bluuebunny/crossref_metadata_2025 huggingface dataset:
Recognition by Inconsistent Information from Visual and Haptic Interface
Authors: Fukui Yukio ,   National Institute of Bioscience and Human-Technology, 1-1, Higashi, Tsukuba, Ibaraki, 305, Japan, Shimojo Makoto , Yamashita Juli
Published: April 2016

Haptic interaction is a important paradigm to be investigated further in virtual reality technology. Though the human sense of sight is generally more sensitive than that of touch, it is subject to optical illusions. We took experiments to investigate the characteristics of shape recognition based on the sense of sight and of touch or haptics in an optical illusion environment. The result is that the evaluated value of recognition is greatly affected by optical illusion. Furthermore, the differential threshold becomes larger when haptic information was added. Therefore, the design of multi modal interfaces requires much consideration so that the visual environmental setting does not cause optical illusion. Also, two methods for haptic display are considered.
A Virtual Work Space for Both Hands Operations
Authors: Ishii Masahiro ,   Tokyo Institute of Technology, 4259, Nagatsuda, Midori-ku, Yokohama 226, Japan, Swawatari Motohiro , Sato Makoto
Published: April 2016

Two-handed interactions are efficient to design a three dimensional (3D) object, hence a two-handed spatial interface device must facilitate such a design process in a virtual environment. In order to realize a virtual environment where an operator can use his/her both hands efficiently, it is necessary to implement a virtual reality system that is suitable to human's ability of sensory integration. We can unconsciously integrate many kinds of sensory information, e.g. visual and kinesthetic sensation. In this paper, we investigate human’s ability of sensory integration between visual sensation and kinesthesis of hands when they are in disagreement spatially, by changing the spatial relation among the operator, a visual display, and a 3D spatial interface device. Then, we implement a virtual reality system for two-handed interactions that can facilitate human’s smooth sensory integration.
Design and Evaluation of a Visual Display with a Sensation of Presence in Tele-existence System
Authors: Tachi Susumu ,   Faculty of Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113, Japan, Arai Hirohiko
Published: April 2016

If is quite desirable for an operator at the remote controls to have a real-time sensation of presence as if he or she were in the remote anthropomorphic robot and to be able to maneuver it dexterously. This concept is called TELE-EXISTENCE. Realization of a visual display with a sensation of presence is one of the most important elements of this tele-existence. In this paper a method is proposed to realize a tele-existence display and its design procedure is explicitly defined. Experimental display hardware was made, and the feasibility of the visual display with a sensation of presence was demonstrated by psychophysical experiments using the test hardware.
Active Visual Feedback Control of Robot Manipulator
Authors: Yau Wei-Yun ,   Nanyang Technological University, Research Lab IV, School of Electrical & Electronic Engineering, Block S1, Nanyang Avenue, Singapore 639798, Wang Han
Published: April 2016

This paper describes an approach to control the robot manipulator using an active stereo camera system as the feedback mechanism. In the conventional system, increasing the precision of the hand-eye system inevitably reduces its operating range. It is also not robust to perturbations of the vision system which is commonly encountered in real-world applications. The proposed hand-eye system addresses these limitations and shortcomings. In this paper, the concept of pseudo image space which has three dimension is introduced. A relationship between the pseudo image space and the robot space is established via a mapping matrix. Using the mapping matrix together with visual feedback to update it, algorithms are developed to control the robot manipulator. No camera calibration to recover the homogeneous transformation matrix of the stereo vision system is required. Thus, the hand-eye system is robust to changes in the camera orientation. A method to cater for focal length changes in the vision system is also described. This allow the hand-eye system to select the required resolution and accuracy suitable for its task. The proposed method has been tested using actual implementation to verify its robustness and accuracy.
Mobile Robot in the Clean Room - SEL-CARRY ACE -
Authors: Onishi Masanori ,   Development Laboratory New Products, Shinko Electric Co., Ltd., 100 Takegahana-cho, Ise-shi, Mie 516, Japan
Published: April 2016

Shinko Electric has commercially introduced a ""SELCARRY ACE"" system of mobile robots for material transfer in clean rooms. The ACE is a new type of guided transfer robot that relies on ultrasonic sensors to check on the physical environment along its running route, uses the data thus obtained to determine its position, and runs accordingly on its own accord. A six-axis vertical articulated arm installed on the robot transfers objects between stations in the room. A sealed battery rechargeable automatically in a short time enables the unmanned ACE to run continuously. Since the battery can be recharged quickly while an object is being transferred, these features enables the user to construct a highly efficient transfer system.
Farming Robots
Authors: Sato Junichi ,   National Grassland Research Institute, Nishinasuno, Tochigi, 329-27, Japan
Published: April 2016

Farming robots began to be actively developed at farm machinery laboratories of universities in the 1980s. Farming robots research can currently be classified as (1) development of position recognition and autonomous locomotion robot and (2) manipulators enough not to damage plants. In the future, robots with integrated locomotion and manipulation, Branch remover, fruit and vegetable harvesters, fruit-tree croppers, automatic combine, rice-field management tractor were introduced.
Development of a Construction Robot for Marking on Ceiling Boards
Authors: Tanaka Kouetsu ,   Research and Development Center, Shinryo Corporation, 41 Wadai, Tsukuba-shi, lbaraki 300-42, Japan, Kajitani Makoto , Kanamori Chisato , Abe Yasunori ,   Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan
Published: April 2016

