bluuebunny/crossref_metadata_2025 huggingface dataset:
Shape Measurement of Solder Bumps by Shape-from-Focus Using Varifocal Mirror
Authors: Mitsudo Jun ,   Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu-shi, Shiga 525-8577, Japan, Ishii Akira
Published: April 2016

We measured solder bumps on an LSI package board presented for inspection based on the shape from focus. We used a copper-alloy mirror deformed by a piezoelectric actuator as a varifocal mirror to build a motionless yet fast focusing mechanism. The varifocal mirror was at the image focal point of the image-taking lens so that lateral magnification was constant during focusing and orthographic projection was established. A focused plane was shifted along the optical axis with a precision of 1.4μm in a depth range of 1.5mm by driving the varifocal mirror. A magnification of 1.97 was maintained during focusing. Evaluating the curvature of field and removing its effect from the depth data reduced errors. The shape of 208 solder bumps 260-μm high spaced 500μm on the board was measured. The 10mm×10mm board was segmented into partly overlapping 3×4 sections. We captured 101 images in each section with a high-resolution camera at different focal points at 15-μm intervals. The shape of almost the entire upper-hemisphere of a solder bump could be measured. Error in measuring bump heights was less than 12μm.
Development of DMD Reflection-Type CCD Camera for Phase Analysis and Shape Measurement
Authors: Ri Shien ,   Research Fellow of the Japan Society for the Promotion of Science, Graduate School of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama 640-8510, Japan, Matsunaga Yasuhiro , Fujigaki Motoharu , Matui Toru , Morimoto Yoshiharu ,   Graduate School of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama 640-8510, Japan,   Department of Opto-Mechatronics, Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama 640-8510, Japan
Published: April 2016

Phase-shifting method effectively attains high resolution and high accuracy in analyzing phase information on a projected grating. It is difficult to apply dynamically, however, because it usually requires several images. We developed a camera based on digital micromirror device (DMD) technology for high-speed phase analysis and shape measurement, called a DMD reflection-type CCD camera or DMD camera. Implementing DMD technology enables accurate control of intensity reaching the imaging detector of a camera. Moiré is used to adjust pixel-to-pixel correspondence highly accuracy. We introduce a controllable high-speed DMD operation board to control DMD mirrors at high-speed, so each DMD mirror operates as a controllable high-speed shutter for the corresponding CCD pixel. In experiments with an application, we conducted DMD integrated phase-shifting method using correlation to analyze phase distributions of projected gratings from images recorded by the DMD camera. We then discuss principles and experimental results under dynamic conditions. This paper is a revised version of one presented at the SPIE International Symposium on Optomechatronic Technologies (ISOT 2005), December 4-7, 2005 at the Sapporo Convention Center, Japan. That paper appears in SPIE Proceedings Vol.6049, 60490I.
An Object Detection Method Based on Independent Local Features
Authors: Nakano Ryouta ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Hotta Kazuhiro , Takahashi Haruhisa
Published: April 2016

This paper presents an object detection method using independent local feature extractor. Since objects are composed of a combination of characteristic parts, a good object detector could be developed if local parts specialized for a detection target are derived automatically from training samples. To do this, we use Independent Component Analysis (ICA) which decomposes a signal into independent elementary signals. We then used the basis vectors derived by ICA as independent local feature extractors specialized for a detection target. These feature extractors are applied to a candidate area, and their outputs are used in classification. However, the number of dimension of extracted independent local features is very high. To reduce the extracted independent local features efficiently, we use Higher-order Local AutoCorrelation (HLAC) features to extract the information that relates neighboring features. This may be more effective for object detection than simple independent local features. To classify detection targets and non-targets, we use a Support Vector Machine (SVM). The proposed method is applied to a car detection problem. Superior performance is obtained by comparison with Principal Component Analysis (PCA).
Gestures Recognition Based on the Fusion of Hand Positioning and Arm Gestures
Authors: Coquin Didier ,   LISTIC - University of Savoie, Domaine Universitaire, B.P. 806, 74016 Annecy-Cedex, France, Benoit Eric , Sawada Hideyuki , Ionescu Bogdan ,   Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396, Japan,   LAPI, University “Politehnica” Bucharest, 061071 Romania
Published: April 2016

To improve the link between operators and equipment, communication systems have begun using natural (user-oriented) languages such as speech and gestures. Our goal is to present gesture recognition based on the fusion of measurements from different sources. Sensors must be able to capture at least the location and orientation of the hand, as is done by Dataglove and a video camera. Dataglove gives the hand position and the video camera gives the general arm gesture representing the gesture’s physical and spatial properties based on the two-dimensional (2D) skeleton representation of the arm. Measurement is partly complementary and partly redundant. The application is distributed over intelligent cooperating sensors. We detail the measurement of hand positioning and arm gestures, fusion processes, and implementation.
A Dual Imaging System for Flip-Chip Alignment Using Visual Servoing
Authors: Lee Daljae ,   Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong, Yuseong-dong, Daejeon, Korea, Tao Xiaodong , Cho Hyungsuck , Cho Youngjun ,   Mechatronics Team, Korea Institute of Industrial Technology (KITECH), Chungnam, Chunan-Si, Korea
Published: April 2016

