bluuebunny/crossref_metadata_2025 huggingface dataset:
Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor
Authors: Sankai Yoshiyuki ,   Institute of Engineering Mechanics, University of Tsukuba, Tsukuba, 305-0006, Japan, Nii Tetsuya , Kariya Shinichi
Published: April 2016

We propose an objective parallel computation/control method, developing the following to solve conventional problems and installing a controller on a robot with links decomposed to objects: 1) parallel calculation for twodimensional link dynamics, 2) downsizing of a high-speed controller using a digital signal processor (DSP), 3) a common robot control library, and 4) parallel calculation control of a multilink system. Evaluating parallel computation/control using the DSP, we verified fine compact controller efficiency in real-time control of multi-DOF systems and control performance comparing overall system control by linear quadratic optimal control.
Device Developed to Measure Drive Roller
Authors: Tanaka Hisaya ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157-8572, Japan, Sudo Nobuyuki , Ide Hideto
Published: April 2016

A new device has been developed to measure the distance from the drive roller to the cage for studying sensor measurement of distance. In one application, it uses a laser, and in another, a strain gauge.
Development of Simultaneous Measurement of 3-D Shapes and Normal Vectors for Specular Objects
Authors: Okada Saburo ,   Chugoku National Industrial Research Institute, 2-2-2, Hiro-Suehiro, Kure, Hiroshima, 737-0197 Japan, Imade Masaaki , Miyauchi Hidekazu
Published: April 2016

Our research institute developed and built an experimental optical measurement system for specular objects able to simultaneously measure 3-D shapes and normal vectors of surfaces to measure shapes of objects with mirror-finished surfaces and to restore original shapes accurately by inputting measured values in CG and CAD systems. A semiconductor laser spotlight is irradiated on the measured surface vertically or obliquely. Space coordinates of rays reflected on the surface are instantaneously measured at 2 different points in space using optical position sensors rotating at a constant speed. The 3-D coordinates and normal vectors of the reflection point are obtained geometrically. A performance evaluation using a metallic semisphere with a mirror-finished surface showed that the system simultaneously measured 3-D displacement and normal vectors of specular curved surfaces of any angles up to 20 degrees, with maximum error of several degrees in normal vectors and several millimeters in surface shape. The developed system may restore higher quality curved surfaces than conventionally because it reconstitutes curved surfaces using both measured 3-D shape data and normal vector data.
Intelligent Algorithm for Biped Robot for Harvesting Watermelons
Authors: Ogasawara Ken'ichi ,   Department of Computer Engineering, Kumamoto Prefectural College of Technology, 4455-1 Haramizu, Kikuyou-machi, Kikuchi-gun, Kumamoto 869-1102, Japan, Arao Masaki , Kawaji Shigeyasu ,   IT Research Center, Corporate Research and Development H.Q., OMRON Corporation, Shimo-kaiinnji, Nagaokakyo-city, Kyoto 617-0845, Japan,   Department of Systems Engineering and Infromation Science, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan
Published: April 2016

Farm working usually involves a harsh environment such as limited work space and soft, unstable or uneven surfaces. High mobility even in such an environment is essential for automating agricultural tasks. Bipedal locomotion is an example of such mobility, but it is statically unstable. Biped robots for farm work must be controlled dynamically to maintain unstable equilibrium. No decisive control strategy for this problem had been mapped. Noting that biped locomotion is periodic and governed by a characteristic rhythm, we proposed control strategy based on locomotion rhythm. In an uncertain environment, the reference rhythm should be modified corresponding to its current state for realizing stable walking. We introduce the concept of ""compliance"" in our rhythm-based locomotion control to modify a priori defined reference rhythm so that the robot maintains its balance. Simulations and experiments demonstrate the feasibility of stable walking in an unfavorably environment.
Automatic Milking System
Authors: Hayashi Masahiko ,   Kubota Co. Ltd. 7-6-5 Ueno, Taito-ku, Tokyo 110-0005, Japan
Published: April 2016

Automatic milking system was developed to make daily agricultural work easier by freeing personnel from daily milking and enabling family-run farms to be enlarged. This system includes a mobile robot with supersonic sensors for detecting cow teats and fitting on the milking cup automatically. Teats are cleaned and cups removed automatically when milking is finished. Automatic milking lowers the chance for personnel directly check a cow's condition, however, our system solves this problem by computerizing cow management. To guide cows through the system, a special barn layout is used. This system is currently operating at 8 sites in Japan.
Development of Transplanting Robot
Authors: Yamada Hisaya ,   Yanmar Agricultural Equipment Co., Ltd., 16 Kamata, Enmyoji, Oyamazaki, Kyoto 618-0091, Japan
Published: April 2016