Previously, we proposed a self-positioning measurement system for autonomous mobile robots at work sites.1-4)The system depends on the basic principle of triangulation. Preparations are not required for specific reference points, but use pillars standing on the floor. We also developed a prototype robot that utilizes the system. The marking robot leaves a specific mark at the installation position for apparatuses on ceiling boards in large buildings. The robot moves autonomously, recognizes its position, and draws figures with an error of a few millimeters on the ceiling board. It can reach a height of about 3000mm.
Soft Computing with New Physical Measure of Controllability for Intelligent Control of the Two-Link Manipulator (1st Report: Study of Free Motion of Nonlinear Control Object)
Authors: Ulyanov Viktor S. ,   Department of Mechanical and Control Engineering,, Yamafuji Kazuo , Ulyanov Sergei V. , Litvintseva Ludmila V. , Taguchi Kan ,   Cooperative Research Center, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan,   Human Technology Dept., Research & Development Div. Yamaha Motor Co., Ltd., 2500 Shingai, lwata-shi, Shizuoka 438, Japan
Published: April 2016

The free motion of a two-link manipulator as a nonlinear system is studied, and the interrelation between the Lyapunov function (criteria of dynamic stability) and entropy production of a mechanical motion for intelligent robust force control are introduced. A new physical measure of controllability as minimum entropy production is proposed and discussed, and the efficiency of the new physical measure for global control object stability was examined by 3D computer simulation.
Intrinsically Safe Pneumatic Amplifier for Mechatronic Systems
Authors: Belforte G. ,   Dept. of Mechanics, Politecnico di Torino, C.so Duca degli Abruzzi, 24 - 10129 Torino – Italy, Eula G. , Ivanov A. , Bertetto A. Manuello , Viktorov V.
Published: April 2016

Many applications require the use of maintenance-free, single-version, non-electrical, movement-free, intrinsically safe devices, devices able to be implemented with different fluids. Fluidic elements satisfy these requisites. Fluidic proportional amplifiers are of particular interest, because they proportionally amplify an output signal compared to the control signal. We developed a highgain proportional amplifier that amplifies signals optimally at the output even with very low command signals. This broads the range of applications for these devices as control systems. Our results demonstrate that our element has good operating characteristics.
Velocity-Based Control of Manipulator/Vehicle System Floating on Water
Authors: Kajita Hisashi ,   Dept. of Machine Intelligence and Systems Eng., Tohoku Univ., Aza-Aoba, Aramaki, Aoba-ku, Sendai 980-77, Japan, Kosuge Kazuhiro
Published: April 2016

A manipulator/vehicle system floating on water consists of a vehicle with a manipulator attached to it. Similar to the space manipulator system, the system on water is not fixed to an inertial coordinate system. So, external forces affect the motion of the system. In this paper, we propose an algorithm for controlling the position and orientation of the end-effector of the manipulator/vehicle system in an inertial coordinate system under the assumption that the stability of the vehicle is maintained. We derive the kinematics of the system and propose a trajectory tracking control algorithm based on the resolved motion rate control, then prove convergence of the control algorithm using the Lyapunov's method. Experimental results illustrate the validity of the proposed control algorithm.
An Analysis of Inverse Kinematics of Robot Manipulators using Grobner Basis
Authors: Shimizu Toshimi ,   Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-11, Japan, Kawasaki Haruhisa
Published: April 2016

This paper presents a new method for solving the inverse kinematics of robot manipulators symbolically using computer algebra. The kinematics equations, including the trigonometric functions of joint displacements, are expressed as multivariate polynomial equations by transforming these functions into variables. The multivariate polynomial equations can be solved by evaluating their reduced Grobner basis. The properties for efficient evaluation of the reduced Grobner basis and the inverse kinematics of a robot, whose last three joint axes intersect at a point, are shown. This procedure is implemented using Maple V and built into ROSAM (Robot Symbolic Analysis, by Maple) that is a robot analysis library made by our group. An analysis example of a structurechanged PUMA type robot is given.
Micro SCARA Robot for Miniature Parts Assembling
Authors: Miyagawa Toyomi ,   Energy and Mechanical Engineering Laboratories, Research and Development Center, Toshiba Corp. 4-1 Ukishima-cho, Kawasaki-ku, Kawasaki, 210, Japan, Hori Kohei , Hasegawa Yukihisa , Suzumori Koichi , Sudo Hajime ,   Small Motor Development Center, Toshiba Corp., 33 Shin-isogo, lsogo, Yokohama 235, Japan
Published: April 2016

