skate-like shoe for a foot and an overhead rotor to stabilize posture. The robot remains upright by rocking the foot left and right and rotating the overhead rotor. This paper describes control for stilt-like dynamic walking combining rocking and yaw angle control.
Motor Driving Control of an X-Y-Z Table Using a Photoelectric Device and Optical Pattern Recognition
Authors: Yamaji Koki ,   Aichi College of Technology, 50-2 Manori Nishihasama-cho, Gamagori, Aichi Prefecture 443-0047, Japan, Muraoka Yoshihisa ,   Nagoya Kougakuin College, 4-7-21 Jingu, Atsuta, Nagoya, Aichi Prefecture 456-0031, Japan
Published: April 2016

The introduction of industrial robots is an indispensable methodology in acheving factory automation. In order to advance the application technology of the robots, peripheral technology such as measurement and recognition must be developed. There are large amount of research devoted to sensing and recognition devices and systems. Assembly automation requires the accurate three dimensional position sensors, positioning systems and related sensory devices. A wide variety of optical devices have been developed for many applications. The advent of the laser has provided a coherent light source. This makes applications possible including highly accurate measurement and optical pattern recognition devices. In this paper, position detectors which use the lateral photo effect are applied to position detection and positioning for a X-Y-Z stage. Lasers (He-Ne, 632.8nm) are used for a light source and PSD's are used for light receptors. Both devices are applied efficiently to the absolute position detection of a X-Y-Z stage and to the pattern recognition.
Reaction Force Control of a Parallel Biwheel Vehicle Driven with a Stepping Motor
Authors: Hiraoka Nobuaki ,   Takamatsu National College of Technology, 355 Chokushi-cho, Takamatsu 761-8058, Japan, Noritsugu Toshiro ,   Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan
Published: April 2016

Reaction force control of a parallel biwheel vehicle (PBV) driven with two stepping motors in open loop mode is used for holding and transporting objects. The inverted pendulum type unstable PBV's attitude is regulated by a discrete time sliding mode controller. Reaction force is generated by contacting and leaning the PBV body toward objects and reaction force magnitude is controlled by a fuzzy logic controller whose nonlinear control achieves a quick, calm response. For a square wave force reference up to 1 N, the PBV quickly follows a reference signal without overshoot and maintains a steady reaction force. Control performance is discussed in detail aid compared to PI force control. The two PBVs cooperatively transport an object.
On-line Identification of Furnace Parameters for Coal-Fired Boiler Control
Authors: Fukayama Yukio ,   Babcock-Hitachi Kure Research Laboratory, Hirasawa Kotaro , Shimohira Katsumi , Tsumura Toshikazu , Yamamoto Koji ,   Department of Electrical and Electronic Systems Engineering, Kyushu University,   Kure Works, 3-36 Takara-machi, Kure, Hiroshima 737-8508, Japan
Published: April 2016

A new identifier for furnace parameters on control coalfired boilers fuel ratio dominating coal burning speed and slagging factor influencing the heat resistance on heating surfaces was applied to a 1000MWe power station. The identifier is based on the Extended Kalman Filtering on a nonlinear boiler dynamics model including energy and mass conservation laws in continuous time with seeking parameters fluctuated as the Brownian motion. The identifier refers to not only measured gas and water temperature at boilers (observable) but also actual fuel flow of each burner (manipulation) for the guidance to plant operators to cope with parameter fluctuation. Due to numerical stability, the identifier uses both Pade (1,1) approximation for time discretizing and U-D factorization for calculating the covariance matrix.
Design of a Robotic System that Plays with a Yoyo
Authors: Hashimoto Koichi ,   Department of Systems Engineering, Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530, Japan, Noritsugu Toshiro
Published: April 2016

Yoyo dynamics are discontinuous and highly nonlinear, and dynamic parameters are difficult to estimate precisely. Some parameters even change their sign at the loop bottom of yoyo's trajectory. Humans predict parameter change timing visually and sense yoyo dynamics through the fingers. Designing a robot that plays with a yoyo is difficult due to a lack of sensors and dynamic equations for sensing yoyo movement. We propose eventbased formulation for this based on an energy balance model and event-driven control. Simulations and experiments verified the validity of formulation and controller design.
Study of a Brush-Type Micro-Robot Using Micro Coreless Motor
Authors: Ioi Kiyoshi ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Kinki University, 1 Takaya Umenobe Higashihiroshima, Hiroshima 739-2116, Japan
Published: April 2016