The mechanization of plant nurseries, especially in floriculture, lags behind other agricultural fields. Transplanting plants in small vessels to bigger ones is important but tedious and time-consuming, so we developed an automatic transplanter. It is the first transplanter to recognize missing plants. This paper presents the transplanter, the background of floricultural production, and the most simplest, most economical, and practical sensing system to check for missing plants. It also discusses ways to use the transplanter effectively and introduces a more advanced system evolved from the simplest sensing system.
Empirical Measurement toward an Emergent Perceptibility of Autonomous Robots
Authors: Hakura Jun ,   Faculty of Software and Information Science, Iwate Prefectural University, 152-52 Sugo, Takizawa-mura, Iwate 020-0193, Japan, Kakazu Yukinori ,   Laboratory of Autonomous Systems Engineering, Research Group of Complex Systems Engineering, Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Kita-ku, Saporo, Hokkaido University
Published: April 2016

A perceptual mechanism having a possibility to utilize advantages of both artificial intelligence and a reactive system is introduced into an autonomous intelligent robot. Empirical measurement that is a product of the interaction between the environment and the robot is implemented in the perceptual mechanism to interpret environmental information through a sensing system. The mechanism design concept and concrete examples are givep. Computational experiments demonstrate that the mechanism acquires empirical measurement for the behavior for passable openings.
Intelligent Monitoring System for Grinding Process by Recurrent Fuzzy Inference -Evaluation of Inferred Surface Roughness Using Degree of Fuzziness-
Authors: Kobayashi Futoshi ,   Department of Micro System Engineering, Nagoya University, 1, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito , Fukuda Toshio , Onoda Makoto , Hotta Yuzo ,   Center for Cooperative Research in Advanced Science & Technology, Nagova University, 1, Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan,   Production Machinery R&D Center, NTN Corporation, 1578, Higashi-Kaizuka, Iwata 438-8510, Japan
Published: April 2016

Grinding process is frequently used to produce a smooth surface in the manufacturing system. Recently, for using a super-abrasive wheel economically, grinding system needs to measure the surface roughness. However, it is difficult to measure surface roughness in process because it takes a long time to measure it. We have to infer the surface roughness in process by online sensor information and evaluate the reliability of inferred surface roughness. We have proposed Recurrent Fuzzy Inference (RFI) for estimating it. But, RFI cannot evaluate the reliability of inferred surface roughness. In this paper, we evaluate the reliability of inferred surface roughness by the degree of fuzziness that shows the lack of difference between the fuzzy set and the fuzzy complement. We show the experimental result of inferring and evaluating the surface roughness in grinding process.
Cordless Optical Power Supply for Micromachine
Authors: Ishihara Hidenori ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa 760-8526, Japan, Fukuda Toshio ,   CRAST, Nagoya University
Published: April 2016

This paper proposes a cordless optical power supply for micromachines and mobile microrobot on the air bearing using proposed energy system. The optical mobile microrobot consists of a floating robot with a PLZT element and an air table with air nozzles and electrodes. The PLZT element is a pyroelectric element and works as a transmitter to convert energy from optical energy to electric energy. Illuminating the PLZT with UV rays generates electric energy with electrical voltage high enough to drive the robot by electrostatic force. To solve the friction problem, an air bearing helps reduce friction and the robot to move by slight force. The robot travels floating by levitation of the air bearing. These air systems make it possible for the robot to travel autonomously and to be driven by small force. This paper shows the experimental results of movement and applications of the optical mobile microrobot.
Improvement of Maneuverability of Man-Machine System for Wearable Nursing Robots
Authors: Morishita Satoki ,   Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Tanaka Takayuki , Yamafuji Kazuo , Kanamori Naoki
Published: April 2016

We conducted R&D on wearable nursing robots as powered suits doubling as man-machine systems. In order to develop such a system, we studied physical static and dynamic considerations in designing assistance systems. We propose self-impedance matching (SIM) to evaluate system maneuverability based on energy flowing between the user and robot. The proposed SIM proved very effective in improving single-arm assistance maneuverability.
Power Assist Control Developed for Walking Support
Authors: Nemoto Yasuhiro ,   Mechanical Engineering Research Laboratory, Hitachi Ltd., 502 Kandatsu, Tsuchiura, Ibaraki 300-0013, Japan, Egawa Saku , Fujie Masakatsu
Published: April 2016

Walking support has been developed to support the elderly needing aid in standing after getting out of bed, walking around, sitting down, and walking rehabilitation. A prototype was developed and tested by elderly users in hospitals and care facilities features (1) electrical power-assist in both standing and sitting and walking; (2) sensors for easier operation especially by the elderly. In addition, Power assist control based on force input is discussed.
Recognition of Similar Patterns by Mutilayer Nets and Detection of Rotated Angle and Scale Ratio
Authors: Gotanda Hiromu ,   Department of Electrical and Computer Engineering, Faculty of Engineering, Kinki University, 11-6 Kayanomori, Iizuka-shi, Fukuoka 820-8555, Japan, Kawai Kousaku , Yamaoka Tatsuya ,   Sanki Medical Incorporation, 5-9-21 Nipponbashi, Naniwa-u, Osaka 556-0005, Japan,   Netmarks Incorporation, 1-3-12 Motoakasaka, Minato-ku, Tokyo 107-0051, Japan
Published: April 2016