In this report, application of newly developed ultra-small servo actuators to a micro SCARA robot is presented. An ultra-small servo actuator consists of a miniature brushless DC motor, a reduction gear, and an optical encoder for monitoring the rotation of the motor. Two prototypes of different sizes were developed: one is 3mm in diameter and 10mm in length, and the other is 5mm in diameter and 18mm in length. Including the vertical positioning of the hand the robot has three degrees of freedom. First, the structure of the ultra-small servo actuator is shown and then the output characteristics of the 3mmdiameter and the 5mm diameter servo actuators are described, respectively. Next, the structure and control system of the micro SCARA robot, which has a 24.5mmlong arm, are described. Finally, flexible micro actuators, combined in parallel and acting a miniature handling system, are reported. They enable the gentle handling of small, fragile objects. The prototype of this micro SCARA robot enables the assembly of miniature objects in a small space. In the future, we expect this robot to find application as an inspection robot in narrow spaces, such as in small-diameter pipelines.
Autonomous Mobile Robot System for Long Distance Outdoor Navigation on University Campus
Authors: Maeyama Shoichi ,   Intelligent Robot Laboratory, Institute of Information Science and Electronics, University of Tsukuba Tsukuba, Ibaraki 305, Japan, Ohya Akihisa , Yuta Shin'ichi
Published: April 2016

We are developing a self-contained and autonomous mobile robot that can navigate around our university campus. In this paper, we discuss issues important to a robot which has sufficient intelligence and toughness to withstand the rigors of outdoor navigation. Then, we report on our mobile robot ""YAMABICO NAVI,"" which has many integrated functions such as locomotion, position estimation and sensors that detect landmarks and obstacles as an example. Furthermore, we describe an execution monitoring tool that is used to observe the internal state of the robot outdoor experiments.
Development of an Infrared Sensory System with Local Communication Facility for Collision Avoidance of Multiple Mobile Robots
Authors: Suzuki Sho’ji ,   Faculty of Engineering, Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565, Japan, Arai Yoshikazu , Kotosaka Shin'ya , Asama Hajime , Kaetsu Hayato , Endo Isao ,   Graduate School, Saitama University, 255 Shimookubo, Urawa-shi, Saitama 338, Japan,   Kawato Dynamic Brain Project, ERATO, JST, 2-2 Hikaridai, Seika-cho, Sagara-gun, Kyoto 619-02, Japan,   The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, Wako-shi, Saitama 351-01, Japan
Published: April 2016

In this paper, we propose a method for detecting both robots and obstacles using a local infrared communication system. If every robot in the environment has its own ID number and transmits it, then a robot can detect another robot by receiving the ID number. The robot can also detect an obstacle by receiving its own ID number which is reflected by the obstacle. We also propose a method of detecting interference during transmission when several robots are transmitting to one robot. Finally, we describe the development of a sensor system named LOCISS (locally communicable infrared sensory system) and basic experiments are carried out in order ,to evaluate its performance.
New Design Methodology for RCC Using Elastomer Shear Pads
Authors: Joo Sangwan ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560 Japan, Yoshihara Naotaka , Masutani Yasuhiro , Nishikawa Atsushi , Miyazaki Fumio
Published: April 2016

The mechanical behavior of RCC (Remote-Center-Compliance) devices using elastomer shear pads depends on the number of their elastomer-metal layers, the thickness and radius of the elastomer-metal, and the axial and lateral stiffness of the elastomer. These parameters must be considered in a complete analysis of the design of RCC devices. This paper presents a useful method for analyzing the behavior of RCC devices using elastomer shear pads based on the material mechanics approach. This makes it easy to design new RCCs for specific purposes. Moreover, we have developed a projection/stiffness variable type RCC (VRCC), and verified that a single VRCC duplicates the performance of a wide range of commercially available fixed-type RCCs. Simulation and experimental results are also presented.
Environment Recognition and Path Planning by Multiple Mobile Robots
Authors: Kumaki Toshiyuki ,   Tokyo Denki University, 2-2 Nishikicho, Kanda, Chiyoda-ku, Tokyo 101, Japan, Nakajima Masahito , Kakikura Masayoshi ,   National Center for Science Information Systems, 3-29-1 Otuka, Bunkyo-ku, Tokyo 112, Japan
Published: April 2016

This article, concerned with a part of the research on distributed coordination work by multiple robots, discusses an algorithm for creating maps of unknown environments which are searched for and observed by multiple mobile robots, and on the results of a simulation experiment using this algorithm. This algorithm comprises a moving method, an observation method, and a task planning method which are intended to help the multiple mobile robots carry out an efficient search of unknown environments.
Difference of Solution Regions due to Net Polarity
Authors: Gotanda Hiromu ,   Faculty of Engineering, Kinki University in Kyushu, 820 Iizuka, Japan, Shiratsuchi Hiroshi , Inoue Katsuhiro , Kumamaru Kousuke ,   Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology, 820 Iizuka, Japan
Published: April 2016

Solution for the XOR problem are formulated by normal vectors orthogonal to separation hyperplanes when nonlinear units are given by threshold functions. The shapes of solution regions are shown to be different for bipolar and unipolar nets. This suggests that attractors for BP leaning depend on polarity.
Special Issue on Emerging Technology in Manufacturing
Authors: Takeuchi Yoshimi ,   Dept. of Mechanical and Control Engineering, University of Electro Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan
Published: April 2016