Electronic components must be precisely aligned on printed circuit (PC) boards in chip packaging, especially in flip-chip assembly. We propose a vision system to provide relative positioning information between the flip-chip and substrate to ensure accurate alignment. The dual imaging system (DIS) we introduce to ensure alignment consists of a zoom lens, beam splitter, mirror, charge-coupled device (CCD) and light-emitting diode (LED) illumination, and simultaneously observes solder bumps on flip-chips and pad patterns on substrates using one camera. Features are extracted from the preprocessed image frame containing the flip-chip and substrate to obtain positioning and orientation errors between the chip and substrate. Based on measured error, visual servoing determines the instantaneous velocity input of flip-chips at each servoing iteration time and controls relative positioning and orientation precisely on-line. Fine servoing on a 3-axis stages uses dual imaging for visual alignment. Experiments under different parameter conditions to evaluate dual imaging system and visual servoing algorithm performance confirmed the feasibility of our proposal.
Visual Feedback Tracking with Laser to Moving Crane Hook
Authors: Nara Shunsuke ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu-City, Kagawa 761-0396, Japan, Takahashi Satoru
Published: April 2016

This paper introduces measurement of the working radius of a crane truck based on visual feedback control. In order to realize the measurement, we developed an observation device which is equipped with a CCD camera, a laser range finder, and AC servo motors. Further, we propose a new algorithm for mark recognition and construct a control system with an extended Kalman filter to eliminate a time delay. By performing several experiments, we verify the performance of the observation device, and show the effectiveness of our proposed method.
Lithography Using a Microelectronic Mask
Authors: Seo Manseung ,   Department of Robot System Engineering, College of Engineering, Tongmyong University, 535 Yongdang-dong, Nam-gu, Busan 608-711, Korea, Kim Haeryung , Onosato Masahiko ,   Graduate School of Information Science and Technology, Hokkaido University, Kita-14, Nishi-9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan
Published: April 2016

In the strategy we propose for lithography using a microelectronic mask, the overlay intensity basis is defined taking into account instantaneous distributions of optical energy through the microelectronic mask from a micromirror onto a scrolling substrate. The microelectronic mask involves transfer of patterns as optical energy. We implemented a prototype lithography simulation system for generating lithographic data and predicting optomechatronic results. To ensure feasibility, we conducted lithography using a microelectronic mask on prototype equipment to fabricate actual wafers parallel to simulation. Results of simulation and experiments confirmed consistency both physically and mathematically. The appropriateness of the devised method, the precision of the implemented system, and the capability of pattern size control adjusting the occupancy limit without data modification have thus been confirmed.
Optimal Velocity Function Minimizing Dissipated Energy Considering All Friction in a Position Control System
Authors: Zhu Yiting ,   Department of Electronic and Control Systems Engineering, Shimane University, 1060 Nishi-Kawatsu, Matsue, Simane 690-8504, Japan, Zhu Xuejun , Izumi Teruyuki , Kanesaka Masashi ,   Department of Mechanical Engineering, Ningxia University, 90-5-075 Yinchuan 750021, China
Published: April 2016

In order to help reduce global warming, the amount of dissipated energy of machines should be decreased. The present paper discusses optimal current and velocity functions that minimize the dissipated energy in a servo system with friction of all types. The Coulomb friction of a gear in the servo system is represented by the efficiency of the gear and is assumed to be proportional to the absolute value of the output torque of the motor. Even if the system is nonlinear due to Coulomb friction, an analytical optimal function can be solved by introducing a zero crossing time tc, when the input torque of the gear changes from positive to negative. The influence of the viscous friction upon the optimal zero crossing time tc* is examined by simulations. The energy dissipated with the optimal velocity function is compared to the energy dissipated with a conventional trapezoidal velocity function. The results of the simulations and the experiment indicate that the optimal velocity function can greatly reduce the amount of energy dissipated when the moment of inertia is large.
Memory Efficient Real-Time Motion Planning by Dual-Resolution Heuristic Search
Authors: Gomm Ralf ,   Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL 60607, USA, Cetinkunt Sabri
Published: April 2016

Memory efficient path planning is achieved in real-time for a linkage mechanism with five degrees of freedom (DOF) as found in mobile construction machinery. Collision-free end-effector positions are obtained in an off-line preprocessing phase utilizing deterministic dual-resolution sampling. Moving obstacles are decoupled for complexity and memory reduction. Solutions to particular path planning problems are computed during an on-line phase by heuristic driven A* search. To enable path planning on current and future anticipated embedded computer resources of construction machinery, the search strategy is optimized by designing the behavior of heuristic functions specifically for our problem space. The performance of the heuristic guided method is evaluated and compared to other non-heuristic and heuristic searches.
Special Issue on Selected Papers from ROBOMEC'06 (Part 1)
Authors: Komoriya Kiyoshi ,   Co-editor, Dr. Eng., Intelligent Systems Research Institute, AIST, AIST Tsukuba East, 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan, Sugano Shigeki ,   Program Chair of ROBOMEC'06 and Co-editor, Professor, Dr. Eng., Dept. of Mechanical Engineering, School of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

