bluuebunny/crossref_metadata_2025 huggingface dataset:
Piezo-Impact-Driven X-Y Stage and Precise Sample Holder for Accurate Microlens Alignment
Authors: Irie Yuuka ,   The University of Electro-Communications, Aoyama Hisayuki , Kubo Junichi , Fujioka Takahiro , Usuda Takashi ,   Opto-Module R and D Section, New Business Development Department, Nalux Co.,Ltd.,   National Metrology Institute Japan (NMIJ), Advanced Industrial Science and Technology (AIST)
Published: April 2016

This paper details the development of an inertia-driven X-Y microstage and simple gripper for a pick-up lens in Blu-ray disc alignment incorporating inertia-driven microsliders on V-shaped grooves and a micropart handler. The microslider is driven by impact generated by a mass connected with a piezo element. We made a kinematic model for theoretical analysis on the X-Y microstage and gave the microinertia X-Y stage a sophisticated design.The X stage is stacked on the Y stage to provide fine in-plane positioning. Practical applications include multiple lens component assembly in which the optical lens must be centered within a tolerance of less than 100 nm. Experiments confirmed successful achievement of this microlens positioning in the center of the reference lens axis as observed by the laser interference fringe.
Hybrid Planning for an Air Gap Adjustment System Using Fuzzy Models
Authors: Adelt Philipp ,   C-LAB, University of Paderborn, Germany, Esau Natascha , Schmidt Alexander ,   Institute for Mechatronics and Design Engineering, University of Paderborn, Germany
Published: April 2016

Hybrid planning is an approach to couple continuous domains commonly found in mechatronic systems with discrete planning problems. An ongoing effort to bring self-optimization as a design means of improved overall system operation quality to mechatronic systems is the overall frame that this approach is embedded in. An innovative rail-bound vehicle system propelled by a linear motor employs an Air Gap Adjustment System to control the air gap between the two motor parts and is presented as an application to the concept.
Special Issue on Robot Vision - Vision for Action -
Authors: Idesawa Masanori ,   UEC Museum of Communications, University of Electro-Communications, Japan, Mae Yasushi , Oaki Junji ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Japan,   Senior Research Scientist, Corporate Research and Development Center, Toshiba Corporation, Japan
Published: April 2016

Robot vision is a key technology in robotics and mechatronics for realizing intelligent robot systems that work in the real world. The fact that robot vision algorithms required much time and effort to apply in real-world applications has delayed their dissemination until new forms made possible by recent rapid improvements in computer speed. Now the day is coming when robot vision may surpass human vision in many applications.

This special issue presents 13 papers on the latest robot vision achievements and their applications. The first two propose ways of measuring and modeling 3D objects in everyday environments. Four more detail object detection and tracking, including visual servoing. Three propose advances in hand feature extraction and pose calculation, and one treats video coding for visual sensor networks. Two papers discuss robot vision applications based on human visual physiology, and the last clarifies an application in optical force sensors.

We thank the authors for their invaluable contributions to this issue and the reviewers for their generous time and effort. Last, we thank the Editorial Board of JRM for making this issue possible.
Parallel Computation of the Region-Based Level Set Method for Boundary Detection of Moving Objects
Authors: Fei Xianfeng ,   Graduate School of Information Science, Tohoku University,  6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai 980-8579, Japan, Igarashi Yasunobu , Shinkai Makoto , Ishikawa Masatoshi , Hashimoto Koichi ,   Electrical Engineering College, Guizhou University, Nanming,  Guiyang, Guizhou 550003, China,   Graduate School of Information Science, Nara Institute of  Science and Technology, 8916-5 Takayama, Ikoma, Nara 630-0192, Japan,   Corporate Research and Development Group, Sharp Corporation,  1-9-2 Nakase, Mihama-ku, Chiba 261-8520, Japan,   Graduate School of Information Science and Technology,  University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

We formulate a parallel, region-based level set model to speed up accurate boundary detection of moving objects in low-contrast images, applying parallelization and discretization to a Chan-Vese (CV) model. We implement the model in a column parallel vision (CPV) system that is one of parallel image processing systems we developed for robot vision. Using a microscopic image of moving paramecia as a sample of a low-contrast image, our model detects moving paramecia boundaries within 2 ms per image. Comparisons of our model to a CV model using the CPV system and a nonparallel PC, we found that our model cuts calculation time for a CV model while obtaining accuracy similar to the CV model in boundary detection of moving objects.
Hand-Eye Motion-Invariant Pose Estimation with Online 1-Step GA -3D Pose Tracking Accuracy Evaluation in Dynamic Hand-Eye Oscillation-
Authors: Minami Mamoru ,   Department of Human and Artificial Intelligence Systems, University of Fukui 3-9-1 Bunkyo, Fukui 910-0017, Japan, Song Wei
Published: April 2016