Manufacturing yields value from worthlessness. Thus, in recent years, manufacturing technologies have been undergoing rapid change in order to produce products of high quality, at a low cost and with short lead times. Improvements and innovations, with regard to manufacturing technologies, range from the fundamentals to large-scale systems. Therefore, the guest editor would like to introduce the new manufacturing technology, together with the latest research results. One of the most recent key technologies is the so-called rapid-prototyping technology. It shortens the development period of new products from the design stage. Many rapid-prototyping technologies are being developed concurrently. In this issue, the state of the art is explained clearly by an expert in the field. For mechanical products, manufacturing capabilities are highly dependent upon machine tools. In this issue, there is a research paper concerned with a design method for multi-purpose machine tools that can fabricate a variety of products. Machining efficiency is strongly influenced by the positioning accuracy and feed velocity of the axis movement of the machine tools. A control algorithm that can achieve high speed and accuracy is proposed in a paper in this issue. In order to make the most of NC machine tools, it is essential to provide NC data rapidly However, it is difficult to generate NC data, especially for multi-axis control machine tools capable of machining workpieces with complicated shapes. The development of 6-axis control CAM software for creating sculpted surfaces is reviewed in the issue. Another paper deals with NC data generation for sculpted surface processing using virtual reality. In FA systems, the nature of the programming/execution environment is shifting from a concentrated one to a distributed one, and a worker-friendly manufacturing environment is required for the workers. Two papers are presented for realizing such environments. Recently, ultra-precision machining and micro-machining technologies have been attracting great interest as a result of their ability to produce micro-mechanisms and micro-robots. One paper describes production of a prototypical tiny part with a sculpted surface using an ultra-precision milling machine. Another is related to simulation of an atomic level cutting mechanism that applies molecular dynamics. Manufacturing technology is making tremendous progress, and is putting promising new technologies into use toward the goal of realizing intelligent manufacturing systems, IMS. The guest editor heartily hopes that this issue aids in comprehension of the emerging technology in the manufacturing field.
Technological Trends of Rapid Tooling by Layer Laminate Manufacturing
Authors: Nakagawa Takeo ,   Institute of Insustrial Science, University of Tokyo, 7-22-1 Roppongi, Minato-ku, Tokyo 106, Japan
Published: April 2016

One of the greatest problems in the rush to develop new products lies in the shortening of the development lead time. Therefore, solutions are sought, particularly in rapid prototype manufacturing and rapid preparation for mass production. Most mechanical parts are manufactured using the forming process. The production of the dies and molds used for producing these formed parts poses a bottleneck in the development of new products. As technological innovation advances rapidly for the manufacture of dies and molds, more rapid die and mold manufacturing methods are being sought, and such demands urge the development of new technologies. Rapid tooling, utilizing R/P models, can result in the rapid manufacturing of prototypes, and dies and molds. This paper reviews this rapid tool manufacturing based on layer laminate manufacturing which is attracting a lot of attention.
A Study on Controlling Algorithm to Realize High-Speed & High-Accuracy Control Systems - Proposal of modified Delta Operator -
Authors: Aoki Tatsu ,   Department of Electrical Engineering, Tokyo Metropolitan College of Technology, 1-10-40 Higashi-Ohi, Shinagawa-ku, Tokyo 140, Japan, Furukawa Yuji , Moronuki Nobuyuki ,   Department of precision engineering, Tokyo Metropolitan University, 1-1 Minami-Ohsawa, Hachioji-shi, Tokyo 192-03, Japan
Published: April 2016

In high-speed sampling, in terms of the shift operator z, digital control algorithms easily become numerically illconditioned. In such situations, control algorithms based on the delta operator δ are useful. However, when the delta operator δ is applied to a control algorithm based on fixed-point arithmetic, coefficient quantization errors and product quantization errors appear. As a result, the control algorithm again becomes numerically ill-conditioned. To solve this problem, a modified delta operator δ' is proposed. It is defined by subtracting unity from the shift operator z and then dividing by an arbitrary constant Tδ. This definition allows an easy transformation from the shift form to the delta form. Then, its applicability to a control algorithm is demonstrated and its physical ramifications are considered. Also, it is shown that the sensitivity function approaches unity as the sampling period T approaches zero. Furthermore, the numbers of calculations are the same as those in the usual delta model. Simulations show that the modified delta form can decrease the numerical errors in fixedpoint arithmetic, in particular, with short word length. Thus, the modified delta operator δ' can be applied to a control algorithm in exactly the same manner as the usual delta operator.
3-D Measurement and Computer Graphics of Huge Rock
Authors: Fujimoto Kazutaka ,   Technology Center of Nagasaki Prefecture, 2-1303-8 Ikeda, Omura, Nagasaki 856, Japan, Nagata Sumio , Ishimatsu Takakazu ,   Mechanical Systems Engineering Dept., Nagasaki University, 1-14 Bunkyo-machi, Nagasaki, Nagasaki 852, Japan
Published: April 2016

A technique for measuring the three-dimensional shape of a huge rock under natural lighting condition is proposed. The technique incorporates contour analysis and the bundle technique. Experiments are executed that measure a plastic bottle and a huge rock. The results reveal the applicability of the proposed technique.
Computer Interface Device for the Handicapped to Use Head Movement
Authors: Takami Osamu ,   Technology Center of Nagasaki Prefecture, 2-1303-8 Ikeda, Ohmura-shi, Nagasaki 856, Japan, Irie Naoki , Ishimatsu Takakazu ,   Dept. Mechanical Systems Engineering, Nagasaki University, 1-14 Bunkyo-cho, Nagasaki-shi 852, Japan
Published: April 2016

