bluuebunny/crossref_metadata_2025 huggingface dataset:
Rotation-Based Dynamic Localization at an Initial Dead-Zone Avoidance Stage on an RFID Tag Lattice
Authors: Kodaka Kenri ,   Waseda University, WABOT-HOUSE Laboratory, Niwa Haruhiko , Sugano Shigeki
Published: April 2016

We have developed a novel way for robots to estimate their pose dynamically in an environment in which RFID tags have been arranged. We previously developed a method for localizing robots using a particle filter. Testing in a room equipped with an RFID tag lattice at 300-mm intervals revealed that the estimation fails when the robot’s RFID readers are near the center of the robot’s rotation since the reader could not detect enough tags depending on the robot’s rotating location. We overcame this problem by developing an active localization algorithm that generates an entropy map from RFID tag arrangement information, predicts the pose using a particle filter, and attracts the robot to the target using a dynamic model whose basic unit is rotation-based angular velocity. Testing demonstrated that a robot using this algorithm and an entropy map can estimate its pose robustly without falling into a dead zone by moving only about 200 mm.
A Mobile Sensor Network Forming Concentric Circles Through Local Interaction and Consensus Building
Authors: Lee Geunho ,   School of Information Science, Japan Advanced Institute of          Science and Technology,, Yoon Seokhoon , Chong Nak Young , Christensen Henrik ,   College of Computing, Georgia Institute of Technology,
Published: April 2016

We address the problem of a swarm of autonomous mobile robotic sensors generating geometric shapes to build wireless ad hoc surveillance sensor networks. Robot swarms with limited observation are required to form different shapes under different task conditions. To do this, we propose decentralized coordination enabling a robot swarm dispersed across an area to form a desired shape. Our approach has emphn robots generate a circumscribed circle of a regular emphn-polygon based on local interaction with neighboring robots. The approach also enables a large robot swarm to form concentric circles through consensus. We mathematically demonstrate convergence confirming the feasibility using extensive simulation. Our results indicate that our approach is applicable to mobile sensor network surveillance and security networks.
Autonomous Motion Generation Based on Reliable Predictability
Authors: Nishide Shun ,   Graduate School of Informatics, Kyoto University, Ogata Tetsuya , Tani Jun , Komatani Kazunori , Okuno Hiroshi G. ,   Brain Science Institute, RIKEN
Published: April 2016

Predictability is an important factor for generating object manipulation motions. In this paper, the authors present a technique to generate autonomous object pushing motions based on object dynamics consistency, which is tightly connected to reliable predictability. The technique first creates an internal model of the robot and object dynamics using Recurrent Neural Network with Parametric Bias, based on transitions of extracted object features and generated robot motions acquired during active sensing experiences with objects. Next, the technique searches through the model for the most consistent object dynamics and corresponding robot motion through a consistency evaluation function using Steepest Descent Method. Finally, the initial static image of the object is linked to the acquired robot motion using a hierarchical neural network. The authors have conducted a motion generation experiment using pushing motions with cylindrical objects for evaluation of the method. The experiment has shown that the method has generalized its ability to adapt to object postures for generating consistent rolling motions.
A Double Image Acquisition System with Visible and UV LEDs for Citrus Fruit
Authors: Kurita Mitsutaka ,   SI Seiko Co.,Ltd.,66, Takaoka-cho, Matsuyama, Ehime 791-8036, Japan, Kondo Naoshi , Shimizu Hiroshi , Ling Peter , Falzea Paolo D. , Shiigi Tomoo , Ninomiya Kazunori , Nishizu Takahisa , Yamamoto Kazuya ,   Graduate School of Agriculture, Kyoto University,,   Department of Food, Agricultural, and Biological Engineering, The Ohio State University,,   Faculty of Agricultural Science, Mediterranean University of Reggio Calabria,,   Graduate School of Science and Engineering, Ehime University,,   Faculty of Applied Biological Science, Gifu University,
Published: April 2016