The 2006 JSME Conference on Robotics and Mechatronics (ROBOMEC'06) was held at Waseda University and Shinjuku Cosmic Center, Tokyo, Japan, on May 26-28, 2006, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Fujie of Waseda University served as general chair and Prof. Sugano of Waseda University as program chair. The conference, whose theme was ""Robot Technology Integration for Improved Quality of Life,"" was to help establish new life style in coming aged society using advanced robotics and mechatronics technologies. Organized sessions numbered 63 and papers 883, again a record for the conference. This special issue presents 13 papers from the conference culled from 90 outstanding presentations – some 14% of the total – which were further narrowed to 37 before final selection for Part 1 (Vol.19, No.2). We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank the former Editor-in-Chief Prof. Makoto Kaneko of Osaka University for organizing this special issue.
Integrated Multi-Step Design Method for Practical and Sophisticated Compliant Mechanisms Combining Topology and Shape Optimizations
Authors: Kobayashi Masakazu ,   Department of Information-aided Technology, Toyota Technological Institute, 2-12-1 Hisakata, Tempaku-ku, Nagoya 468-8511, Japan, Nishiwaki Shinji , Yamakawa Hiroshi ,   Department of Aeronautics and Astronautics, Kyoto University, Yoshida Hon-machi, Sakyo-Ku, Kyoto 606-8501, Japan,   Faculty of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

Compliant mechanisms designed by traditional topology optimization have a linear output response, and it is difficult for traditional methods to implement mechanisms having nonlinear output responses, such as nonlinear deformation or path. To design a compliant mechanism having a specified nonlinear output path, we propose a two-stage design method based on topology and shape optimizations. In the first stage, topology optimization generates an initial conceptual compliant mechanism based on ordinary design conditions, with “additional” constraints used to control the output path in the second stage. In the second stage, an initial model for the shape optimization is created, based on the result of the topology optimization, and additional constraints are replaced by spring elements. The shape optimization is then executed, to generate the detailed shape of the compliant mechanism having the desired output path. At this stage, parameters that represent the outer shape of the compliant mechanism and of spring element properties are used as design variables in the shape optimization. In addition to configuring the specified output path, executing the shape optimization after the topology optimization also makes it possible to consider the stress concentration and large displacement effects. This is an advantage offered by the proposed method, because it is difficult for traditional methods to consider these aspects, due to inherent limitations of topology optimization.
Development of Four Kinds of Mobile Robot with Preliminary-Announcement and Indication Function of Upcoming Operation
Authors: Matsumaru Takafumi ,   Bio-Robotics & Human-Mechatronics Laboratory, Shizuoka University, 3-5-1 Johoku, Hamamatsu, Shizuoka 432-8561, Japan
Published: April 2016

We propose approaches and equipment for preliminarily announcing and indicating to people the speed and direction of movement of mobile robots moving on a two-dimensional plane. We introduce the four approaches categorized into (1) announcing the state just after the present and (2) indicating operations from the present to some future time continuously. To realize the approaches, we use omni-directional display (PMR-2), flat-panel display (PMR-6), laser pointer (PMR-1), and projection equipment (PMR-5) for the announcement unit of protobots. The four protobots were exhibited at the 2005 International Robot Exhibition (iREX05). We had visitors answer questionnaires in a 5-stage evaluation. The projector robot PMR-5 received the highest evaluation score among the four. An examination of differences by gender and age suggested that some people prefer simple information, friendly expressions, and a minimum of information to be presented at one time.
A Mobile Mapping System for Precise Road Line Localization Using a Single Camera and 3D Road Model
Authors: Ishikawa Kiichiro ,   Waseda University, 17 Kikui-cho, Shinjyuku-ku, Tokyo 162-0044, Japan, Amano Yoshiharu , Hashizume Takumi , Takiguchi Jun-ichi , Kajiwara Naoyuki ,   Mitsubishi Electric Corporation, Kamakura Works, 325 Kamimachiya, Kamakura-shi, Kanagawa 247-8520, Japan
Published: April 2016

Precise highway alignment data to be used in car navigation and ITS to increase driving safety must be kept up-to-date and accurate. A Mobile Mapping System (MMS) provides a highway alignment database and offers unparalleled productivity when combined with navigation and videogrammetry tools. The MMS we propose features a GPS/Dead Reckoning (DR) combined navigation system, a three-axis GPS-Gyro/Inertial Measurement Unit (IMU), laser scanners, nearly horizontal cameras, and network-based Positioning Augmentation Services (PASTM) (Mitsubishi Electric Corporation) and measures center-line and side-line locations precisely based on a 3D road surface model. The carrier-phased D-GPS/DR navigation system and GPS-Gyro/IMU conducts highly accurate positioning in centimeters and posture estimation at 0.073° rms for heading, 0.064° rms for pitch, and 0.116° for roll. It provides 0.095 m rms accuracy for both center-line and side-line measurement when GPS visibility is sufficient. A comparison of accuracy between static RTK-GPS measurement and MMS measurement on the Tateyama Kurobe alpine route confirmed MMS dynamic measurement accuracy and effectiveness.
Trajectory Planning of Motile Cell for Microrobotic Applications
Authors: Ogawa Naoko ,   Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Oku Hiromasa , Hashimoto Koichi , Ishikawa Masatoshi ,   Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki-aza-Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