This paper presents online pose measurement for a 3-dimensional (3-D) object detected by stereo hand-eye cameras. Our proposal improves 3-D pose tracking accuracy by compensating for the fictional motion of the target in camera images stemming from the ego motion of the hand-eye camera caused by dynamic manipulator oscillation. This motion feed-forward (MFF) is combined into the evolutionary search of a genetic algorithm (GA) and fitness evaluation based on stereo model matching whose pose is expressed using a unit quaternion. The proposal’s effectiveness was confirmed in simulation tracking an object’s 3-D pose adversely affected by hand-eye camera oscillations induced by dynamic effects of robot motion.
User-Adaptable Hand Pose Estimation Technique for Human-Robot Interaction
Authors: Causo Albert ,   Nara Institute of Science and Technology (NAIST), 8916-5 Takayama-cho, Ikoma City, Nara 630-0192, Japan, Ueda Etsuko , Takemura Kentaro , Matsumoto Yoshio , Takamatsu Jun , Ogasawara Tsukasa ,   Nara Sangyo University 3-12-1 Tatsunokita, Sango-cho, Ikoma-gun, Nara 636-8503, Japan,   Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
Published: April 2016

Hand pose estimation using a multi-camera system allows natural non-contact interfacing unlike when using bulky data gloves. To enable any user to use the system regardless of gender or physical differences such as hand size, we propose hand model individualization using only multiple cameras. From the calibration motion, our method estimates the finger link lengths as well as the hand shape by minimizing the gap between the hand model and observation. We confirmed the feasibility of our proposal by comparing 1) actual and estimated link lengths and 2) hand pose estimation results using our calibrated hand model, a prior hand model and data obtained from data glove measurements.
6-DOF Localization for a Mobile Robot Using Outdoor 3D Point Clouds
Authors: Suzuki Taro ,   Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Amano Yoshiharu , Hashizume Takumi
Published: April 2016

This paper describes outdoor localization for a mobile robot using a laser scanner and three-dimensional (3D) point cloud data. A Mobile Mapping System (MMS) measures outdoor 3D point clouds easily and precisely. The full six-dimensional state of a mobile robot is estimated combining dead reckoning and 3D point cloud data. Two-dimensional (2D) position and orientation are extended to 3D using 3D point clouds assuming that the mobile robot remains in continuous contact with the road surface. Our approach applies a particle filter to correct position error in the laser measurement model in 3D point cloud space. Field experiments were conducted to evaluate the accuracy of our proposal. As the result of the experiment, it was confirmed that a localization precision of 0.2 m (RMS) is possible using our proposal.
Optimizing the Conditions for pH Measurement with an Automated pH Measurement System Using a Flow-Through-Type Differential Sensor Probe Consisting of pH-FETs
Authors: Yamada Akira ,   Cardiovascular Physiology, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, 2-5-1 Shikata-cho, Kita-ku, Okayama-city, Okayama 700-8558, Japan, Mohri Satoshi , Nakamura Michihiro , Naruse Keiji ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Hiroshima Institute of Technology (Current address), 2-1-1 Miyake, Saeki-ku, Hiroshima 731-5193, Japan,   Physiology 1, Kawasaki Medical School, 577 Matsushima, Kurashiki-city, Okayama 701-0192, Japan
Published: April 2016

In previous papers we have reported on the construction of a flow-through-type differential pH sensor probe for a fully automated pH measurement system. Our flow-through-type sensor probe is quite different from the dipping-type sensor probes now in common use. To realize highly accurate and high-speed measurements with our probe, it is essential to optimize measurement conditions such as the volume of the sample solution suctioned into the probe, the washing time and related parameters, and the measurement time required for stabilization of the electrode potential. In this paper we describe a method to derive suitable measurement conditions for a pH measurement system equipped with a flow-through-type differential sensor probe consisting of pH-sensitive Field-Effect Transistors (pH-FETs). After establishing the optimum measurement conditions, we confirmed the performance of our system for the pH measurement of 26 μl solutions over a 106 sec cycle. The measurement error with diluted low-buffering-capacity solutions was on the order of 0.01 pH.
Multiple-Person Tracking by Multiple Cameras and Laser Range Scanners in Indoor Environments
Authors: Noguchi Hiroshi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Mori Taketoshi , Matsumoto Takashi , Shimosaka Masamichi , Sato Tomomasa ,   Mitsubishi Research Institute, Inc., 2-3-6 Otemachi, Chiyoda-ku, Tokyo 100-8141, Japan
Published: April 2016