This paper deals with a new brush-Type micro-robot using micro coreless motor. Though many mobile microrobots using PZT elements generally require some highvoltage amplifiers with electric cable lines, making it little difficult for the mobile microrobot to move about on long, thin pipes. The present micro-robot consists of many brush fibers, two coreless motors and an electric cell. The coreless motors with eccentric weights can generate centrifugal forces transmitted to the elastic brush fibers driving the microrobot. A basic mathematical model of the micro mobile robot using centrifugal forces is derived. Simple prototypes are developed, and high velocity is examined by experiments. The validity of the proposed mathematical mode was examined by way of the comparision of simulated and experimental results.
Environment Mapping Robot Using Supersonic Sensor
Authors: Uchida Masafumi ,   Wakayama University, Hisaya Tanaka , Ide Hideto ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, Japan
Published: April 2016

We studied an automapping algorithm for an autonomous robot having ultrasonic range sensors. A robot with a working environment map operates smoothly. The robot consisted of an automapping algorithm using ultrasonic range sensors and a path planning algorithm. Ultrasonic range sensors are basic, inexpensive, and compact. We proposed an automapping algorithm introducing a parameter, valid length, for a robot with ultrasonic range sensors. The map was based on an occupancy grid. Computer simulation confirmed the effectiveness of introducing valid length in mapping by an autonomous robot. We discuss proposed distinctions and performance.
Joint Positions and Robot Stability of the Omnidirectional Crawling Quadruped Robot
Authors: Chen Xuedong ,   Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Watanabe Keigo , Izumi Kiyotaka ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan
Published: April 2016

Determination of joint positions, judgment of robot stability, and selection of the consequential swing leg are keys to crawling control for quadruped robots. We derive an efficient way to obtain actuation variables of joint positions to satisfy the gait for quadruped robots. By defining the statically stable area for foot placement, a new approach on analysis of robot stability is presented. Unlike conventionally, we avoid solving complicated direct robot kinematics as an overall kinematic chain and simultaneously show information on robot stability and the stable range of foot placement. Effectiveness is shown in practical crawling experiments.
Torque Reduction Method for Redundant Manipulator
Authors: Uematsu Kenji ,   Department of Micro System Engineering, Graduate School of Engineering, Fukuda Toshio ,   Center for Cooperative Research in Advanced Science & Technology, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan
Published: April 2016

Redundant manipulators are used to avoid collisions and conduct motion in which all manipulator links avoid the obstacle in work space. The manipulator changes position by adjusting a redundant degree of freedom, simultaneously, but joint torque saturates and error at the end point increases with the number of components. We propose bracing control to contact the intermediate point of the redundant manipulator with the environment and to use contact force as equivalent control input to compensate for joint torque. We verify the effectiveness of our proposal through simulation.
Intelligent Sensor Fault Detection of Vibration Control for Flexible Structures
Authors: Isogai Masahiro ,   Yamazaki Mazak Corporation, Oguchi-cho, Niwa-gun, Aichi prefecture 460-0197, Japan, Arai Fumihito , Fukuda Toshio ,   Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan,   Center for Cooperative Research in Advanced Science & Technology, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan
Published: April 2016

Vibration control for flexible structures such as arms and space structures has been widely studied. We proposed model-based decentralized control for flexible structures by decoupling mode quantities of other links. If a failure occurs, control performance drops due to parameter error between the model and plant. We must consider device fault detection and controller reconfiguration. We propose a fault-tolerant system using inverse dynamics constructed by neural network for sensor fault detection and NN adaptive control for the actuator fault to reconfigure control to compensate for parameter changes due to actuator faults. The effectiveness of our proposal is shown through simulation.
Special Issue on Virtual Reality
Authors: Takeda Takashi ,   Professor, Department of Mechanical Engineering, Nagasaki Institute of Applied Science, 536 Aba-machi, Nagasaki-shi 851-0193, Japan
Published: April 2016