For practical pattern recognition, it is required not only to recognize geometrically similar patterns but also to detect the difference of translation, rotation and size from their templates. This paper proposes a method to recognize the simiar patterns by a mutilayer net and then detect the difference on the common basis of well-known geometrical characteristics (center of gravity, angle of principal axis, and variance). It is found from experimental resuts that, with the proposed method, a small net can cassify the similar patterns at a high recognition rate and detect their rotated angles and scale ratios with a high accuracy.
Fuzzy Behavior-Based Control for a Task of Three-Link Manipulator with Obstacle Avoidance
Authors: Dassanayake Palitha ,   Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Watanabe Keigo , Izumi Kiyotaka ,   Department of Advanced Systems Control Engineering,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan
Published: April 2016

Our objective is for a 3-link manipulator to reach a target while avoiding obstacles with online information using a fuzzy-behavior-based control approach. Control applied to mobile robots elsewhere is modified to suit to the manipulator. Fuzzy behavior elements are trained using a genetic algorithm. A component apart from the basic concept is introduced to overcome gravitation. Result shows the manipulator reaches the target with an acceptable solution for 3 simulations, so the proposed approach is suitable to multilink manipulator task control.
Visual Interface For Remote Control
Authors: Shidoji Kazunori ,   Graduate School of Information Science and Electrical, Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan, Matsunaga Katsuya , Minamoto Masahiko , Nose Yasuhiro , Ebuchi Kazuhisa , Matsuki Yuji ,   Information Technology & Electronics Laboratory, Technology Development Division, Fujita Corporation, 4-6-15 Sendagaya, Shibuya-ku, Tokyo. 151-8570, Japan,   System Technology Development Center, Corporate Research and Development Group, Sharp Corporation, 2613-1 Ichinomoto-cho, Tenri, Nara 632-8567, Japan,   BJ Printing Technology Development Center, Canon Incorporation, 2-19-8 Shimomaruko, Ohta-ku, Tokyo 146-0092, Japan
Published: April 2016

Remote control using video system is needed in a variety of fields. The performance of remote control using the conventional video system is very poor, compared with the work done by actual on-the-spot observation. We have developed a new Q stereoscopic video system, considering that one of the causes of such poor performance is in the visual interface used in the current teleoperator. This system realizes simultaneously both high resolution and wide visual field by fixed angle lens. Three experiments were implemented for visual interface, using the new system. The availabilities of central high resolution and peripheral wide angle images were studied in Experiment 1 and 2. The availabilities of both images were confirmed. In Experiment 3 the overlap ratio of right and left images in the Q stereoscopic video system was researched and it was clarified that the decrease of the overlap ratio lowered the performance. In this paper is preferable visual interface for the stereoscopic video system for remote control was investigated, and it was shown that the Q stereoscopic video system was preferable for remote control.
A Study on Evolutionary Design in Balancing Morphology and Intelligence of Robotic Systems
Authors: Kikuchi Kohki ,   Department of Mechanical Engineering, the Science University of Tokyo, 1-3 Kagurazaka, Shinjuku-ku, Tokyo, 162-8601, Japan, Hara Fumio
Published: April 2016

This paper deals with an evolutionary design of a robotic system and structural characteristics of its morphology and intelligence. Morphology affects robotic behavior through physical interaction with the environment, and intelligence determining the behavior strongly depends on the morphology design such as visual sensor position, touch sensor position, body shape, and body size. We propose an evolutionary method that designs both morphology and intelligence of the robotic system concurrently using genetic programming. This design offers robotic systems able to execute a given task through interaction with the environment such as gravity, collision arid friction. Robotic systems possess high performance for a given task through harmonizing morphology and intelligence against changing conditions of a real world. We found that the complexity of morphology is correlated with robustness in robotic behavior, and physical dimensional inconsistency in intelligence is correlated with fitness in evolutionary design.
Toner Removal System from Copied Paper
Authors: Isago Kohki ,   RICOH Co. Ltd. R&D Center, 2-3 Shin-Yokohama 3-chome Kohoku-ku, Yokohama 222-8530, Japan
Published: April 2016

The consumption of copy or print paper has been rapidly increasing. There are several aspects to be considered for environmental conservation, for example, resource of woods, energy consumption and paper trash in office, etc. We have been developing the toner removal system from copied paper since 1993. We have improved such as machine service life, toner removal mechanism, toner removal quality, special paper and running cost, etc. We have developed a commercial prototype. The system proved that a toner removal system permits reuse of a copied paper multiple times so that the system is effective for environment conservation.
Special Issue on 2nd International Conference on Recent Advances in Mechatronics (ICRAM'99)
Authors: Noritsugu Toshiro ,   Professor, Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama, 700-8530 Japan
Published: April 2016