Our goal is to use motile microorganisms as smart microscale robots for a variety of applications. As a first step, we have achieved microrobotic control of Paramecium cell movement using galvanotaxis (locomotor response to electrical stimulus). Previous studies based on simple empirical rules that did not consider cell dynamics had only limited control. To control cells more precisely as microrobots, we must deal with Paramecium cells in the standard robotics framework. This paper is, to our knowledge, the first attempt in trajectory planning of Paramecium cells under an electric field using a dynamics model for microrobotic applications. Based on the original dynamics model, we propose trajectory planning for cells using a common well-known Lyapunov-like approach and generate cusp-free trajectories. We discuss how to generate stable streamlined trajectories for living cells in a step toward actual control. Numerical experiments demonstrate the successful stable convergence of cell trajectories to the desired location and attitude, which should prove useful in the advanced guidance of cells.
3D Manipulation of Lipid Nanotubes with Functional Gel Microbeads
Authors: Arai Fumihito ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan, Endo Toshiaki , Yamauchi Ryuji , Fukuda Toshio , Shimizu Toshimi , Kamiya Shoko ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Nanoarchitectonics Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
Published: April 2016

We developed a novel technique for manipulating lipid nanotubes in 3D space by using laser tweezers in water solutions. Laser tweezers are well known for their use in noncontact manipulation in a closed space. We reported on 3D 6DOF manipulation of microbeads using 3D synchronized laser micromanipulation (SLM), but blur is generated in the microscope image when multiple points at different heights are trapped by scanning the focal point of the laser. It is difficult to manipulate a nanoscale rod-like object stably in 3D space, since the optical trap force is weak. To manipulate a lipid nanotube, for example, we developed an observation system to less image blur by synchronizing the shutter timing of the CCD camera and laser scanning. We thus obtained a clear image of targets at different heights while manipulating them. We then developed functional gel microtools that adhere to lipid nanotubes and succeeded in controlling the position and orientation of lipid nanotubes by using 3D SLM with shutter timing control and novel functional gel microtools.
Modeling and Feedforward Flow Rate Control of Automatic Pouring System with Real Ladle
Authors: Noda Yoshiyuki ,   Department of Production Systems Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580, Japan, Terashima Kazuhiko
Published: April 2016

This paper concerns control of the pouring process of tilting-ladle-type automatic pouring systems used in the casting industry. Here, the flow rate is modeled mathematically using mass equilibrium and Bernoulli’s theorem, then a feedforward flow rate control system is constructed by using the flow rate model’s inverse dynamics. The proposed control system can improve the accuracy of the flow rate, and enables flow rate control to be designed systematically for the various types of ladles used in casting plants. In order to verify the effectiveness of the proposed control system, the system was applied to an automatic pouring system which was tested experimentally using both water and molten metal.
Omnidirectional and Holonomic Mobile Platform with Four-Wheel-Drive Mechanism for Wheelchairs
Authors: Wada Masayoshi ,   Department of Human-Robotics, Faculty of Engineering, Saitama Institute of Technology, 1690 Fusaiji, Fukaya, Saitama 369-0293, Japan
Published: April 2016

This paper presents a new type of omnidirectional and holonomic mobile platform with a four-wheel-drive (4WD) mechanism for improving traction of electric wheelchairs on slippery surfaces and enhancing mobility on rough terrain. The 4WD mechanism includes a pair of normal wheels on the back and a pair of omniwheels on the front. The normal wheel in back and the omniwheel in front, on the same side of the drive mechanism, are connected by a power transmission to rotate in unison with a common motor. Omniwheels enable the front of the mechanism to roll freely from side to side. A third motor turns the chair about a vertical axis at the center of the mobile platform. One goal of this project is to apply the 4WD mechanism to a holonomic omnidirectional mobile base for wheelchairs to enhance both maneuverability and mobility in single wheelchair design. The 4WD mechanism guarantees traction on irregular surfaces and enhances step climbing over that of standard wheelchairs because all wheels have a large diameter and no passive casters are used. For omnidirectional control of the 4WD mobile base, two wheel motors are coordinated to move the center of the chair in an arbitrary direction while chair orientation is controlled separately by the third motor. The three motors thus provide nonredundant 3DOF chair movement. A wheelchair with our proposed mobile base moves in all directions without changing chair orientation and turns in place, i.e., holonomic. The configuration minimizing number of motors cuts costs and ensures a high reliable mechanism. We analyze the kinematics of planar motion and statics on the wheel step of the synchronized 4WD, then discuss the development of omnidirectional 4WD control. A series of experiments using a small robotic vehicle verifies kinematic and static models and the feasibility of the 4WD omnidirectional system proposed.
Special Issue on Mobiligence: Emergence of Adaptive Motor Function Through Interaction Among the Body, Brain and Environment
Authors: Asama Hajime ,   Professor, The University of Tokyo, Ota Jun ,   Associate Professor, The University of Tokyo
Published: April 2016