Special Issue on Virtual Reality Achieved by Researchers in Kyushu This special issue on virtual reality technologies recently developed by researchers in Kyushu has been compiled to introduce their activities to readers throughout the world. Kyushu Island, in southwest Japan, has long played an important role in Japan’s cultural progress. Kyushu researchers have contributed much, for instance, to the steel making and shipbuilding industries. The Kyushu region is an important IC production base for such key devices as computers. While the region plays important roles in modern industry, it is also blessed with a moderate climate and a rich natural environment, providing residents with a comfortable of living. The region has thus served deeply for international exchanges with neighboring Asian nations since ancient times, thanks to its geographical advantages. The region has served to help develop Japan with advanced technology acquired in such international exchanges in every era. Thanks to its environment, people in the region are blessed with a deeply rooted sophisticated spirit and culture. They have an excellent engineering sense important to goods production and are highly creative and innovative. Reflecting these factors, the new field of virtual reality technology has been readily adopted and R&D on virtual reality is active in the region. Achievements in virtual reality developed in Kyushu are presented in this issue to introduce the region's to colleagues worldwide and promote international exchange. We hope that our contributions will be of aid to researchers around the globe.
Proposition of Microrover System for Lunar Exploration
Authors: Kuroda Yoji ,   Dept. of Mechanical Engineering, Meiji University, 1-1-1 Higashi-mita, Tama-ku, Kawasaki 214-8571, Japan, Kunii Yasuharu , Kubota Takashi ,   Dept. of Electrical and Electronic Engineering, Chuo University, 1-13-27 Kasuga, Bunkyou-ku, Tokyo 112-8551, Japan,   The Institute of Space and Astronautical Science, 3-1-1 Yoshinodai, Sagamihara 229-8510, Japan
Published: April 2016

We developed a lightweight, low-power microrover for surface exploration in space. Such a rover must travel safely over long distances and periods in unfamiliar terrain. We present an exploration mission, scientific significance, requirements, and technology of a rover, proposing mobility using 4 wheels and 1 supported wheel whose suspension is simple and light and as mobile as a 6-wheeled rover.
Path Planning and Control for a Flexible Transfer System
Authors: Kubota Naoyuki ,   Dept. of Mechanical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka-city, Osaka 535-8585, Japan, Nojima Yusuke , Kojima Fumio , Fukuda Toshio , Shibata Susumu ,   Dept. of System Function Science, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan,   Dept. of Micro Systems, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Environment Technology Department, Technology Research & Development Center, Toyo Engineering Corporation, 8-1 Akanehama 2-chome, Narashino-shi, Chiba 275-0024, Japan
Published: April 2016

We studied intelligent control of self-organizing manufacturing system (SOMS) composed of modules that self-organize based on time-series information from other modules and environment. Modules create output through interaction with other modules. We discuss intelligent control and path planning in a manufacturing line of conveyer units and machining centers. Genetic algorithm are applied to conveyor pallet path planning in global decision making and learning automaton is applied to local conveyer decision making. We use simplified fuzzy inference to control pallets providing interval, verifying its feasibility by simulation.
An Embodied Interaction Robots System Based on Speech
Authors: Watanabe Tomio ,   Department of System Engineering, Faculty of Computer Science and System Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan, Okubo Masashi , Ogawa Hiroki
Published: April 2016

The concept of an embodied interaction robots system based on speech is proposed for assisting human interaction by generating the motions of robots coherentlyrelated to speech. For an essential human interaction model which estimates a listener's nodding on the basis of a speaker's burst-pause of speech, the validity of a moving-average (MA) model is demonstrated in the robustness of prediction. Then, the prototype of the proposed system which consists of 2 interaction robots with both functions of speaker and listener is developed in which two models are incorporated: one is a listener's reaction model in which nodding, blinking and the motions of head, arms and body are estimated by the MA model of the burstpause of speech to the nodding: the other is a speaker's bodily reaction model in which the motions of head, arms and body are estimated by its own MA model of the burst-pause of speech to the head motion. By the sensory evaluation and behavioral analysis in humanrobot interaction, the effectiveness of the robot's bodily interaction is demonstrated. The effectiveness of the embodied interaction robots system is also confirmed in remote communication.
Adaptive Logic Circuits Based on Net-list Evolution
Authors: Shindo Tomokazu ,   Laboratory of Autonomous System Engineering, Hokkaido University, North-13, West-8, Kita-Ku, Sapporo, 060-8628, Japan, Yokoi Hiroshi , Kakazu Yukinori
Published: April 2016