In this paper the authors propose a computer interface device for the handicapped which enables the operator to communicate with the computer without typing on the computer keyboard. Movements of the head generate input signals from the interface device. The posture and position of the head can be detected using a simple signal processing algorithm.
Introduction of ""Intelligent Sport""
Authors: Hirose Shigeo ,   Department of MechanoAerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152, Japan
Published: April 2016

In this paper, we seek directions in which the robot may evolve by first taking into consideration the distribution of human labor and labor power from a historical point of view and showing that it will be necessary to promote intelligent sport with physical sport. Then we show that the most suitable example of such intelligent sport is considered robot manufacturing competition in which participants compete in creating robots. Finally, we take up the Robot Grand Prix we organized as such an intelligent sport, and discuss methodology for holding this competition.
The Design of Projects and Contests - the Rules of the Game
Authors: Faste Rolf ,   Dept. of Mechanical Engineering, Stanford University, Stanford, CA 94305-4021, USA, Roth Bernard
Published: April 2016

This paper describes some of the ideas and guidelines the authors have developed for designing student projects in engineering design courses. In our teaching we use projects extensively, and have taught project-based courses at all levels. We find that in most courses we face the same basic issues on how to design and use projects to achieve our educational goals. This paper briefly outlines our philosophy and touches on the following basic topics: what is a project and why do we use them, how does one design a design project, what is the philosophy behind a project, issues in the use of design teams and deciding on project rules. In addition we briefly critique the concept of head-to-head contests.
Creative Design I as Practical Education
Authors: Tokura Hitoshi ,   Control and Systems Engineering Department, Faculty of Engineering, Tokyo Institute of Technology, 2-12-10-okayama, Meguro-ku, Tokyo 152-8552, Japan
Published: April 2016

Control and Systems Engineering Department in Tokyo Institute of Technology offers a lecture of fundamental machine design ""Creative design l."" This is called ""Robocon domestic contest."" Outline of this lecture has been briefly introduced.
Of Intelligent Robot Contest and Intelligent Working Mobile Robot Japan Cup
Authors: Nakano Eiji ,   Advacned Robotics Laboratory, Graduate School of Information Sciences, Tohoku University, Aramaki-aza-Aoba 01, Aoba-ku, Sendai 980-77, Japan
Published: April 2016

This paper introduces the concept and rule-making for the Intelligent Robot Contest and the Intelligent Working Mobile Robot Japan Cup, which have been organized by the Executive Board of Robot Contest (EBROC) and the Robotics Society of Japan (RSJ).
ROBOLYMPIA Robot Contest
Authors: Tsumura Toshihiro ,   Faculty of Information Science, Osaka Institute of Technology, 1-79-1 Kitayama, Hirakata-shi, Osaka 573-0196, Japan
Published: April 2016

This is the brief summary of Robot Contest in osaka Area for high school, College and University students. These programs are started in 1992 in Osaka under the sponsorship by Osaka Chamber of Commerce, Osaka Prefecture Government, Osaka Municipal Government and some of manufacture companies in Osaka-Kinki Area. In every October, many young students and attendance's and also TV cameras are excited and enjoyed for interesting and original Robot Contest and tournament games. On October 12, 1997, this robolympia was held at KIDS Plaza-Nandemo-arina in Osaka.
Educational Effects of Robot Contests
Authors: Ami Makoto ,   Oyama Polytechnic College, 612-1 Yokokura-mitake, Oyama-shi Tochigi 323-0813, Japan
Published: April 2016

Tracing robot contests cover a great variety. Fabricating robots to participate in these contests and achieve good results necessitates acquiring divers types of special mechatronics technology. Setting participation in a robot contest as a concrete objective positively influences education because students become willingly to set about fabricating robots by acquiring technical knowledge. This paper presents an example of mechatronics education implemented by participation in a robot contest.
Active Suspension Control of Elastic Car Structure
Authors: Fujisaki Yasuhisa ,   Dept. of Mechanical Engineering, College of Science and Technology, Nihon University, 1-8 Kanda Surugadai, Chiyoda-ku, Tokyo 101, Japan, Kodaka Katsuaki , Kawagou Yasuhumi , Seto Kazuto
Published: April 2016

This study discusses the vibration control of a plate structure supported with active suspension, replacing an elastic car body with a plate structure. Plate structures have typical distributed parameters. Hence, we designed a control system based on LQ control theory, building a six-particle physical model that controls the six-degree modes of bouncing, rolling, and pitching that include vibration modes of bending and torsion. These multiple modes were controlled in simulations and experiments, which verified that vibration in active suspension systems can be controlled.
Development of Divertor Remote Maintenance System
Authors: Takeda Nobukazu ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 319-1195, Japan, Oka Kiyoshi , Akou Kentaro , Takiguchi Yuji
Published: April 2016