In this paper, we propose a method for multiple-person tracking using cameras and laser range scanners. Our method estimates 3D positions of human body and head, and labels them with their identities. Individual particle filters track person correctly by integrating information from laser range scanners and target-specific information from cameras, thus compensating for weak points of each. We also develop a particle filter framework that tracks the human head simultaneously using the estimated body position. Results of experiments demonstrate the effectiveness and robustness of the proposal in tracking multiple persons with multiple scanners and cameras.
Special Issue on ROBOMEC’09 (Part 2)
Authors: Umeda Kazunori , Kiguchi Kazuo
Published: April 2016

Robotics and Mechatronics Conference 2009 (ROBOMEC’09) was held at the Fukuoka International Congress Center in Fukuoka, Japan, on May 24-26, 2009, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Tsutomu Hasegawa of Kyushu University served as general chair and Prof. Kazuo Kiguchi of Saga University as program chair. The conference theme was “Robotics and Mechatronics for creating an affluent society.” Over 1,000 presentations were made in some 70 sessions, and participants numbered 1,500 including those from abroad, making it a great success. We asked the ROBOMEC’09 program committee to select outstanding presentations, among which they presented 115. We recommended that authors submit their original work to the special issue on ROBOMEC’09, and received 36. This special issue, Part 2, presents 19 papers strictly reviewed and accepted from among the 36. 13 accepted papers have already appeared in Part 1 (Vol.22, No.2). We are pleased with the very high quality of these papers, and are confident that readers will find them both interesting and instructive in the fields of robotics and mechatronics. We thank the authors for their invaluable contributions and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
Development of Detection and Scanning Sensor Mechanism for the Concealed Objects
Authors: Kuromiya Yusuke ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya, Aichi 468-8502, Japan, Ashizawa Satoshi , Ando Daiki , Oomichi Takeo
Published: April 2016

Various detection methods for locating non-visible or concealed objects have been developed, but the accuracy of these has been limited to rough presumptions of position. Now, a dismantling robot with highly accurate positioning has been developed. This robot is designed to cut plasterboard that is fixed to light gauge steel with screws hidden under the plasterboard. A sensor with magnets has been designed to detect and trace this light gauge steel. The sensor incorporates a detecting mode and tracing mode to keep high position accuracy and high scanning speed. It was installed in the dismantling robot and tested for its ability to detect and trace the light gauge steel. Testing has proven this sensing system and design method to be highly successful and suitable for practical use.
Truly-Tender-Tailed Tag-Playing Robot Interface Through Friendly Amusing Mobile Function
Authors: Matsumaru Takafumi ,   Bio-Robotics & Human-Mechatronics Laboratory, Shizuoka University, 3-5-1 Johoku, Naka, Hamamatsu 432-8561, Japan, Horiuchi Yasutada , Akai Kosuke , Ito Yuichi
Published: April 2016

To expand use of the mobile robot Step-On Interface (SOI), originally targeting maintenance, training, and recovery of human physical and cognitive functions, we introduce a “Truly-Tender-Tailed” (T3, pronounced tee-cube) tag-playing robot as a “Friendly Amusing Mobile” (FAM) function. Displaying a previously prepared bitmap (BMP) image and speeding up display make it easy to design button placement and other screen parameters using a painting software package. The BMP-image scope matrix simplifies step detection and recognition and the motion trajectory design editor facilitates robot behavior design.
Behavior Change of Crickets in a Robot-Mixed Society
Authors: Guerra Rodrigo da Silva ,   JST ERATO Asada Synergistic Intelligence Project, Aonuma Hitoshi , Hosoda Koh , Asada Minoru ,   Research Institute for Electronic Science, Hokkaido University,   Department of Multimedia Engineering, Graduate School of Information Science, Osaka University,   Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University
Published: April 2016

This paper presents a study on cricket behavior using an interdisciplinary robot/insect mixed society setup. Field crickets of the species Gryllus bimaculatus were allowed to interact with micro-robots equipped with decoys. This allows the stimulation of insect behaviors that are usually difficult to bring out evoke insects alone, allowing consistent behavioral research. We performed a set of experiments focused on the comparative study of the behavior of dominant and subordinate male crickets after a dominance dispute is settled. From these experiments we were able to collect evidence on the differences between subordinate and dominant behavior towards different decoys.
Path Searching of Robot Manipulator Using Reinforcement Learning-Reduction of Searched Configuration Space Using SOM and Multistage Learning-
Authors: Aoyagi Seiji ,   Department of Mechanical Engineering, Faculty of Engineering Science, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan, Hiraoka Kenji
Published: April 2016