We discuss adaptive hardware evolution, evolvable hardware, describing system functions as logic circuits rather than programs. Evolution occurs in circuit formation and then functions are generated from the formation. In general approaches, possibility of formation is restricted by device structure, so we propose net-list evolution and apply it a wall following problem with a Khepera robot, confirming solution of the interface problem between the robot and environment using the proposed method.
Development of a Hysteresis Amplifier with an H-bridge Drive for Self-Sensing Magnetic Suspension
Authors: Mizuno Takeshi ,   Department of Mechanical Engineering, Saitama University, Shimo-Okubo 255, Urawa, Saitama 338-8570, Japan, Ishino Yuji
Published: April 2016

A switching amplifier with an H-bridge drive was developed for self-sensing magnetic suspension. In this amplifier, switching times are controlled by a current comparator with a small hysteresis. The amplifier implemented with such hysteresis control has asynchronous characteristics so that the switching rate depends on the load impedance. When the hysteresis amplifier is used for magnetic suspension, the gap between the suspended object and the electromagnet can be estimated from the switching frequency. Since the Hbridge reverses the polarity of the voltage applied to the coil alternatively, the switching frequency is insensitive to the value of current command to the amplifier. The F/V conversion of the switching signal was used for feedback control with the result that self-sensing suspension was achieved.
Design Strategies of Human Symbiotic Robot WENDY
Authors: Morita Toshio ,   Dept. of Mechanical Engineering, Waseda University, 3-4-1 Okubo, Shinjyuku-ku, Tokyo 169-8555, Japan, Iwata Hiroyasu , Sugano Shigeki
Published: April 2016

An objective of this study is to find out design requirements for developing human symbiotic robots, which share working space with human, and have the ability of carrying out physical, informational, and psychological interaction. This paper mainly describes design strategies of the human symbiotic robots, through the development of a test model of the robots, WENDY (Waseda ENgineering Designed sYmbiont). In order to develop WENDY, safety and dexterity of a humanoid robot Hadaly-2, which was developed in 1997, are improved on. The performances of WENDY are evaluated by experiments of object transport and egg breaking, which requires high revel integration of whole body system.
Human Dynamic Skill in High Speed Actions and Its Realization by Robot
Authors: Ming Aiguo ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-city, Tokyo, 182-8585, Japan, Kajitani Makoto
Published: April 2016

This paper describes human dynamic skill of motion control in high speed actions (e.g. hitting actions) and its application to development of ultra-high-speed manipulator. Human skill is investigated by measuring the motion of human hammering action and analyzing from kinetics, and is called as multi-step acceleration by dynamic coupling drive. According to the results, basic concept for ultra-high-speed manipulator to realize human dynamic skill is given. As a simple example, a golf swing robot with one actuated joint and one passive joint with stopper, and a control method to realize two-step acceleration by dynamic coupling drive are proposed. The effectiveness of the proposed mechanism and control method is confirmed by simulation results.
Hardware Experiments of Autonomous Space Robot – A Demonstration of Truss Structure Assembly –
Authors: Senda Kei ,   Graduate School of Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Sakai, Osaka 599-8531, Japan, Murotsu Yoshisada , Mitsuya Akira , Adachi Hirokazu , Ito Shin'ichi , Shitakubo Jynya ,   Professor Emeritus of Osaka Prefecture University and President of Osaka Prefectural College of Technology,   Former Research Associate, Osaka Prefecture University,   Former Graduate Students, Osaka Prefecture University
Published: April 2016

This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model composed of two manipulators and a satellite vehicle can move freely on a two-dimensional planar table without friction by using air-bearings. The robot model has successfully performed the automatic truss structure construction including many jobs, e.g., manipulator berthing, component manipulation, arm trajectory control avoiding collision, assembly considering contact with the environment, etc. The experiment demonstrates the possibility of the automatic construction and the usefulness of space robots.
Experimental Verification of an Advanced Space Teleoperation System Using the Internet
Authors: Tsumaki Yuichi ,   Department of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai, 980-8579, Japan, Goshozono Toshihiko , Abe Koyu , Uchiyama Masaru , Koeppe Ralf , Hirzinger Gerd ,   Institute of Robotics and Mechatronics, DLR, German Aerospace Research Center, P.O. Box 1116, 82230 Wessling, Germany
Published: April 2016