The ITER divertor is categorized as a scheduled maintenance component because of extreme heat and particle loads it is exposed to by plasma. It is also highly activated by 14 MeV neutrons. Reliable remote handling equipment and tools are required for divertor maintenance under intense gamma radiation. To facilitate remote maintenance, the divertor is segmented into 60 cassettes, and each cassette weighing about 25 tons and maintained and replaced through four maintenance ports each 90 degrees. divertor cassettes must be transported toroidally and radially for replacement through maintenance ports. Remote handling involving cassette movers and carriers for toroidal and radial transport has been developed. Under the ITER R&D program, technology critical to divertor cassette maintenance is being developed jointly by Japan, E.U., and U.5. home teams. This paper summarizes divertor remote maintenance design and the status of technology development by the Japan Home Team.
Development of Bore Tools for Pipe Welding and Cutting
Authors: Oka Kiyoshi ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 319-1195, Japan, Ito Akira , Takiguchi Yuji
Published: April 2016

In the International Thermonuclear Experimental Reactor (ITER), in-vessel components replacement and maintenance requires that connected cooling pipes be cut and removed beforehand and that new components be installed to which cooling pipes must be rewelded. All welding must be inspected for soundness after completion. These tasks require a new task concept for ensuring shielded areas and access from narrow ports. Thus, it became necessary to develop autonomous locomotion welding and cutting tools for branch and main pipes to weld pipes by in-pipe access; a system was proposed that cut and welded branch and main pipes after passing inside pipe curves, and elemental technologies developed. This paper introduces current development in tools for welding and cutting branch pipes and other tools for welding and cutting the main pipe.
Development of Bore Tools for Pipe Inspection
Authors: Oka Kiyoshi ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 319-1195, Japan, Nakahira Masataka , Taguchi Kou , Ito Akira
Published: April 2016

In the International Thermonuclear Reactor (ITER), replacement and maintenance on in-vessel components requires that all cooling pipes connected be cut and removed, that a new component be installed, and that all cooling pipes be rewelded. After welding is completed, welded area must be inspected for soundness. These tasks require a new work concept for securing shielded area and access from narrow ports. Tools had to be developed for nondestructive inspection and leak testing to evaluate pipe welding soundness by accessing areas from inside pipes using autonomous locomotion welding and cutting tools. A system was proposed for nondestructive inspection of branch pipes and the main pipe after passing through pipe curves, the same as for welding and cutting tool development. Nondestructive inspection and leak testing sensors were developed and the basic parameters were obtained. In addition, the inspection systems which can move inside pipes and conduct the nondestructive inspection and the leak testing were developed. In this paper, an introduction will be given to the current situation concerning the development of nondestructive inspection and leak testing machines for the branch pipes.
Development of Thick Wall Welding and Cutting Tools for ITER
Authors: Nakahira Masataka ,   Tokai Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-Shirane, Tokai-mura, Naka-gun, Ibaraki, 319-1195, Japan, Takahashi Hiroyuki , Akou Kentaro , Koizumi Koichi
Published: April 2016

The Vacuum Vessel, which is a core component of International Thermonuclear Experimental Reactor (ITER), is required to be exchanged remotely in a case of accident such as superconducting coil failure. The in-vessel components such as blanket and divertor are planned to be exchanged or fixed. In these exchange or maintenance operations, the thick wall welding and cutting are inevitable and remote handling tools are necessary. The thick wall welding and cutting tools for blanket are under developing in the ITER R&D program. The design requirement is to weld or cut the stainless steel of 70 mm thickness in the narrow space. Tungsten inert gas (TIG) arc welding, plasma cutting and iodine laser welding/cutting are selected as primary option. Element welding and cutting tests, design of small tools to satisfy space requirement, test fabrication and performance tests were performed. This paper reports the tool design and overview of welding and cutting tests.
Development of Radiation Hardness Components for ITER Remote Maintenance
Authors: Obara Kenjiro ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 311-01, Japan, Kakudate Satoshi , Oka Kiyoshi , Ito Akira , Yagi Toshiaki , Morita Yousuke ,   Takasaki Radiation Chemistry Research Establishment, JAERI, 1233 Watanuki-machi, Takasaki, Gunma, 370-1292, Japan
Published: April 2016

In the ITER, in-vessel remote handling is required to assemble and maintain in-vessel components in DT operations. Since in-vessel remote handling systems must operate under intense gamma ray radiation exceeding 30 kGy/h, their components must have sufficiently high radiation hardness to allow maintenance long enough in ITER in-vessel environments. Thus, extensive radiation tests and quality improvement, including optimization of material compositions, have been conducted through the ITER R&D program to develop radiation hardness components that meet radiation doses from 10 to 100 MGy at 10 kGy/h. This paper presents the latest on radiation hardness component development conducted by the Japan Home Team as a contribution to the ITER. The remote handling components tested are categorized for use in robotic or viewing systems, or as common components. Radiation tests have been conducted on commercially available products for screening, on modified products, and on new products to improve the radiation hardness.
Optimal Path Planning for Flexible Plate Handling Using an n-Link Manipulator
Authors: Matsuno Fumitoshi ,   Department of Computational Intelligence and Systems Science, Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, 226-8502 Japan
Published: April 2016