Animals behave adaptively in diverse environments. Adaptive behavior, which is one of intelligent sensory-motor functions, is disturbed in patients with neurological disorders. Mechanisms for the generation of intelligent adaptive behaviors are not well understood. Such an adaptive function is considered to emerge from the interaction of the body, brain, and environment, which requires that a subject acts or moves. Intelligence for generating adaptive motor functions is thus called mobiligence. This special issue features papers dealing with mobiligence. The 18 papers were selected after a thorough peer review. The scope of these papers extends from analytical studies close to biology to synthetic studies close to engineering. Subjects are diverse – insects, monkeys, human beings, robots, networks. All papers play a part in mobiligence studies. We thank the Editorial Board of Journal of Robotics and Mechatronics for giving us the opportunity for publishing this special issue. We also thank the authors for their perseverance and expertise, and deeply appreciate the timely and helpful comments of the reviewers.
A Prosthetic Hand Control Based on Nonstationary EMG at the Start of Movement
Authors: Tsukamoto Masakatsu ,   NTT DoCoMo R&D Center, 3-5 Hikarino-oka, Yokosuka-shi, Kanagawa 239-8536, Japan, Kondo Toshiyuki , Ito Koji ,   Department of Computer, Information and Communication Sciences, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan,   Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, 4259-G3-50 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
Published: April 2016

We propose using a multiple neural network to determine the movement intended by an amputee from electromyogram (EMG) signals. Most previous approaches to the discrimination of movement using EMG signals have required EMG data with a relative long period exceeding 200 ms. Our approach enables the amputee’s intended movement to be determined from among six limb functions based on EMG signals using an initial rise zone 70 ms long. Experiments with four subjects and four electrode locations demonstrated that our proposal determines six forearm movements at a discrimination rate exceeding than 90%.
A Neuromodulation Model for Adaptive Behavior Selection by the Cricket – Nitric Oxide (NO)/Cyclic Guanosine MonoPhosphate (cGMP) Cascade Model –
Authors: Kawabata Kuniaki ,   RIKEN, 2-1 Hirosawa, Wako, Saitama 351-0198, Japan, Fujiki Tomohisa , Ikemoto Yusuke , Aonuma Hitoshi , Asama Hajime ,   RACE, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan,   RIES, Hokkaido University, Sapporo 060-0812, Japan
Published: April 2016

Physiological research has shown the importance of neuromodulators such as nitric oxide (NO) in the pheromone behavior such as fighting behavior in insects. We focused on modeling function of neuromodulator in fighting behavior of crickets, and to emerge adaptive behavior selection by synthetic approach. In this paper, we propose a model for adaptive behavior selection by nitric oxide (NO)/cyclic guanosine monophosphate (cGMP) cascade based on the physiological knowledge, and discuss the result of computer simulation.
Mathematical Model of Proportion Control and Fluctuation Characteristic in Termite Caste Differentiation
Authors: Ikemoto Yusuke ,   RACE, The University of Tokyo, 5-1-5 Kashiwano-ha, Kashiwa, 277-8568, Japan, Kawabata Kuniaki , Miura Toru , Asama Hajime ,   RIKEN, 2-1 Hirosawa, Wako, Saitama, Japan,   Graduate School of Environmental Science, Hokkaido University, Sapporo 060-0810, Japan
Published: April 2016

Self-organization of hierarchy of system has been focused in task allocation of distributed autonomous systems and network analysis. It is important to realize the mechanism of hierarchy generation for implementation in artificial systems. In order to know the principle, we try to model the control of caste differentiations in the termite ecology. Equations of evolution are created, using both of biological data and assumptions obtained by mathematical analysis. In addition, the model is validated by computer simulations. In this study, we propose that the probability migration of individuals and modulations of fluctuation are operated as a differentiation control strategy.
Hidden Markov Modeling of Human Pivoting
Authors: Maeda Yusuke ,   Division of Systems Research, Faculty of Engineering,   Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan, Ushioda Tatsuya ,   Department of Mechanical Engineering, Division of Systems Integration, Graduate School of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan
Published: April 2016

In modeling human movement using hidden Markov models (HMM), the “optimal” HMM with an appropriate number of states is determined based on the minimum description length (MDL) criterion. Human pivoting, typifying graspless manipulation, is modeled using Gaussian mixture HMMs. Analyzing the obtained HMMs using metric multidimensional scaling (MDS) showed the features of individual movement. Such dissimilarity analysis can be used to validate models of tacit skills in human manipulation.
Emergence of a Small-World Like Communication Network Through Local Ad Hoc Negotiation
Authors: Kurabayashi Daisuke ,   Dept. Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Inoue Tomohiro , Yajima Akira , Funato Tetsuro ,   Production Development Center, Ishikawajima-Harima Heavy Industries Co., Ltd., 1 Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa 235-8501, Japan,   Human Machine Perception Laboratory, Canon Inc., 30-2 Shimomaruko 3-chome, Ohta-ku, Tokyo 146-8501, Japan
Published: April 2016