In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system that includes all the above elements. As a result, with the good perception for the operator, the system realizes safety against both singularities and excessive force. In addition, to verify the effectiveness of this system, we conducted experiments over the Internet between DLR in Germany and Tohoku University in Japan in January 1999.
A Practical Control Scheme for Autonomous Capture of Free-Flying Satellites by Space Robotic Manipulator based on Predictive Trajectory
Authors: Nagamatsu Hiroyuki ,   The Institute of Space and Astronautical Science, 3-1-1, Yoshinodai, Sagamihara-shi, Kanagawa 229-0035, Japan, Kubota Takashi , Nakatani Ichiro
Published: April 2016

This paper describes a practical control scheme for autonomous capture of a free-flying satellite in space using an onboard manipulator. In capturing a satellite, a reference trajectory for control of a manipulator is generated with a time delay due to the processing time of a target motion estimator and a manipulator controller. Consequently, the control system shows poor performance and the end-effector sometimes fails to capture the target satellite. To solve this problem, a control system is proposed that utilizes predictive trajectory based on target satellite dynamics. The validity and usefulness of the proposed control method are shown by computer simulations and experiments using a 3-D hardware simulator with 9 degrees of freedom.
AI, Robotics and Automation in Space
Authors: Nakatani Ichiro ,   The Institute of Space and Astronautical Science, 3-1-1, Yoshinodai, Sagamihara, Kanagawa 229-8510, Japan
Published: April 2016

Recently, AI, robotics and automation in space, referred to in a general term as ""space robotics"" in this paper, are playing increasingly more important roles for ground support, LEO satellites and planetary probes. In deep space missions, however, space robotics is a ""must"" due to the radio propagation delay and a poor communication link between the spacecraft and Earth. A typical example for robotics for planetary exploration is an autonomous rover that moves around on the surface of planetary bodies and conducts scientific investigations. A new infrastructure called ROBUST is proposed, which stands for ROBotized Unmanned Station. ROBUST is the space station that will be constructed, maintained and expanded by robotic technology completely without human presence in orbit.
Motion Planning for Six-Legged Locomotion Robot Based on Hierarchical Knowledge Using Genetic Programming
Authors: Kurashige Kentarou ,   Dept. of Micro System Engineering Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan, Fukuda Toshio , Hoshino Haruo ,   Center for Cooperative Research in Advanced Science & Technology Nagoya University,   Takenaka Corporation, Otsuka 1-5-1, Insei-shi, Chiba, 270-13, Japan
Published: April 2016

Much research has been done on the motion planning problem. In this field, main research is to generate the motion for specific robot and task without previously acquired motions. We research the motion planning reusing knowledge. It is our objective to realize hierarchical knowledge with reuse. In this paper, we adopt tree-based representation for expressing the knowledge of the motion and adopt genetic programming as a learning method. We construct the motion planning system using hierarchical knowledge. We apply the proposed method to the six-legged locomotion robot to show its availability.
Open-loop Force Control of A Three-finger Gripper Through PWM Modulated Pneumatic Digital Valves
Authors: Figliolini Giorgio ,   (DiMSAT) Dip. di Meccanica, Strutture, Ambiente e Territorio Università di Cassino, Via G. Di Biasio 43, 03043 Cassino (FR), Italy, Sorli Massimo ,   Dipartimento di Meccanica Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy
Published: April 2016

This paper proposes an open-loop force control system for a three-finger gripper using small digital solenoid valves modulated using PWM (Pulse-Width-Modulation) technique. These valves are good candidates for this robotic application because of their small dimensions, low weight and cost, simple structure and easy operation by means of on/off signals. A linear model for pressure control in the pneumatic actuator's thrust chamber was developed and tested experimentally. A large dead-band was introduced in the PWM driver in order to investigate a suitable method for its correction. Good results were obtained by correcting the static characteristic curve of the three-way equivalent valve that controls the flow rate exchanged with the pneumatic cylinder thrust chamber. These results can be applied to similar solutions with larger digital valves. Gripping mechanism efficiency and the effects of friction forces were taken into account in developing the force control.
Design of a VLSI Processor Based on an Immediate Output Generation Scheduling for Ball-Trajectory Prediction
Authors: Kazama Hideki ,   Graduate School of Information Sciences, Tohoku University, Aoba 05, Aramaki, Aoba-ku, Sendai 980, Japan, Hariyama Masanori , Kameyama Michitaka
Published: April 2016