ICRAM'99 has been organized by UNESCO Chair on Mechatronics and Mechatronics Research and Application Center of Bogazici University, Istanbul in Turkey, during 24-26 May 1999, co-sponsored by IEEE (Institute of Electrical and Electronics Engineers) Industrial Electronics Society and IEEE Robotics and Automation Society. The purpose of this conference is to provide an international forum for the discussion on the most recent advances in the field of mechatronics. The program of the conference contains three kinds of papers, 4 plenary papers, 44 long papers and 90 regular papers. The long papers have been published by Springer-Verlag (ISBN 981-4021-34-2), under the name Recent Advances in Mechatronics (Eds. Okyay Kaynak, Sabri Tosunoglu and Marcelo Ang Jr.). The long papers have been presented in the following 12 sessions: Advances in Robotics, Motion control 1, Intelligent Techniques in Mechatronics 1, Virtual Techniques and Telecommanding, Robust Adaptive Control, Design of Mechanical System 1, Fault Detection and Inspection 1, Motion Control 2, Intelligent Techniques in Mechatronics 2, Analysis of Mechatronic Systems, Mobile Robots 1 and Biomedical Applications. For the regular papers, Modeling and Simulation, Trajectory Planning and Control, Variable-Structure Control Systems, Control of Mechatronic Systems, Production Automation, Machine Vision, Adaptive Control, Design of Mechatronic Systems 2, Measurement Technology, Intelligent Systems, Control of Robot Manipulators, Flexible Manufacturing Systems, Education and Training in Mechatronics, Neural Networks and Applications, Fuzzy Systems, Hydraulic and Pneumatic Applications, Mobile Robots 2, Control Applications and Sensors and Actuators. The papers have been submitted to the conference from 30 countries in the world. From Japan 14 papers have been presented, one plenary paper, S long papers and 8 regular papers. This special issue comprises 10 papers edited from the conference papers contributed from Japan. Each paper has been revised and updated for this issue from the original conference paper to describe the recent status of research and development of mechatronics in Japan. The included papers are concerned with some important and attractive subjects such as mobile robot, robot behavior evolution, nanoelectromechanical system, magnetic suspension, human symbiotic robot, stereovision, force control of robot, soft pneumatic actuator and so on. I would like to thank all the authors for their valuable contributions to this issue.
A Method of Robot Behavior Evolution Based on Intelligent Composite Motion Control
Authors: Suzuki Masakazu ,   Department of Precision Mechanics, Faculty of Engineering, Tokai University, 1117 Kitakaname, Hiratsuka, Kanagawa, Japan
Published: April 2016

Intelligent Composite Motion Control (ICMC) is a methodology for building up robot systems in which robots realize complex, and dexterous behavior autonomously and adaptively by parameter optimization and use of empirical knowledge only if the motion control for basic element motions is given. In this article, ICMC is first reviewed, mainly for the Method of Knowledge Array, which provides a tool for realizing suboptimal motions for new situations by use of empirical knowledge. Behavior evolution based upon ICMC is proposed, i.e., it is shown how robot motions are coordinated from the most basic motions such as joint rotation, and how they evolve into complex behavior such as dexterous ball throwing.
New Stereovision for Human-Robot Communications
Authors: Takeno Junichi ,   Meiji University, School of Science and Technology, Faculty of Computer Science, Robots and Science Laboratory, Xu Zichuan
Published: April 2016

Better communications between robots and humans requires an understanding of human senses, and at the same time, the ability to express these senses. Robot functions must be able to approximate as much as possible the five human senses of sight, hearing, smell, taste and touch. Further, the system in which these five senses are integrated must be understood. The expression of such senses by robots should not be confined to merely simulating human behaviors but needs to address unknown and difficult problems related to the manifestation of the inner aspects of human mentality. In this paper, we report on a new artificial vision system that is similar to the human sense of sight, with the target of realizing functions for understanding the processes of human sight. First, we introduce the new artificial visual sensing system and explain problems of virtual images and occlusion, blind spots in conventional binocular stereovision systems. We then discuss a technique for solving these problems that utilizes the new functions of the artificial vision system we developed and introduce a prototype of the new system and its configuration.
Development of an Active Worktable and Its Application to Force Control of Robot Manipulators
Authors: Nakajima Shin-ichi ,   Department of Mechanical and Control Engineering, Niigata Institute of Technology, Kashiwazaki, Niigata 945-1195, Japan
Published: April 2016

An active worktable, which can be applied to force control tasks of commercial robot manipulators, has been designed and built. The active worktable has several degrees of freedom and accommodates its position/force in accordance with the motion of a robot manipulator. A stiffness control method and an impedance control method are implemented in the active worktable to achieve compliant motion. Several experiments were carried out to confirm basic effectiveness of the active worktable.
Soft Planar Actuator using Pneumatic-Rubber Balls
Authors: Noritsugu Toshiro ,   Faculty of Engineering, Okayama University, Kaneshiro Daijyu , Inoue Takashi
Published: April 2016