In this paper on optimal path planning for handling a flexible plate using an n-manipulator, we consider manipulator joint trajectory to achieve the desired flexible plate configuration without inducing vibration. We start by deriving equations of motion and vibration for general n-link manipulators with a flexible plate, then, using eigenfunction expansion, derive an approximated finite dimensional modal model. The model of flexible plate vibration implies that angularly accelerating the manipulatorjoints excites vibration, so we use optimal trajectory planning to minimize acceleration; this trajectory is calculated using a numerical iterative algorithm, and the trajectory’s validity is demonstrated by experiments for an air-driven two-link robot arm.
Transferring Human Motion to Mechanical Manipulator in Insertion of Deformable Tubes
Authors: Hirai Shinichi ,   Dept. of Robotics, Ritsumeikan Univ., 1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan
Published: April 2016

We focus on an approach to the transfer of human motion to a mechanical manipulator. First, human motion during inserting a deformable hose into a rigid plug is measured using position and force sensors. Measurement are then analyzed for contact between the hose and plug. We found that an alternating motion during this action effectively inserts a deformable hose into a plug. Human motion is embedded directly in a manipulator program. The manipulator does insertion successfully when hose positional error is within a certain range. We then show that refining human motion helps a manipulator do the operation quicker.
Unfolding Folded Fabric Using Outline Information with Vision and Touch Sensors
Authors: Ono Eiichi ,   National Institute for Materials and Chemical Research, 1-1 Higashi, Tsukuba, lbaraki 305-8565, Japan, Kita Nobuyuki , Sakane Shigeyuki ,   Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba, lbaraki 305-8568, Japan,   Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
Published: April 2016

A hand/eye system for handling flexible materials is under development. Much more attention must be paid to cooperative touch and vision sensing when handling flexible or limp objects such as fabric. This paper presents basic concepts for handling flexible materials and a sensor-based manipulation strategy for unfolding folded fabric. Fabric easily changes shape in 3-dimensional (3D) space. Partial pattern matching of fabrics using outline information can determine where a corner was folded. In this paper, vision and tactile sensing were used to pick up folded fabric.
Generation Method of Evaluation for a Robot Considering Relations with Other Robots
Authors: Ohkawa Kazuya ,   Course of Engineering Mechanics, University of Tsukuba, 1-1-1 Tennodai, Tsukuba 305-8577, Japan, Shibata Takanori , Tanie Kazuo ,   Mechanical Engineering Laboratory, MITI, 1-2 Namiki, Tsukuba 305-8564, Japan
Published: April 2016

This paper proposes a method of generating behavioral evaluations that considers relations to other robots to enable a single operator to control the behavior of multiple robots. We previously proposed an algorithm for individual robots to select their behavior considering the behavior of other robots, using a simple signal given by an operator to the group of robots as a whole. In this algorithm, a learning function was installed on individual robots to enable them to avoid conflict with other robots, and the behavioral evaluation necessary for executing learning had to be given to individual robots based on the situation. This paper explains how individual robots correct their own behavioral evaluation based on the signal given to the group by the operator. We propose behavioral evaluation correction that takes into account cases in which the operator makes mistakes in sending signals to robots or forgets to do so. We verify the effectiveness of the proposed method by simulation.
TD Learning with Neural Networks
Authors: Baba Norio ,   Information Science, Osaka-Kyoiku University, 4-698-1 Asahiga-Oka, Kashiwara-shi, Osaka 582-8582, Japan
Published: April 2016

Temporal difference (TD) learning (TD learning), proposed by Sutton in the late 1980s, is very interesting prediction using obtained predictions for future prediction. Applying this learning to neural networks helps improve prediction performance using neural networks, after certain problems are solved. Major problems are as follows: 1) Prediction Pt at time t is assumed to be scalar in Sutton's original paper, raising the problem of ""what is the rule for updating weight vector of the neural network if the neural network has multiple outputs?"" 2) How do we derive individual components of gradient vector ∇wPt for weight vector w? This paper proposes how to handle these problems when TD learning is used in a neural network, focusing on the TD(0) algorithm, often used in TD learning. It proposes the rule for updating the neural network weight vector for a two-out neural network under problem 1) above, and explains the rule's validity. It then proposes computing every components of ∇wPt.
Autonomous Mobile Robot Behavior Control Using Immune Network
Authors: Watanabe Yuji ,   Department of Computational Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Ishiguro Akio , Uchikawa Yoshiki
Published: April 2016

Attention has been increasingly focused on behaviorbased artificial intelligence (Al) due to its potential robustness and flexibility toward a dynamically changing world. This approach has yet unsolved problems: (1) how to construct an arbitration mechanism and (2) how to prepare competence modules (simple behavior/action). Biological information processing systems are interesting viewed from an engineering standpoint. Of these, we particularly have focused on the immune system, constructing a decentralized consensus-maker inspired by the immune network hypothesis. To solve the above problems in behavior-based Al, we apply our proposed method to behavior arbitration for an autonomous mobile robot in experiments using a real robot. We also study adaptation that automatically creates an artificial immune network using reinforcement signals.
Collision-Free Trajectory Planning for a Two-Dimensional Mobile Robot by Optimizing Continuous Curves
Authors: Ozaki Hiroaki ,   Mechacnical Engineering, Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Jonan-ku, Fukuoka 814-0180, Japan, Lin Chang-jun
Published: April 2016