Reinforcement learning is applicable to a robot manipulator required to search for a path adaptable to an unknown environment. Searching for an optimal path in configuration space (C-space), i.e., joint angle space, however, takes much convergence time and memory resources. We propose two ways to overcome this problem. One is restructuring C-space by using Self-Organizing Maps (SOM). Another is doing reinforcement learning at multistage, stage 1 of which searches a path in C-space without considering obstacles, so does stage 2 with considering them near path 1, reducing searched space and convergence time. We propose further reducing searched space by adjusting the path in stage 2 to that in stage 1 through dynamic programming (DP) matching.
Verification of Single-Molecule Imaging and Single-Molecule Measurements
Authors: Ishijima Akihiko ,   Institute of Multidisciplinary Research for Advanced Materials, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan, Fukuoka Hajime , Inoue Yuichi
Published: April 2016

Single-molecule imaging and single-molecule measurements constitute an integral part of life science researches. The research method, which allows direct measurements of individual motions and events of biomolecules, has contributed much to the development of life science research by providing us with numerous findings. It is left up to the judgment of researchers, however, whether the measurements really represent single-molecule events, which make it harder for more researchers to enter into this field. This paper deals with how single-molecule measurements were presented in past research outcomes and illustrates statistical-mechanical methods as well.
Measurements of Nonlinear Electrical Impedances by Virtue of Induced Conformational Changes in DNAs
Authors: Yamamoto Takatoki ,   Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 135-8550, Japan, Lee Sangwook , Fujii Teruo ,   Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba Meguro-ku Tokyo, 153-8505, Japan
Published: April 2016

A method for label-free electrical impedance sensing of DNA is proposed, and experimentally demonstrated using a micro Electrical Impedance Spectroscopy (µ- EIS) device. The method features not only the detection of DNA without any labelling, but also the control of the conformation that would enhance the electrical impedance signal. In order to conduct semiautomated measurements controlled by an external PC, a microfluidic chip made of a silicone elastomer of polydimethylsiloxane (PDMS), a measurement chip embedded with micro-electrodes, and a micropump chip are fully integrated in the µ-EIS device. The µ-EIS device is capable of detecting DNA concentrations of a few nM in aqueous solution of a few pL in volume by virtue of the conformation-enhanced nonlinear impedance response. As a first demonstration of conformational-change-induced DNA analysis, the frequency and the electric field strength dependence of various lengths of DNA are evaluated.
Detection and Collection System of Target Single Cell Based on pH and Oxygen Sensing
Authors: Suzuki Masayasu ,   Department of Electric and Electronic Engineering, University of Toyama, 3190 Gofuku, Toyama, Toyama 930-8555, Japan, Tanaka Hiroyuki , Iribe Yasunori
Published: April 2016

This paper describes single-cell-based detection and collection using pH and oxygen sensing with microarrayed chemical sensors we developed previously to monitor single-cell activity in parallel. Such sensors consist of optical sensor film for pH or oxygen and microwell arrays prepared with carbon-black-doped polydimethylsiloxane (PDMS). We monitored singlecell respiration in parallel using a microarrayed oxygen sensor. An automatic single-cell collector we developed can be used with a commercial inverted microscope. The single-cell-based detection and collection we developed based on respiration or metabolic activity combines these two techniques. Model experiments for single-cell-based detection and collection based on metabolic activity used urease-immobilized microbeads (6 µm i.d.). Fluorescence intensity after substrate injection increased only in wells containing urease-immobilized microbeads. Bead in target wells could be successfully collected alone, leaving other beads in their wells, by simply pushing a controller button, requiring no training or skill.
Simulating Self-Reproduction of Cells in a Two-Dimensional Cellular Automaton
Authors: Ishida Takeshi ,   Dept. of Product Engineering and Environmental Management, Nippon Institute of Technology, 4-1 Gakuendai, Miyasiro, Minami-Saitama, Saitama 345-8501, Japan
Published: April 2016

Clarifying generalized self-reproduction is basic to applications in fields such as molecular machine production in nanotechnology and synthetic biology. The two-dimensional cellular automaton model we developed simulated cellular self-reproduction using a few state transition rules.
CyberCars-2 Cooperative Cybernetic Transport System Architecture
Authors: Isasi Lucia ,   Robotiker-Tecnalia, Parque Tecnológico Zamudio, Edificio 202, E-48170 Zamudio (Vizcaya), Spain, Molinete Begoña , Murgoitio Jesus , Pozo Dionisio del
Published: April 2016