Focusing on an algorithm for realizing a small-world (SW) like ad hoc communication network among autonomous mobile agents, we discuss how the ad hoc network emerges through local negotiation without a central manager. We have started procedures that lend emerging networks the SW property, resulting in effective, low-cost communication. We formulate the expected number of communication links and degrees of agents, verifying the feasibility of our proposal through simulation.
Experimental Analysis of the Attribution of Own Actions to the Intention of Self or Others by the Multiple Forward Models
Authors: Otake Mihoko ,   Research into Artifacts, Center for Engineering, the University of Tokyo, 5-1-5 Kashiwa-no-ha, Kashiwa-shi 277-8568, Japan, Arai Kohei , Kato Motoichiro , Maeda Takaki , Ikemoto Yusuke , Kawabata Kuniaki , Takagi Toshihisa , Asama Hajime ,   Department of Neuropsychiatry, School of Medicine, Keio University, 35 Shinanomachi, Shinjuku-ku 160-0016, Japan,   Distributed Adaptive Robotics Research Unit, RIKEN, 2-1 Hirosawa, Wako 351-0198, Japan
Published: April 2016

Human cognitive mechanisms have been studied for designing user-friendly interface. One of the key issues is the attribution of own actions to the intention of self or others. It is known that patients with schizophrenia who sometimes attribute their own actions to the intentions of others may perceive themselves as causing events which they do not in fact control, when they feel they are in voluntary movement. In this study, we administered similar experiments to normal subjects. We also conducted computational simulations through extending the multiple forward models, which successfully described the experimental results.
Navigation of Autonomous Mobile Cleaning Robot SuiPPi
Authors: Sakai Tatsuo ,   Matsushita Electric Works, Ltd., 1048 Kadoma, Osaka 571-8686, Japan, Nishimura Daisuke , Uematsu Hiroyuki , Murai Ryosuke , Mitani Koichi , Nakahara Tomoharu , Kitano Yukihiko
Published: April 2016

SuiPPi is a practical robot that underwent long-term experimental evaluation at Expo 2005. SuiPPi’s mission was to clean the Expo site, for example, the Global Loop main pedestrian loop. The Global Loop is about 2.6 km long, and 21 m wide, and has many curves and slopes and obstacles such as benches and vending machines. To execute its mission, SuiPPi had to solve two problems, – (1) moving autonomously over long distances around the loop to cleaning areas, and (2) cleaning areas not necessarily rectangular. SuiPPi navigation solved these problems by recognizing and adapting to the environment. The effectiveness of SuiPPi was confirmed.
Multiscale 2D-SPR Biosensing for Cell Chips
Authors: Suzuki Masayasu ,   Dept. of Electric & Electronic Eng., University of Toyama, 3190 Gofuku, Toyama, Toyama 930-8555, Japan, Ohshima Toyohiro , Hane Shintaro , Iribe Yasunori , Tobita Tatsuya ,   NTT Advanced Technology Corporation, 3-1 Morinosato, Wakamiya, Atsugi, Kanagawa 243-0124, Japan
Published: April 2016

Evaluating cell activity and functions in different-sized cell chambers requires multiscale sensing. We have been developing multiscale biosensing applied from 10 µm to 1 mm. We measured mouse IgG in micro wells using a high-resolution two-dimensional surface plasmon resonance (SPR) imaging affinity sensor. This sensor uses high refractive optics, a 1X to 7X microscopic lens, and a cooled CCD camera. The micro-well array was prepared with a PDMS film on gold sensor film. Protein A immobilized on sensor film was used for IgG recognition. SPR sensitivity was dramatically decreased with 10 and 8.5 µm microwells. To improve sensor sensitivity, we optimized the sensor’s measurement angle and exposure time, enabling mouse IgG to be detected in wells of 1 mm, 30 µm, and 10 µm using the same 2D-SPR imaging sensor and measurement protocol. These results show the feasibility of multiscale biosensing use in antibody production in a micro well or a cell chamber.
Fabrication of Cell-Adhesion Surface and Arteriole Model by Photolithography
Authors: Arai Fumihito ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan, Nakano Takuma , Tada Mika , Lin Yu-Ching , Ikeda Seiichi , Uchida Tomoyuki , Oura Hiroyuki , Fukuda Toshio , Matsuda Takehisa , Negoro Makoto ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Kanazawa Institute of Technology, 3-1 Yasukaho, Hakusan, Ishikawa 924-0838, Japan,   Fujita Health University, 1-98 Dengakugakubo, Kutsukake-cho, Toyoake, Aichi 470-1192, Japan
Published: April 2016