We propose a new algorithm for planning collision-free trajectories for a mobile robot. The trajectories of the mobile robot are described by uniform B-spline curves and these control points are optimized using the complex method. The complex method is very effective for this type of optimization of nonlinear problems because it does not require any computation of the gradient of performance index. B-spline curves have advantages for trajectory generation in that they guarantee the continuity of trajectories and the order of trajectories can be changed easily. Effectiveness is also confirmed by trajectory planning simulation of a two-dimensional mobile robot.
Design Analysis of a Pneumatic Force Control Servosystem with Pressure Proportional Valve
Authors: Sorli Massimo ,   Dipartimento di Meccanica, Politecnico di Torino, Corso Duca degli Abruzzi, 24, 10129 Torino, Italy, Vigliani Alessandro
Published: April 2016

We study static and dynamic performance of a force control pneumatic servosystem formed by a linear cylinder supplied by a pressure-proportional valve with a force closed-loop. Nonlinear and linearized models are presented to define design strategies, i.e., components satisfying imposed technical specifications. Through parametric analysis, we point out the effects due to circuit size and pressure-proportional valve bandwidth on overall system performance.
Applying Vibrational Potential Method to Shop Scheduling Problems
Authors: Kebbe Ibrahim ,   Department of Precision Engineering 1, Hokkaido University, Sapporo 060-8628, Japan, Yokoi Hiroshi , Kakazu Yukinori
Published: April 2016

Many deterministic computational methods have addressed flow and job shop scheduling - both being highly representative, critical problems. Such methods become obsolete due to solution time and difficulty due to problem size. Evolutionary computation appears feasible for overcoming these problems because it can handle large problems, but at the expense of closeness to optimal solutions. This paper partially compares the two problems based on evolutionary computational method, the vibrational potential method (VPM). To compare this to the performance of older methods, genetic algorithms (GAs) are used in the shop flow domain. This paper outlines VPM features in scheduling showing new advantages in problem formulation and solution.
Multilegged Vehicle Using Multireactive Agent
Authors: Takita Kensuke ,   Institute of Systems and Information Engineering, Hokkaido University, Sapporo 060-8628, Japan, Yokoi Hiroshi , Kakazu Yukinori
Published: April 2016

Constructing walking robots is attractive but poses many inevitable problems. Solutions often involve behaviorbased approaches. Subsumption architecture (SSA)is an example effective in responsibility, adaptability, and robustness in contrast to knowledge-based SMPA architecture. Often, in SSA studies, robots are constructed centralized, sacrificing recoverability; SSA also has no learning. We propose a distributed hierarchy based on SSA by building a hierarchically distributed robot, in which each agent is build of SSA and having robust failure recovery. We study the validity of the proposed approach.
A Framework for Evolution of Computer Systems on the Fly
Authors: Nawa Norberto Eiji ,   Laboratory of Bio-Electronics, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Furuhashi Takeshi
Published: April 2016

Hardware devices that automatically adapt to changes in environmental conditions and to defects in physical structure have long been studied. The new field of evolvable hardware has focused on combining artificial evolutionary mechanisms, inspired by nature, and reprogrammable devices to realize real robust systems. This paper proposes a framework for ""on the fly"" evolution of a computer system. The framework has two subsystems running in parallel - one dedicated to task execution and the other reserved to continuously improve computer system performance. The evolution framework is in the phylogenetic-epigenetic plane, where chromosomes are able to learn. The goal is to provide the system with open-ended possibilities, as in nature. Algorithms and framework are defined and initial results presented.
GA-Based Q-CMAC Applied to Airship Evasion Problem
Authors: Akisato Yuka ,   Faculty of Engineering, Hokkaido University, N13 W8, Sapporo 060-8628, Japan, Suzuki Keiji , Ohuchi Azuma
Published: April 2016

The purpose of this research is to acquire an adaptive control policy of an airship in a dynamic, continuous environment based on reinforcement learning combined with evolutionary construction. The state space for reinforcement learning becomes huge because the airship has great inertia and must sense huge amounts of information from a continuous environment to behave appropriately. To reduce and suitably segment state space, we propose combining CMAC-based Q-learning and its evolutionary state space layer construction. Simulation showed the acquisition of state space segmentation enabling airships to learn effectively.
Consideration of Local Wind Energy
Authors: Yamaji Kouki ,   Dept. of Automotive Engineering, Hashimoto Takaaki , Inoue Shoushi , Konishi Yutaka ,   Dept. of Electronic Engineering, Aichi College of Technology, 50-2 Manori, Nishihagama-cho, Gamagori, Aichi 443-0047, Japan
Published: April 2016

We measured local wind velocity and direction on a hill west of Gamagori City for about 4.5 years, finding that the average annual wind velocity is 3.3m/s and wind with velocity exceeding 4m/s blows over 2500 hours a year. We concluded that useful local wind energy exists based on the electricity generation standard. Three-dimensional incompressible potential flow analysis clarified local winds.