The manipulation of fragile and shapeless objects requires an actuator with enough flexibility and safety not to injure manipulated objects. To cope with such requirements, soft actuators have been developed, most of which utilize elastic deformation of a rubber tube or balloon caused by compressed air pressure. Such a pneumatic rubber actuator is expected to be effectively used as a flexible and friendly soft actuator in various fields. In this study, to realize a flexible pneumatic carrier system, a soft planar actuator using rubber balls has been developed assuming that the actuator directly contacts carried objects. This paper describes a fundamental principle of operation, a control method and experimental results. Additionally, a small sized soft planar actuator made of silicone rubber is described. The results show the effectiveness of the proposed actuator mechanism.
Proposition and Basic Experiments of Shape Feedback Master-Slave Arm (On the Application for the Demining Robots)
Authors: Kato Keisuke ,   Dept. of Mechano-Aerospace, Tokyo Institue of Technology, 2-12-1 Oo-okayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

As one of the essential technologies to realize a demining robot, which has the function of searching task of the mines in autonomous phase and digging task of the mine in tele-operated phase, we propose a new type of master-slave arm system coined as ""shape-feedback"" master-slave arm. Feature mechanism of ""Shape-feedback"" master and slave arm is the articulated to have same angle with slave finger joints, which bend with compliance. Addition of these finger joints under unilateral control on to the gripper with conventional bilateral servo control, it is expected to improve the performance of master-slave arm. We demonstrated the validity of the ""shape-feedback"" master and slave arm by the basic operation experiments and experiments using the model of demining robot.
An Advanced Pilot Training and Control System for Underwater Robotic Vehicles
Authors: Seet Gerald ,   Robotics Research Centre (R2C) Nanyang Technological University, Nanyang Avenue Singapore 639798, Cheng Tan Kok , Lau Michael W. S. , Low Eicher
Published: April 2016

A research team of the Robotics Research Centre (R2C) recently secured a research grant to pursue a research programme relevant to the oil and gas industry. This grant supports the development of technologies and systems for the advancement of knowledge and for possible commercial exploitation. A programme, focusing on the development of a sophisticated Underwater Robotic Vehicle (URV) inspection and repair system, for submerged structures have been initiated. The work reported in this paper focuses on one aspect of the research programme, that of the development of a pilot training and control system incorporating an advanced man-machine interface for improving operator dexterity. In-the-field training of URV pilots is an expensive process. This is in part due to the high cost of maintaining a support vessel at sea. Training simulators can be viewed as a viable solution to this problem. Simulators, however, represents additional costs and in some ways lacks the realism of working on the real system. The R2C researchers proposed a novel simulator configuration. It has developed a dual-purpose topside control system configuration that can be used for training as well as for the control of an actual URV. In the simulator configuration, the physical URV is replaced by a simulator module, which accepts actual commands from the control system and responds with a simulated URV status through an onboard dynamic model of the URV. The simulator module behaves much like the actual URV accepting commands and responds with status information. The advantage of such a system is perceived to be lower system cost as well as a more realistic testing and simulation of the relevant processes.
Application of the Robust Pole Assignment Technique for Vibration Control of Structures
Authors: Fujimoto Takashi ,   Kyushu Sangyo University, Fukuoka 813-8505, Japan
Published: April 2016

This paper describes robust vibration framed structure control with active damping consisting of a displacement sensor and an active mass actuator. An H∞ controller based on a reduced order structural model is designed to suppress spillover destabilization. Model error is considered multiplicative uncertainty between the reduced order model and the high precision order model. Robust pole assignment is used to alleviate difficulty in controller design. This technique assigns the poles of a closed loop system in a desirable region on a complex plane by introducing affine transformation into the framework of the H∞ control theory. Experiments of the initial response and frequency response are performed to verify that the controller has robust stability and better control performance.
Development of a Golf Swing Robot to Simulate Human Skill
Authors: Ming Aiguo ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-city, Tokyo 182-8585, Japan, Kajitani Makoto
Published: April 2016

We propose a new golf swing robot to simulate dynamic skill of motion control in human golf swing action, that is, multi-step acceleration by dynamic drive. Human swing is simplified as a motion of two-step acceleration, realized by dynamic coupling drive between equivalent shoulder joint and wrist joint. According to the simplified model, a manipulator with one actuated joint and one passive joint equipped with mechanical stopper or brake is proposed as the mechanism of golf swing robot. A small prototype of the golf swing robot to swing a club for junior has been developed, and swing experiments have been done by the robot. The feasibility of the proposed mechanism and control system for golf swing robot is shown by experimental results.
Special Issue on Advanced Space Robotics
Authors: Kuboda Takashi ,   Associate ProfessorThe Institute of Space and Astronautical Science, 3-1-1 Yoshinodai, Sagamihara, Kanagawa 229-8510, Japan
Published: April 2016