We have been developing scaffolds of three-dimensional (3D) synthetic vascular prosthesis in tailor-made. Human umbilical vein endothelial cells (HUVECs) attached on the inner surface of the scaffold have anticoagulant effects. Asperity structures of the inner surface are important to cell adhesion. It is important to quantify the inner surface asperity condition of the scaffold by observing HUVECs behavior and morphology. For this purpose, we recreated the inner surface profile of the scaffold on a poly(dimethilsiloxane) (PDMS) substrate by microfabrication. We made semiround convex patterns of resist that had 8 µm in diameter and 5 µm high using photolithography, and the concave pattern on the PDMS substrate by printing. We observed HUVECs adhering to the PDMS substrate having concave pattern on it surface. The distribution density of the concaves of the tested pattern is 1600 /mm2or 40,000 in a 25 mm2area. In addition, we fabricated an arteriole model by photolithography, creating an arteriole tube model that had 1.1 cm long and 300-400 µm in diameter. We confirmed that the arteriole model had no leakage using a methylene blue solution flow in the channel.
Performance Evaluation of Teleoperation for Manipulating Micro Objects Using Two-Fingered Micro Hand
Authors: Inoue Kenji ,   Department of Bio-System Engineering,  Graduate School of Science and Engineering, Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 922-8510, Japan, Nishi Daisuke , Takubo Tomohito , Tanikawa Tamio , Arai Tatsuo ,   Olympus Corporation,   Department of Systems Innovation, Graduate School of  Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan,   National Institute of Advanced Industrial Science and Technology, AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
Published: April 2016

We developed a dexterous micromanipulation system consisting of a two-fingered micro hand, an autofocusing optical microscope, an image processor, and user interfaces. The micro hand has 6 degrees of freedom (DOF), 3 DOF each for two fingers that work similar to a thumb and forefinger or chopsticks. This hand grasps, moves, rotates and releases micron-scale objects. In teleoperation mode, the user controls hand motion with a joystick or keyboard while observing the microscope image on a TV monitor. We evaluate teleoperation performance for manipulating micron-scale objects. Several types of motion command methods proposed include a keyboard or joystick as operation device, and position or rate command modes. The tasks experimentally evaluated are picking, grasping, moving, and releasing micron-size objects, i.e., a glass grain in air and a yeast cell in liquid. These are compared in positioning accuracy and task execution time.
Biomodeling System - Interaction Between Living Neuronal Networks and the Outer World
Authors: Kudoh Suguru N. ,   Cell Engineering Research Institute (RICE), National Institute of Advanced Industrial Science and Technology (AIST), 1-8-31 Midorigaoka, Ikeda, Osaka 563-8577, Japan, Hosokawa Chie , Kiyohara Ai , Taguchi Takahisa , Hayashi Isao ,   Faculty of Informatics, Kansai University, 2-1-1 Ryozenji-cho, Takatsuki, Osaka 569-1095, Japan,   Department of Chemistry, Osaka University, 1-1 Machikaneyama-cho, Toyonaka, Osaka, 563-0043, Japan
Published: April 2016

Rat hippocampal neurons reorganized into complex networks in a culture dish with 64 planar microelectrodes and the electrical activity of neurons were recorded from individual sites. Multi-site recording system for extracellular action potentials was used for recording the activity of living neuronal networks and for applying input from the outer world to the network. The living neuronal network was able to distinguish among patterns of evoked action potentials based on different input, suggesting that the living neuronal network can express several pattern independently, meaning that it has fundamental mechanisms for intelligent information processing. We are developing a “biomodeling system,” in which a living neuronal network is connected to a moving robot with premised control rules corresponding to a genetically provided interface of neuronal networks to peripheral systems. Premised rules are described in fuzzy logic and the robot can generate instinctive behavior, avoiding collision. Sensor input from the robot body was sent to a neuronal network, and the robot moved based on commands from the living neuronal network. This is a good modeling system to analyze interaction between biological information processing and electrical devices.
A Case Study Approach: Walking Assist Scheme Exploiting Somatic Reflex of a Leg-Paralysis Patient
Authors: Matsushita Kojiro ,   Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Yamakawa Akihiro , Yokoi Hiroshi , Arai Tamio
Published: April 2016

We propose a walking-assist scheme that exploits residual functions of a hemiplegic patient with a unique case of leg paralysis – involving the somatic reflex that prevented her from raising her left leg, leaving it to drag on the ground instead. She prevented this by pressing a specific spot on her leg with her fingers. We measured electromyographic (EMG) signals and found that although she could not voluntary activate her thigh and tibial muscle, mechanical stimulus activates them. We concluded that her paralysis was a unique somatic reflex of her nerve system and we developed a mechanical stimulator that she used to train her muscles in walking and improved her gait to approach that of an unparalyzed person.
VR Applied Asobi-Litation System for Dementia Elderly in Group Homes
Authors: Ohsuga Mieko ,   Biomedical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka 535-8585, Japan, Inoue Yumiko , Hashimoto Wataru , Nakaizumi Fumitaka ,   Faculty of Information Science and Technology, Osaka Institute of Technology, 1-79-1 Kitayama, Hirakata, Osaka 573-0196, Japan
Published: April 2016