Research on Intelligent Cooperative Systems (ICS) based on wireless vehicular communication to improve automotive safety and traffic efficiency is being promoted through initiatives such as the Vehicle Safety Communications Consortium (VSCC) and Vehicle-Infrastructure Integration (VII) in the US, SMARTWAY and Vehicle Information and Communication System (VICS) in Japan, and European R&D activities within the framework of i2010: Intelligent Car Initiative - e.g., PReVENT, CVIS, and SAFESPOT. Related standardization activities include Continuous Air Interface for Long and Medium Range (CALM) to set up a stable, globally compatible regulation framework enabling higher market impact. The Car2Car Communication Consortium (C2C-CC) supports an open, interoperable industry standard for vehicular communication based on wireless local area network (WLAN) technologies pushing for specific frequency band allocation at 5.9 GHz for critical automotive safety. This paper shows CyberCars-2’s cooperative Cybernetic Transport System (CTS) architecture compatible with C2C-CC and CALM achievements. SAFESPOT for architecture design was adopted after meeting cooperative systems benefits, i.e., improving traffic safety for more efficient logistics and response to hazards and accidents, improved road network management and control and shorter, more predictable journey times.
Evaluation of Acceptability and Usability of a Parking Assistance System for Elderly Drivers - Relationship Between Experiment Results, Gender, Driving Frequency and Driving Styles -
Authors: Hashimoto Naohisa ,   National Institute of Advanced Industrial Science and Technology (AIST), AIST East, 1-2-1 Namiki, Tsukuba-Shi, Ibaraki-Ken 301-8564, Japan, Kato Shin , Tsugawa Sadayuki ,   Meijo University, 1-501 Shiogamaguchi, Tempaku-ku, Nagoya-shi, Aichi-ken 468-8502, Japan
Published: April 2016

The safe, comfortable mobility of elderly drivers may be compromised by physical and mental aging problems. We have focused on parking assistance. Most parking assistance systems are on-board - and expensive, which means that those really needing assistance, such as elderly drivers, cannot afford them. We propose “guidance” and “education” parking systems and evaluated them in experiments with 18 elderly drivers to find relationships between system types and driving styles. Among other things, our results indicate that assistance systems are less effective with daily drivers than with those who drive less often daily.
Automatic Cell Cutting by High-Precision Microfluidic Control
Authors: Ichikawa Akihiko ,   RT-Synthesis Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Tanikawa Tamio , Akagi Satoshi , Ohba Kohtaro ,   Reproductive Biology and Technology Research Team, National Institute of Livestock and Grassland Science (NILGS)
Published: April 2016

We have developed automated cell cutting by highprecision microfluidic control using a high-response and high-precision syringe pump. A microfluidic chip containing 2 orthogonal microchannels was used for cutting animal cells softened by cytochalasin and aspirated and fixed in 1 microchannel, then a high-velocity microchannel flow was generated from another channel to cut the cell. To control microchannel flow precisely, we made a syringe pump with a minimum flow of 0.35 × 10-3µl/min and response time of 10 ms. The syringe pump was connected to the microfluidic chip by a thin, hard Teflon tube to reduce the pressure transmission delay between the syringe pump and microfluidic channel. A microbead control experiment depending on PI control using the syringe pump was conducted to check the microchannel flow delay. Bovine oocytes softened by cytochalasin were injected into the microfluidic chip and bisected by microscopic image volume measurement. This paper reports the automatic cell cutting strategy and system, a result of microbead positioning control, and a result of automatic cell cutting.
Compensation of Measurement Precision for Three-Dimensional Position Measurement Device Based on Disturbance Observer
Authors: Matsumoto Toshiaki ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20, Hayashi-Cho, Takamatsu, Kagawa 761-0396, Japan, Takahashi Satoru
Published: April 2016

Improvements in measurement precision will constitute a significant issue in designing control systems formeasurement devices. Specifically, positioning precision may be decreased if unpredicted disturbances from the environment are not taken into account. In this paper, we first estimate unknown disturbances based on the disturbance observer, then design control systems which can reduce the effects of such disturbances to propose a control system capable of compensating for any decreases in measurement precision due to such disturbances, and finally demonstrate the effectiveness of the proposed control system through a series of experiments.
Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain
Authors: Irawan Addie ,   Graduate School of Engineering, Division of Artificial Systems Science, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan, Nonami Kenzo ,   Department of Mechanical Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan
Published: April 2016

This article describes the proposed force-based walking method for hydraulically driven hexapod robot named COMET-IV, to walk on the large scale rough terrain. The trajectory is designed where foot step motion for each leg is decided by vertical force on the foot that is calculated from cylinder torque of thigh and shank. This proposed walking trajectory is established with compliant control strategy, which consists of force control based on position range from the trajectory motion signal. This force controller is dynamically control ON/OFF by proposed decision algorithms that derived from the changes of kinematic motion of the trajectory itself. In addition logical attitude (body) control is designed as a part of the decision control module that makes a pre-calculation of decision making based on leg sequence changes. For more stability dynamic swings raising control is derived from trajectory equations to perform a different degree of swing rising for each leg when the robot stepping on the different level of terrain. All proposed controllers are verified in the COMET-IV actual system with walking on the designed rough terrain platform consists of random levels of hard bricks and rubber pads.
Design and Prototype of Variable Gravity Compensation Mechanism (VGCM)
Authors: Takesue Naoyuki ,   Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, Tokyo 191-0065, Japan, Ikematsu Takashi , Murayama Hideyuki , Fujimoto Hideo ,   Toyota Motor Corporation, Japan,   Nagoya Institute of Technology, Japan
Published: April 2016