Toward the turn of the century, several missions to explore deep space such as the moon, Mars, asteroids, and comets are being planned for scientific observation. Recently, many researchers have studied and developed lunar or planetary rovers for unmanned planet surface exploration. Microrover missions have received much attention. In July 1997, NASA/JPL succeeded in the Mars Pathfinder mission and the Sojourner rover moved over the Martian surface gathering and transmitting voluminous amounts of data back to the Earth. NASA plans to send robots to Mars in 2003 and 2005 Missions. In Japan, the Institute of Space and Astronautical Science (ISAS) launched the Nozomi, a Mars's orbiter. ISAS plans to send Lunar-A spacecraft with penetrators to the moon and is also promoting the MUSES-C mission for asteroid sample return. ISAS and the National Space Development Agency (NASDA) are cooperatively promoting the SELENE mission, whose major objectives are to acquire scientific data on lunar origin and evolution, and to develop technology for future lunar exploration. NASDA launched the ETS-VII satellite in 1997 for rendezvous docking and orbital robotics experiments. The International Space Station (ISS) is under construction by international cooperation. We will shortly start robotics activities onboard the Japanese Experimental Module (JEM) named KIBOU for the ISS. Space robotics including Al is a key technology for planetary exploration. Space robotics is expected to support space activities, such as external vehicular activities (EVA) and internal vehicular activities (IVA) for future space utilization. Future space projects will require space robotics technology to construct, repair and maintain satellites and space structures in orbit. This special issue on advanced space robotics introduces updated mission results and advanced research activities of space organizations, institutes, and universities, although it does not include all. We hope that this special issue will be useful to readers as an introduction to advanced space robotics in Japan, and that more robotics and Al researchers and engineers will become interested in space robotics and participate in space missions. We thank those researchers who have contributed their advanced research activities to this special issue, and deeply appreciate their earnest efforts.
Force Control of a Space Manipulator
Authors: Tsujita Katsuyoshi ,   Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo-ku, Kyoto 606-8501, Japan, Tsuchiya Kazuo , Kawano Yousuke
Published: April 2016

This paper deals with the force control of a space manipulator for a sample-return mission. There are two difficulties in force control of this class of space manipulator: One is that a space robot has no fixed point in space and moves when its manipulator exerts force on the environment. The other is that physical properties of the environment on which the manipulator exerts force are not well known. In order to overcome these difficulties, a hierarchical controller is proposed in this paper. The controller manages attitude control of the main body and force control of the manipulator. The end effector is attached to the manipulator by a passive compliance mechanism. The performance of the proposed controller is verified by numerical simulations and hardware experiments.
Development and Space Operation of Advanced Robotic Hand System
Authors: Machida Kazuo ,   Electrotechnical Laboratory, MITI, 1-1-4 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Nishida Hirotaka , Akita Kenzo ,   Fujitsu Ltd.,   Institute for Unmanned Space Experiment Free-Flyer
Published: April 2016

In this paper, we present the development and space test of the world's first precise telerobotic system boarded on an unattended space vehicle, ETS-VII (Engineering Test Satellite VII). The robotic system has features of skill and autonomy using a three-finger multisensory hand at a work site in space and a computer graphics-based desktop telerobotic system at a control site on the ground. We developed a compact robotic system with space environment adaptability and satellite system compatibility as well as dexterity and flexible operability. The robotic system was launched in November 1997. The space test reveals that the system works well in orbit.
An Experimental Teleoperation System for Dual-Arm Space Robotics
Authors: Yoon Woo-Keun ,   Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan, Tsumaki Yuichi , Uchiyama Masaru
Published: April 2016

An experimental teleoperation system for dual-arm space robotics has been developed. A purpose of our work using this system is a development of space robot teleoperation technologies, which can replace skills of an astronaut. Therefore, several concepts for flexibility and practicability are introduced to establish this setup. This system is composed of the space system, the ground system and the software development system. The space system includes dual 7-DOF manipulators, multipurpose hands, force/torque sensors and an image processing system. The ground system is composed of a master arm and a graphic workstation. A novel developed 6-DOF haptic interface device is employed as a master arm. To achieve an effective teleoperation ability, new concepts of virtual grip and virtual ball are introduced.
The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots
Authors: Yoshida Kazuya ,   Department of Aeronautics and Space Engineering, Tohoku University, Aoba 01, Sendai 980-8579, Japan
Published: April 2016

A collection of useful subroutines named the SpaceDyn is developed in order to offer an open, free tool of numerical simulations for researchers both in robotics and space engineering fields. The SpaceDyn is a MATLAB Toolbox for kinematic and dynamic analysis and simulation of articulated multibody systems with a moving base. Examples of such systems include a satellite with mechanical appendages, a free-flying space robot, a robotic system with structural flexibility, and a mobile robot, all of which makes motions in the environment with or without gravity.
A Binary Image Sensor for Motion Detection
Authors: Nezuka Tomohiro ,   Department of Electronic Engineering, The University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Fujita Takafumi , Ikeda Makoto , Asada Kunihiro
Published: April 2016

This Paper proposes a binary image sensor for motion detection. The sensor detects motion vectors using block-matching method. Each pixel of the image sensor has a shift register. Exclusive OR(XOR) circuits in each pixel compare the shifted image of the previous frame and the image of the current frame. The outputs of the XOR circuits are converted to current value. The current-sum circuits calculate the current-sum of pixel outputs. The current-sum of a matching block represents the sum of absolute difference. The motion vector is obtained by routine of shifting image of the previous frame and comparing the sum of absolute difference. The chip was fabricated using 1.2um 2-Metal 2-Poly-Si CMOS technology and composed of 32 × 32 pixel array and peripheral circuits in a 7.3mm × 7.3mm die.
Path Planning Based on Distance Transformation and Its VLSI Implementation
Authors: Hariyama Masanori , Kameyama Michitaka
Published: April 2016