In real-world applications, it is important to develop high-performance special-purpose processors that execute intelligent processing with a tremendous amount of input data. A robot that catches a moving ball is a typical example of real-world applications. In acquisition of 3-D coordinates of a ball trajectory, ball extraction is the most time-consuming processing. This paper presents an optimal design of a ball extraction VLSI processor. To reduce a chip area under a time constraint, minimization of memory capacity is achieved based on an immediate output generation scheduling.
A Next-Generation Intelligent Car for Safe Drive
Authors: Emura Takashi ,   Department of Mechatronics Engineering, Tohoku University, 01 Aramaki-Aoba, Aobaku, Sendai 980-8579, Japan, Kumagai Masaaki , Wang Lei
Published: April 2016

This paper describes the fundamental development of an intelligent car whose safety is improved by using environment-sensors. Because the most important key parts in this intelligent car are environment-sensors, we developed mainly two kinds of sensors. One is a compact scanning laser range finder whose makdng cost is sufficiently low. The other is a new type ultrasonic sensor whose detectable range is very long. Because this ultrasonic sensor is a nonscanning type and detects the position of object from the phase differences of sound waves that arrive at four microphones, the detection time is short enough. We used a CCD camera together with those sensors for rapid recognition of objects and canied out basic experiments of an intelligent car.
System Identification and Control using Probabilistic Incremental Program Evolution Algorithm
Authors: Chen Yuehui ,   Department of System Engineering and Information Science, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan, Kawaji Shigeyasu
Published: April 2016

An indispensable ability for intelligent control is to comprehend and learn about plants, disturbances, environment, and operating conditions. In this paper, the Probabilistic Incremental Program Evolution (PIPE) algorithm, with its self-organizing and learning ability, is used as a promising tool for such purposes. The previous work on evolutionary control by using tree structure based evolutionary algorithm was inverse control in general. In this case, Genetic Programming (GP) was usually used to evolving a directly control law of nonlinear systems. It is difficult to design a better fitness function that should reflect the characteristics of nonlinear systems, and a prior knowledge about operating conditions is usually needed. In this paper, a new identification and control method is proposed without prior knowledge of the plant. Firstly, the input-output behavior of the discrete-time nonlinear system is approximated by the individual structure of PIPE (PIPE Emulator). Secondly, a model based evolutionary controller (PIPE Emulator-based controller) of nonlinear system is designed. Simulation results for a typical nonlinear discrete-time system show the feasibility and effectiveness of the proposed method.
Desktop Microdrilling System by Multiple Miniature Robots
Authors: Aoyama Hisayuki ,   Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1, Chofu, Tokyo 182-8585 Japan, Tadokoro Shigeru , Shigeno Tomohiro
Published: April 2016

Recently the demand for microparts fabrication is increasing because many products are miniaturized due to portable use. A new production system such as a ""Desktop Factory"" is very interesting in microsystem assembly. The microrobots system has the potential to play an important role in such applications with respect to transporting, manipulating, and putting down microobjects. This paper describes a unique system in which many microrobots can collaborate to execute a microdrilling task on the desktop. This micro production system can provide cost saving benefits with accurate and flexible microfabrication.
Development of High Precision Winding Machine for Toroidal Coil
Authors: Kawamura Takashi ,   Shinshu University, 3-15-1 Tokida, Ueda-shi Nagano, Japan, Shimaru Masayasu , Nakazawa Masaru
Published: April 2016

This paper reports development of high precision winding machine for toroidal coil. New winding mechanism was proposed. This mechanism makes continuous winding for toroidal core and its automation possible. Kink prevention equipment is designed to avoid kinks while winding process. Then high precision winding machine was realized by these improvements. This mechanism gives ability of tension control for this winding machine. That is required for small size core winding and/or very thin wire widing.
Modeling and Motion Control of a Bidirectional -Rotational- Type ER Actuator
Authors: Sakaguchi Masamichi ,   Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka, 565-0871 Japan, Zhang Guoguang , Furusho Junji
Published: April 2016