A machine moving vertically requires strong gravitational resistance. Gravity compensation mechanisms devised to reduce actuator force mostly compensate for constant weight, but practical use requires that the mechanism compensate for weight variations. This paper presents a Variable Gravity Compensation Mechanism (VGCM) that uses two types of linear springs and changes the equilibrium position of one. The mechanism principle is described and the prototype is designed. Performance is experimentally confirmed.
Levitation Control of AEROTRAIN: Development of Experimental Wing-in-Ground Effect Vehicle and Stabilization AlongZAxis and About Roll and Pitch Axes
Authors: Sugahara Yusuke ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Ikeuchi Yusuke , Suzuki Ryo , Hirata Yasuhisa , Kosuge Kazuhiro , Noguchi Yukio , Kikuchi Satoshi , Kohama Yasuaki ,   Department of Industrial Management and Engineering, Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162-8601, Japan,   Department of Mechanical and Systems Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan,   New Industry Creation Hatchery Center, Tohoku University, 6-6-10 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

The goal of this study is to develop levitation stabilization control for an aerodynamically levitated highspeed, high-efficiency train, “Aero-Train.” Levitation occurs due to the wing-in-ground effect acting on a U-shaped guideway. To achieve our goal, we developed a small experimental prototype of the wing-in-ground vehicle, its dynamic model and control for stabilization along theZaxis and about the roll and pitch axes using a linear quadratic regulator, as described in this paper. Control effectiveness is confirmed by experimental results.
Software Deployment Infrastructure for Component Based RT-Systems
Authors: Ando Noriaki ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba-shi, Ibaraki 305-8568, Japan, Kurihara Shinji , Biggs Geoffrey , Sakamoto Takeshi , Nakamoto Hiroyuki , Kotoku Tetsuo ,   Technologic Arts Inc., Cosmos-Hongo 9F, 4-1-4 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan,   System Engineering Consultants Co., Ltd., Setagaya Business Square, 4-10-1 Yoga, Setagaya-ku, Tokyo 158-0097, Japan
Published: April 2016

In component-based Robotic Technology (RT) systems, launching the system involves installing component binary files to the target computers, instantiation of components, and establishing connections between components. In order to operate RT systems with many CPU nodes effectively, the deployment features provided by the middleware are important. Deployment means system life-cycle management, including software installation, configuring components, and launching components. In this paper, we describe deployment tools for RT systems. The component deployment functionality is realized based on the OMG Robotic Technology Component (RTC) specification [1]. Description formats are defined, a service interface is designed and tools are implemented using the OpenRTM-aist that is the implementation of the OMG RTC specification. The implemented deployment infrastructure is evaluated and discussed, and issues and potential future work are considered.
32-Channel Omni-Directional Microphone Array Design and Implementation
Authors: Sasaki Yoko ,   Digital Human Research Center, National Institute of Advanced Science and Technology (AIST), 2-3-26 Aomi, Kouto-ku, Tokyo 135-0064, Japan, Fujihara Tomoaki , Kagami Satoshi , Mizoguchi Hiroshi , Oro Kyoichi ,   Dept. of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan,   The Kansai Electric Power Co. Inc., 3-11-20 Nakoji, Amagasaki, Hyogo 661-0974, Japan
Published: April 2016

This paper presents the design and evaluation of a microphone array. The proposed evaluation index is the directional characteristic of delay and sum beamforming, which is used to optimize the microphone array design. Using beamforming simulation, a microphone arrangement that minimizes sidelobes and improves the basic performance of beamforming is selected. The new hardware has omni-directional directivity and high tolerance for exogenous noise. It has 32 microphones on a 335-mm diameter disk designed to be mounted on a mobile robot. The microphone array performance is verified in different real environments. Experimental results in indoor/outdoor sound localization show the effectiveness of the array in reverberant environments and its robustness against different pressure sound sources for covering larger areas.
PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation
Authors: Shirato Yuki ,   Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Mochiyama Hiromi , Kobayashi Hisato , Tatsuno Junya , Kawai Hiroyuki ,   Faculty of Engineering and Design, Hosei University, 2-17-1 Fujimi, Chiyoda-ku, Tokyo 102-8160, Japan,   Department of Mechanical Engineering, Kinki University, 1 Takeya-Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan,   Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Ishikawa 921-8501, Japan
Published: April 2016