This paper presents a fast path planning method to find a feasible collision-free path. A collision-free path is searched for by iterations of selection of a robot configuration and collision detection for it. A most promising configuration is selected according to a minimum distance from every point in 3-D workspace and obstacles. The configuration selection keeps a robot as far away as possible from obstacles, and reduces the number of configurations for collision detection. Moreover, a highly-parallel processor based on logicin-memory architecture is proposed to overcome a transfer bottleneck between a memory and processing elements.
Development of a Low Resistance Micro Electro Magnetic Distance Sensor Using High Aspect Ratio Photo Resist
Authors: Ding Xianhe ,   Faculty of Engineering, Yamaguchi University, 2-16-1 Tokiwadai Ube, 755-8611 Japan, Kuribayashi Katsutoshi , Hashida Takao
Published: April 2016

To maintain metal pipes, an electromagnetic coil is necessary as the detecting device of the eddy current change in metal due to pipe defects and as the distance sensor of the clearance between the detecting device and metal wall. This type of sensor should be thin and have a smaller diameter for detection by precise resolution and have large inductance and low electrical resistance for high sensitivity and high S/N. In this paper, for the above requirements, a new planar spiral type of coil for higher inductance, and thicker coil for reducing the electrical resistance by using ultra-thick photoresist SU-8 and Ni electroplating is proposed. Micromachining technology for the small size diameter and for automatic assembly was applied to microcoil fabrication. The Ni microcoil 300μm thick and 3mm in diameter was fabricated. The static distance characteristics and the frequency response were measured. Experiments show that the sensor of the 300μm thick coil has better output characteristics and linearity. High sensitivity, high signal-to-noise ratio and wide frequency response of the fabricated sensor have been measured to be 1.7v/mm, 75.6dB and 10Hz to 1000Hz, respectively, for 300μm thick coil. The position was controlled using the microcoil distance sensor.
Knowledge Acquisition by Improved Fuzzy ID3 Algorithm and Stability Analysis for Jacket Tank Temperature Control
Authors: Arao Masaki ,   Information Technology Research Center, OMRON Corporation, Shimokaiinji, Ngaokakyo-City, Kyoto 617-8510, Japan, Tanaka Masahito , Kawaji Shigeyasu ,   Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan
Published: April 2016

The extraction of knowledge from operation data is an important theme in an autonomous control system. An efficient method for making a decision tree for classification from data is the fuzzy ID3 algorithm using fuzzy sets. However, the definition of fuzzy sets greatly affects the generation of fuzzy trees. In this paper, we propose a new version of fuzzy ID3 algorithms to generate a fuzzy decision maximizing the expected value of transferred information by applying a random search method for determining the fuzzy set, and by using the improved fuzzy ID3 algorithm an automatic extraction of control knowledge from operational data by skilled operator of a jacket tank process. As a result, a fuzzy controller that can decide output of a control switch from both tank temperature error and differentiation of error is designed. Further, a method of analyzing the stability of the fuzzy control system by the modified fuzzy ID3 algorithm is proposed using the phase planes of tank temperature.
Determination of MRCP Evocation Model and Its Parameters
Authors: Tanaka Hisaya ,   Aoyama Gakuin University, Shinokubo Ayako , Ide Hideto
Published: April 2016

We examined optimum parameters of the charging model and the underdamping model. Those models have represented the evoked potential of MRCP Each parameter has been determined with GAs (Genetic Algorithms). Comparison has been made between the experimental waveform and the theoretical waveform structuring those models, based on the optimum parameter. We have also examined the mechanism of MRCP (Movement-related brain cortical potential).
Special Issue on Robotics and Mechatronics Which Lead the 21st Century
Authors: Tanaka Takayuki ,   University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan
Published: April 2016

Today we celebrate the 21st Century's first issue of the Journal of Robotics and Mechatronics. Modern robotics technology was initiated by 2 US industrial robots, Unimate and Versatran, developed in 1962. George C. Devol's US patent in 1958 on the programmable machine advantageous in repetitive work provided a key technology for both industrial robots and robotics. ""Programmable"" combines machines (hardware) and computer (software). One of the most outstanding examples of this combination is mechatronics. Products based on mechatronics technology (MT) include industrial equipment, home appliances, and personal goods. In Japan, MT products have been occupying the largest part of export on a money basis since the 1960s. Although the main interest of robotics was the industrial robot and its application to production automation up to the 1980s, concepts and products related to a robotics have changed and expanded its realm from production use to personal use, expanding the coexistence of the robot and human beings. Honda Motor Corp. released the Humanoid P2, the world's first human-like biped able to walk dynamically in 1997. It created worldwide surprise and enthusiasm. Two years after the appearance of P2, Sony Corp. put its canine robot AIBO into the world market where it created an even greater shock than P2. We recognize three important technologies that have accomplished major human global development in the last half of the 20th century. They are information technology (IT) based on computer technology, MT including robotic technology and biotechnology (BT). We believe these three will prevail as fundamental technologies in the first half of the 21 st Century and the combination or integration of these technologies such as I-MT, B-MT, I-BT, and B-IT will become more and more important in providing fruitful results. In closing, I would like to express my cordial thanks to all authors who submitted such informative and invaluable papers for this issue.
Expected Appearance of Near-Future-Type Robot
Authors: Komura Yoshiaki ,   Mechanical Engineering, Faculty of Engineering, Fukui University
Published: April 2016