ER fluid is a unique functional fluid that changes its rheology when an electric field is applied. The property of an actuator using ER fluid is different from conventional actuators such as DC or AC servomotors. In this study, we developed a new actuator using ER particle-type fluid called an ER actuator. The developed actuator can produce two directional torques. We derived simple. models of the ER actuator from reference torque to output torque and velocity characteristics. Then we verified the validity of the models and control performance of the actuator by conducting the velocity and position control experiments.
3-D Nanorobotic Manipulation of Nanometer-scale Objects
Authors: Dong Lixin ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito , Fukuda Toshio ,   Center for Cooperative Research in Advanced Sci. and Tech., Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

A set of nanorobotic manipulators with 4-DOF is constructed for 3-D nanomanipulation of nanometer-scale objects, which can work both under optical microscopes (OM) in air and inside the vacuum chamber of scanning electronic microscopes (SEM). Manipulators are actuated with PicomotorsTM (New Focus Inc.) with better than 30nm linear resolution (X, Y, Z stages actuated by Picomotors) and 2mrad rotary one. 2 atomic force microscope (AFM) cantilevers serve as the end-effectors, with 1 vertically installed (the axis of the cantilever tip is vertical to the light axis of OM or electronic beam of SEM) to facilitate the observation of operation. Manipulation is made by controlling dielectrophoretic force between the cantilever and objects, and by modifying the van der Waals force between the sample substrate and objects. Pick-and-placement of a ø1µm polystyrene bead shows the effectiveness of direlectrophoresis. To show manipulation accuracy, several letters are ""written"" with polystyrene ø3µm and ø1µm beads. Multiwall carbon nanotubes (MWNTs) are manipulated in 3-D space including picking up and placing single ones. Force measurements are made to get information to facilitate manipulation.
Development of a Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability
Authors: Yamashita Atsushi ,   Department of Machinery Engineering, Shizuoka University, 3-5-1 Johoku, Hamamatsu-shi, Shizuoka, 432-8561, Japan, Kanazawa Tatsuya , Asama Hajime , Kaetsu Hayato , Endo Isao , Arai Tamio , Sato Kazumi ,   Department of Industrial Chemistry, Science University of Tokyo, 1-3 Kagurazaka, Shinjuku-ku, Tokyo, 162-8601, Japan,   The Institute of Physical and Chemical Research(RIKEN), 2-1 Hirosawa, Wako-shi, Saitama, 351-0198, Japan,   Department of Precision Machinery Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
Published: April 2016

In this paper, we purpose a new holonomic omnidirectional mobile robot that can pass over steps and rough terrain. A prototype of the omnidirectional mobile robot has seven wheels with free rollers. We adopt a passive suspension for the robot to climb slopes and to pass over steps without actuators and sensors for climbing and analyzed the kinematics of the omnidirectional robot. The performance of the prototype robot is shown through experiments.
Design of Active Cord Mechanism ACM-R2 to Realize 3-D Motions
Authors: Togawa Keiji ,   Tokyo Institute of Technology, Department of Mechanical and Aerospace Engineering, 2-12-1 O-okayama Meguro-ku, Tokyo 152-8552 Japan, Hirose Shigeo
Published: April 2016

This paper describes the development of ACM-R2, which is new version of Active Cord Mechanism with 3D mobility. This ACM-R2 is installed with a driving mechanism called ""M-drive"" This mechanism enables ACM-R2 to acquire a high output/mass ratio and torque limiting joints, which works as normal joint and deforms under the excessive torque. It is also installed with a new type of torque sensor ""float differential torque sensor"" on each joint. Additionally ACM-R2 has control computer in the joint units. These specific driving mechanisms enable ACM-R2 to demonstrate new propulsion methods and motions combining the ability of a manipulator and a locomotor.
Human-Assist-Robot for Nursing Use
Authors: Aoki Takeshi ,   Electro-communication University, Chofu-dai Chofushi, Tokyo Japan, Taguchi Kan
Published: April 2016