The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) generate suction or exhalation at the end of a straw based on an air flow generated by an operator. Our exploration of its basic performance, i.e., force generation capability and response, demonstrates its micromanipulation potential.
Maskless Gray Scale Lithography and its 3D Microfluidic Applications
Authors: Yamanishi Yoko ,   JST PRESTO, Department of Mechanical Science & Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Nakano Takuma , Sawada Yu , Itoga Kazuyoshi , Okano Teruo , Arai Fumihito ,   Japan Society for the Promotion of Science (JSPS), Japan,   Kyoto University, Japan,   Tokyo Women’s University, Japan,   Nagoya University, Japan
Published: April 2016

This paper presents the novel three-dimensional fabrication using maskless exposure equipment and threedimensional (3D) microfluidic cell manipulation uses grayscale data to directly control the exposed photoresist height without using a mask. The 3D microchannel and microvalve were fabricated simply using lowcost exposure and height ranging from 0 to 200 µm. The 3D microvalve prevents liquid leakage when the membrane is closed – difficult to do using conventional 2D photolithography. We removed the oocyte zona pellucida passing through the 3D microchannel whose cross-section is gradually restricted along the path to provide mechanical stimulation omnidirectionally on the oocyte surface. The microfluidic chip may contribute to make high peeled-oocyte throughput effective without damaging the oocytes.
Sensor Arrangement for Classification of Life Activities with Pyroelectric Sensors - Arrangement to Save Sensors and to Quasi-Maximize Classification Precision
Authors: Mori Taketoshi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan, Urushibata Ryo , Noguchi Hiroshi , Shimosaka Masamichi , Sanada Hiromi , Sato Tomomasa
Published: April 2016

This paper deals with the sensor arrangement for activity classification systems with a group of pyroelectric sensors to realize a system with high classification performance using as few sensors as possible. It targets the people living alone. We convert this discrete optimization problem, which means whether or not the system select a sensor position candidate, to continuous, convex, and sparse optimization problem, and solve it efficiently by extended multi-class LPBoost via column generation. For some examinations, we showed the advantage of this algorithm. We also confirmed the significance of automatic arrangement system by comparing the arrangement obtained by this algorithm with the arrangement obtained by human judge.
Unified Robot Control Scheme for Cooperative Motion, Autonomous Motion and Contact Reaction
Authors: Duchaine Vincent ,   Department of Automated Manufacturing Engineering, École de Technologie Supérieure, 1100 Rue, Notre-Dame Ouest, Montreal, H3C 1K3, Canada, Gosselin Clément ,   Department of Mechanical Engineering, Université Laval, 1065 Avenue de la médecine, Québec, Qc, G1V 0A6, Canada
Published: April 2016

While the majority of industrial manipulators currently in use only need to performautonomousmotion, future generations of cooperative robots will also have to execute cooperative motion and intelligently react to contacts. These extended behaviours are essential to enable safe and effective physical Human-Robot Interaction (pHRI). However, they will inevitably result in an increase of the controller complexity. This paper presents a single variable admittance control scheme that handles the three modes of operation, thereby minimizing the complexity of the controller. First, the adaptative admittance controller previously proposed by the authors for cooperative motion is recalled. Then, a novel implementation of variable admittance control for the generation of smooth autonomous motion including reaction to collisions anywhere on the robot is presented. Finally, it is shown how the control equations for these three modes of operation can be simply unified into a unique control scheme.
Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanismby Their Combination
Authors: Iwata Kazuhiro ,   Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan, Suzumori Koichi , Wakimoto Shuichi
Published: April 2016

Recently, there has been increasing researches on the McKibben type artificial muscle, because it is small, light, and high powered. In this study, in addition to the contraction artificial muscle, the stiffness change artificial muscle and the extending artificial muscle have been developed. By nonlinear finite element method analysis, the best sleeve knitting angle has been derived to achieve the stiffness change and the extension and contraction motions. From the results, three kinds of artificial muscles realizing contraction and extension motion, and the stiffness change have been fabricated. To apply high hydraulic pressure on the muscles, these are composed of the three layer tube and the reverse tapered plug. We confirmed that the three muscles respectively generate stiffness change, contraction, and extension motions successfully. In addition, the novel bending actuator has been developed by combining contractional and extensional artificial muscles. Bending motion with high stiffness has been realized.
Mechatronics Education in School of Design – Development of Educational Tool to Study Design Expression Using Mechatronics
Authors: Mitani Atsushi ,   Department of Design, Sapporo City University, 1 Geijyutsu-no-mori, Sapporo, Hokkaido 005-0864, Japan, Hosoya Tamon
Published: April 2016