It is said that recently robots have become very humanized. 1 think this reflects the fact that conventional robots did not have intelligence，1 t hink. Now ad ays the humanoid announced by Honda Motor Co. Ltd. and AIBO commercialized by Sony Corp. are able to walk quite well and express feelings of joy and anger like a human，co mpared to conventional robots，wh ich may be better defined as machines not robots. The reality is that their motions and expressions are still so clumsy that it would be overshotment to say that they move just like humans (admitting that they express emotions to a certain degree). Nevertheless，a m concemed about the reality that people are astonished at and excited about these robots.
Development of Pneumatic Rotary Soft Actuator Made of Silicone Rubber
Authors: Noritsugu Toshiro ,   Department of Systems Engineering, Okayama University 3-1-1 Tsushimanaka, Okayama, 700-8530 Japan, Kubota Mitsuhiko , Yoshimatsu Sadaharu
Published: April 2016

A soft actuator with inherent flexibility has been required to built up a soft mechanical drive system such as a human beings collaboration robot and a welfare machine. In this study, a rotary type soft actuator made of silicone rubber driven with compressed air has been developed. This actuator can realize the desired rotary operation by using the fiber reinforcement and the partial difference of stiffness owing to the rubber thickness. In this paper, the structure and operational principle of the actuator is described, and the fundamental properties of actuator are experimentally investigated. The experimental results show that the actuator has the sufficiently large operational angle and the dynamic characteristics of a damping and elasticity component. Its application to a soft robot finger and a robot hand are discussed. Owing to the flexibility of actuator, this hand can grasp unshaped or flexible objects without any complicated control algorithm. The availability of this actuator is confirmed through some experiments.
Automation of Chamfering by an Industrial Robot; Development of a System with Reference to Tool Application Direction
Authors: Asakawa Naoki ,   Department of Human and Mechanical Systems Eng., Faculty of Engineering, Kanazawa University, 2-40-20, Kodatsuno, Kanazawa-shi, Ishikawa, 920-8667, Japan, Mizumoto Yoshio , Takeuchi Yoshimi ,   Department of Mechanical Eng. and Intelligent Systems, University of Electro-Communications, 1-4-1 Chofugaoka, Chofu-shi, Tokyo, 182-8585, Japan
Published: April 2016

The study deals with the automatic chamfering for a workpiece with complex shape on the basis of CAD data, using an industrial robot. Tool path, pushing direction and force at the each chamfering point are calculated from CAD data both to keep chamfering conditions stable and to keep a larger range in space by use of a developed system, named TADRPECS, for workpieces with complex shape. As a chamfering tool, a rotary-bar type tool consisting of a force sensor and two linear actuators are mounted to the arm of an articulated robot. From experimental results, the system is found to be effective to chamfer edges of a hole on a workpiece with free curved surface.
Ensemble by Seven Musical Performance Robots
Authors: Kaneda Tadahiro ,   Shinshu University, 4-17-1 Wakasato, Nagano, Nagano 380-8553, Japan, Fujisawa Shoichiro , Yoshida Takeo , Yoshitani Yasumasa , Nishi Takashi , Shidama Yasunari , Wasaki Katsumi ,   Takamatsu National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan,   Osaka Prefectural College of Technology, 26-12 Saiwai-cho, Neyagawa, Osaka 572-8572, Japan
Published: April 2016

The purpose of the Department of Systems and Control Engineering at Osaka Prefectural College of Technology is to train students who can construct synthetic systems. To achieve this purpose, we have had a case study on robotics in fourth grade since 1994. The contents of the subject are to design and make autonomous robots. The subject has a contest with different themes each year. The theme for 1998 was ""Musical Performance Robots"". This was to make seven robots and to form an ensemble. In this paper, we evaluated the case study on robotics, the role of Amusement Robot to ""Educatement"". The comparison about the sound between human playing and robot playing was conducted.
New Biological Real-time Pattern Extraction Emulating Fly's Behavior
Authors: Tanaka Takayuki ,   Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan, Yamafuji Kazuo , Yamazaki Yasunori ,   Seiko-Epson Inc., 1-16-15 Daieicho, Okaya, Nagano, Japan
Published: April 2016

We propose biological real-time pattern extraction. In order to extract objects from a frame image taken by a camera, many virtual flies (VFs) scattered on the CRT display are utilized. An individual VF composed of 3×3 pixels can freely fly in the display. Fundamental object extraction is to detect objects just like flies sensing food and swarming around. Methodology realized by soft-computing technology and experimental results are described in detail.