The “Asobilitation” (Japanese “asobi,” meaning “play,” replaces the “rehab” in “rehabilitation”) system we developed using virtual reality and targeting physical and mental improvement in elderly people with dementia was applied to residents of a group home for the aged, “Nishiyama no Sato.” A pair of residents, or a resident and a caregiver, took part in a cooperative game using bicycling or a balancing exercise. First experiment was executed to evaluate system acceptance and over two thirds of the residents participated indicating that they found the system at least interesting and easy enough to try out. Second experiment was designed for effect assessment of system use, however it showed no clear positive effect of the system on walking, despite our objectives of having the system improve mobility and reverse lower-leg muscle deterioration. A study is thus needed on the system’s continuous, long-term effects, and we must develop an easier way to assess walking function in the elderly with dementia.
A Study of Human Pointing Features on Touch-Screens -Age Effect, Difference by Gender, and Difference in Direction-
Authors: Komazaki Masanobu ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Idesawa Masanori
Published: April 2016

We set up guidelines for designing graphic user interfaces (GUI), e.g., software-keyboards, for touch screens easier to used than conventional input (or interface) devices for IT systems such as keyboards and mice. We studied aging and gender differences in the dynamic properties of user pointing on a touch screen. We obtained the following results: (1) Standard Fitts’law did not hold very well when subjects repeated pointing using one finger between two targets close together on the touch screen. Movement-Time (MT) -the time required for pointing- increased linearly with the index of difficulty (ID) - the ratio of distance between targets (D) to target size (S). (2) Neither α -the ratio of the increase of MT to ID- nor β -MT when ID is 0- differed significantly between men and women. (3) α took almost the same value in older, middle-aged, and younger subjects, whereas β differed significantly between these groups. β increased linearly with age. (4) α and β did not differ significantly between left-right and depth in pointing. (5) The practice effect reduced the dispersion of α and β.
Reminiscence - A Comparison of Conventional Therapeutic and Computer-Based Interactive Methods
Authors: Tamura Toshiyo ,   Chiba University, Graduate School of Engineering, Ohsumi Mariko , Oikawa Daisuke , Higashi Yuji , Fujimoto Toshiro , Suenaga Takatoshi , Kuwahara Noriaki ,   ATR Intelligent Robotics and Communication Laboratories,   Geriatric Health Care Services Facility Green Home,   Fujimoto Hayasuzu Hospital,   Kumamoto University, School of Medicine,   Kyoto Institute of Technology
Published: April 2016

Reminiscence therapy using photographs and a PC to present the same image was compared using images of an old-style Japanese fireplace and a washboard. Subjects undertook reminiscence therapy for a 5-minute session and we used snap reading method for analysis. Each activity was counted at 5-second intervals for 3 minutes of a 5-minute session. Subjects gazed at and made positive replies about both images, and no significant difference was seen between the two methods. We concluded that PC-based reminiscence therapy can be used effectively in conjunction with standard reminiscence therapy.
Development of the Master Hand for Grasping Information Capturing
Authors: Nagata Kazuyuki ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Saito Fuminori , Suehiro Takashi ,   Former member of National Institute of Advanced Industrial Science and Technology (AIST), (Currently at Toyota Motor Corporation)
Published: April 2016

Analysis of human hand grasping operation provides information for developing robot hand grasping algorithms based on human knowledge and experience. Hand grasping analysis involves finger movement and contact force acting on the fingertips. We present a master hand put on a human hand to measure fingertip movement and contact force acting on the human fingertips. The master hand consists of serial links, six-axis force/torque sensors installed on the fingertips, a base, a glove, and an inclination sensor. We developed the master hand to clarify human grasping strategy. We collect data by having a subject act under the physical constraints as those of the robot hand. Obtained information is used to develop grasping algorithms for robot hands. Starting with a discussion of the concept behind master hand development, we detail the mechanism of the master hand and demonstrate its features.
Virtual Robot Experimentation Platform – A Versatile Small Footprint Robot Simulator
Authors: Freese Marc ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Ozaki Fumio , Hirose Shigeo , Matsuhira Nobuto ,   Humancentric Laboratory, Corporate R & D Center, Toshiba Corporation, 1 Komukai, Toshiba-cho, Saiwai-ku, Kawasaki-shi, kanagawa 212-8582, Japan
Published: April 2016

This paper presents a small footprint and modular virtual robot experimentation platform capable of easily being integrated into bigger applications. It comes as a library of functions and can be used through a native client application, a script or through an integrated GUI. The platform is organized around calculation modules where each achieves a specific task, namely collision detection, distance calculation, powerful proximity sensor simulation, forward and inverse kinematics, as well as path planning. Additional modules can easily be added and complicated simulations realized by programmatically combining them in a client application. The platform's small size allowed it to be successfully tested and embedded into several applications, as well as to speed-up the design process of a sonar-based navigation and obstacle avoidance algorithm.