We developed a printed circuit substrate for studying electronic devices and a PIC processor for design expressions in the mechatronics class of Sapporo City University, School of Design, Product Design Course. We then taught PIC assembler programming for LED blinking control, feedback from sensors and switches, the servomotor driving, and sequential feedback. Students in this class was given a subject to realize an actual model for the design expression of something that moves in reaction to human actions using these skills.
Creating Attraction for Technical Education Material and its Educational Benefit (Development of Robotic Education Material Characterized by 3D CAD/CAM and Compact Stereo Vision)
Authors: Morishita Takeshi ,   Faculty of Mechanical Engineering, Toin University of Yokohama, 1614 Kuroganemachi, Aoba-ku, Kanagawa 225-8502, Japan
Published: April 2016

This paper describes an attractive technical education program and material for engineering students that consists of 3D CAD/CAM technology, CAD/CAM circuit board manufacture, an image information processing system, stereo vision technology and control experiments involving a simple and compact robot equipped with a stereo vision system. In addition, this material, which incorporates 3D attraction, can provide an interesting experience in constructing robot mechatronics and programming for students. Results show that this technical education program can have an excellent effect in enabling students to acquire both hardware and software technology and to obtain control experience with actual robots. Finally, these results indicate that this education program is effective with technical students seeking to learn about system technology including robotics and mechatronics technology
Distributed Robotics Education
Authors: Lund Henrik Hautop ,   Center for Playware, Technical University of Denmark, 2800 Kgs. Lyngby, Denmark, Pagliarini Luigi
Published: April 2016

Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity, topology, island modeling software behavioral models, adaptive interactivity, feedback, and user interaction. We show how the proposed system can be considered a tool for easy, fast, flexible hands-on exploration of these distributed robotic issues. Through examples, we show how to implement interactive parallel and distributed processing in robotics with different software models such as openloop, randomness-based, rule-based, user-interactionbased, AI- and ALife-based, and morphology-based control.
Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators
Authors: Koo Kyongmo ,   Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan, Jiang Xin , Konno Atsushi , Uchiyama Masaru
Published: April 2016

This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.
Image Detection of Seam Line for Laser Welding Robot
Authors: Matsushita Akihiko ,   Graduate School of Information Science and Technology, Hokkaido University, North 14 West 9, Sapporo 060-0814, Japan, Morishita Takafumi , Kaneko Shun’ichi , Ohfuji Hitoshi , Fukuda Kaoru ,   Sanko Steel, 3-515-1 Zenibako, Otaru 047-0261, Japan
Published: April 2016

Automating robot laser welding requires that laser irradiation direction and laser focus positioning influencing welding strength be controlled precisely along the seam line. Since the edge of the welded object can be transformed in processing by such as cutting, bending and grinding, direct measurement is necessary to detect the seam line. A robust image detection method of seam lines is proposed for hand-eye laser welding system equipped with an optical microscope, a CMOS camera and two slit lasers for measurement. The seam line is detected indirectly to utilize the difference between local and global distribution of image of measurement lasers. Results of experiments demonstrated the effectiveness of our proposal.
Control of Pneumatic Robots Using Variable Offset Pressure Controller
Authors: Igo Naoki ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Hoshino Kiyoshi
Published: April 2016

We proposed a control algorithm for pneumatic actuators which can realize accurate position control. Specifically, the controller achieves quick response and less overshoot using the conventional proportional controller (P-controller) with an offset pressure controller which may increase or decrease the rigidity to the pneumatic actuators. The experimental results showed that a rise time was almost the same as that of the conventional PD controller but a tracking accuracy was improved when the lamp input was given as the target.
Development of HELIOS IX: An Arm-Equipped Tracked Vehicle
Authors: Ueda Koji ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan, Guarnieri Michele , Inoh Takao , Debenest Paulo , Hodoshima Ryuichi , Fukushima Edwardo F. , Hirose Shigeo ,   Hibot Corporation, Meguro Daiichi Hanatani Bldg. 801, 2-18-3 Shimomeguro, Meguro-ku, Tokyo 153-0064, Japan,   Atelier E-N, 1-36-4 Hashikadai, Narita, Chiba, Japan,   Saitama University, 255 Shimo-Okubo, Sakura-ku, Saitama-shi, Saitama 338-8570, Japan
Published: April 2016

We have been developing an arm-equipped, tracked vehicle, “HELIOS IX,” for search and rescue tasks in urban environments. HELIOS IX has to be operated by remote control to carry out several tasks, such as the opening of doors, negotiation of stairs, and handling of objects. In this paper, the mechanical design and the system architecture that satisfy the required specifications are described. Through experiments, it is verified that the robot can climb stairs smoothly by using a part of its arm as a sled, and it can open and pass through a door by utilizing the configuration of the vehicle.