Human friendly robot that works not instead of human being but collaborates with human being is required in the 21st century. The authors have been developing human friendly robot to assist human being in physical tasks, and named such kind robot as Human Assist Robot (H.A.R.). In this report, the authors have developed a prototype of H.A.R. for nursing use in physical assistance as an example of human friendly robot. Since some of the worst tasks in physical nursing for human nurses are to carry up/down the patient from/to the nursing bed, and to carry down the patient to a wheelchair from the bed, the prototype robot assists physically in such kind of tasks. Some experiments are carried out to certify the ability of such kind of tasks. Some experiments are carried out to certify the ability of the prototype H.A.R. in such tasks.
Development of an Autonomous Underwater Vehicle ""Tri-Dog"" Toward Practical Use in Shallow Water
Authors: Kondo Hayato ,   Underwater Technology Research Center, Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Ura Tamaki , Nose Yoshiaki
Published: April 2016

To develop robots used in an underwater environment, it is necessary to cope with restrictions such as high pressure, low visibility caused by bad transmissivity of light in water, and the fact that electromagnetic wave cannot be used for communications and positioning. Moreover, they operate in oceans and lakes, which involve complicate fluid disturbance and unknown obstacles that are difficult to predict. Therefore, it is important to build full-scale ocean-going vehicles and testbed vehicles, and do experiments in real environments. Sophisticated testbed vehicles are essential facilities for development of highly intelligent systems to be converted to ocean-going vehicles. This paper describes the design of ""Tri-Dog 1"", specifications, tank tests for system identification, and supposed mission. The robot has functions that are higher level than that of practical vehicles, considering experiments in shallow water such as lakes, marshes and shallow sea, and in test tanks. It is possible to apply the developed software system to practical vehicles immediately.
Development of User-friendly Tuning for Impedance Control Parameters
Authors: shimamura Junji ,   Industrial Automation Company, OMRON Corporation, Shiokoji Horikawa, Shimogyo-ku, Kyoto 600-8530, Japan, Arao Masaki ,   Information Technology Research Center, OMRON Corporation, 2-2-1 Nishikusatsu, Kusatsu, Japan
Published: April 2016

Impedance control, a type of indirect force control, is a method for providing a control system with compliance against forces effected by external environment. This method is expected to be applied primarily to industrial purposes, but it has such disadvantages that the process for tuning its parameters is based on a trial-and-error rule and largely depends on the controlling skill of operators. This paper describes a parameter tuning tool capable of readily setting the optimum impedance parameters and then clarifies the effectiveness of the suggested tool according to the results of experiments conducted on IC test inserter. Operators are not necessarily required to acquire the knowledge about impedance control.
An Overview on Control Algorithms for Automated Highway Systems
Authors: Tsugawa Sadayuki ,   National Institute of Advanced Industrial Science and Technology (AIST), ITS Research Group, Namiki 1-2-1, Tsukuba-shi, Ibaraki-ken, 305-8564 Japan
Published: April 2016

This paper surveys lateral and longitudinal vehicle control algorithms in automated highway systems. In the lateral control, an onboard sensing system detects or captures a reference on a roadway indicating the path of an automated vehicle, and PID control and state variable feedback control based on the modern control theory with deviation from a planned path are mainly used to drive the vehicle along the path. In the longitudinal control, an inter-vehicle gap and relative speed to a preceding vehicle are measured, and feedback control with state variables including deviations in the gap, relative speed, and relative acceleration, some of which are obtained by the transmission over inter-vehicle communication rather the measurement, is used to maintain a predetermined gap in a platoon. Lateral and longitudinal vehicle control algorithms are explained with references to some systems developed since 1960's.
Automated Lane Change Control of Vision-Based Vehicle
Authors: Kato Shin ,   National Institute of Advanced Industrial Science and Technology (AIST), AIST Tsukuba East, Namiki 1-2-1, Tsukuba-shi, Ibaraki-ken, 305-8564 Japan, Tsugawa Sadayuki
Published: April 2016

This paper describes algorithms of path generation and lateral control of an automated vehicle with a vision system for autonomous navigation and lanechange maneuvers. The vision system detects reference lines along which the vehicle is guided. The lateral control consists of steps of reference line detection, path generation, and lateral control calculation. A coefficient of a cubic curve that approximates a series of sampled points on the reference line provides the lateral control. The approximation can be done with a series of sampled points that are detected on the reference line in the field of view with image processing. A path for maneuvers including lane-changing is generated by shifting the series of sampled points. Simulation studies and outdoor experiments were conducted to show the feasibility of the algorithms.