There are many types of citrus fruit grading machine with machine vision capability. While most of them sort fruit by size, shape and color, detection of fruit rot remains challenging because their colors are similar with normal parts. Objectives of this research were to investigate if fluorescence would be a good indicator of the fruit rot, and to develop an economical solution to add the rot inspection capability to an existing machine vision fruit inspection station. A machine vision system consisting of a pair of white and UV LED lighting devices and a color CCD camera was proposed for the orange fruit grading task. Since the time lag between the color and fluorescence image captures was short (14 ms), it was possible to inspect color, shape, size, and rot of a fruit on the move before it leaves an existing industrial inspection chamber.
Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System
Authors: Emaru Takanori ,   Graduate School of Engineering, Hokkaido University, N13W8,  Kita-ku, Sapporo, Hokkaido, 060-8628 Japan, Imagawa Kazuo , Hoshino Yohei , Kobayashi Yukinori
Published: April 2016

Proportional-integral-derivative (PID) control commonly used to operate mechanical systems has limited performance accuracy due to the influence of gravity, friction, and joint interaction caused by modeling error. Digital acceleration control is robust against modeling errors and superior to PID control, but the need for positioning, velocity, and acceleration knowledge constrains the development of digital acceleration control. To overcome this limitation, this report introduces the system which estimates the smoothed and differential values using sliding mode system (ESDS). Using ESDS enables digital acceleration control without increasing the number of sensors over that used in PID control. This paper focuses on the influence of gravity because digital acceleration control can, in principle, cancel its influence. This controls mechanical systems appropriately under attitude variations. Results of proposed control are demonstrated using 1- and 2-link manipulators.
Intelligent Ambience that can Influence Robot Behavior
Authors: Tsunoo Shinichi ,   Graduate School of System Design, Tokyo Metropolitan University, Sakaguchi Takeshi , Yokoi Kazuhito , Wada Kazuyoshi ,   National Institute of Advanced Industrial Science and Technology
Published: April 2016

In order for robots to execute several tasks at the office or at home, they need enormous amounts of information. If we put a small amount of intelligence into each item that is part of the ambience, the ambience itself can simply cause the robots to change their state as it requests. We call such an ambience “Intelligent Ambience (IA).” In this paper, a design of IA is described. We have constructed an example of an IA and verified its effectiveness through experimentation.
3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments
Authors: Tomono Masahiro ,   Future Robotics Technology Center, Chiba Institute of Technology
Published: April 2016

Object models are indispensable for robots to recognize objects when conducting tasks. This paper proposes a method of creating object models from images captured in real environments using a monocular camera. In our framework, an object model consists of a 3D model composed of 3D points reconstructed from image edge points and 2D models composed of image edge points, each having a SIFT descriptor for object recognition. To address the difficulty in creating object models of separating objects from background clutter, we separate the object of interest by finding edge points which cooccur in images with different backgrounds. We employ supervised and unsupervised schemes to provide training images for segmentation. Experimental results demonstrated that detailed 3D object models are successfully separated and created.
High-Performance Active Camera Head Control Using PaLM-Tree
Authors: Nakamura Takayuki ,   Department of Computer and Communication Sciences Wakayama University 930 Sakaedani, Wakayama 640-8510, Japan, Sakata Yoshio , Wada Toshikazu , Wu Haiyuan
Published: April 2016

In this paper, we propose a method for controlling an active camera in tracking a moving target highly accurately using PaLM-tree, an easy-to-use function approximator we developed. Our feedback error learning controller enhanced by PaLM-tree improves accuracy in tracking a moving target. PaLM-tree correctly learns the inverse model in the feedback error learning. Despite unknown mechanical friction and relatively large closed-loop control latency, our active camera head can successfully track eye movement using the feedback error learning controller. Through experimental results, we confirmed that our method achieved better performance control than a tuned feedback controller.
Fast Hand Feature Extraction Based on Connected Component Labeling, Distance Transform and Hough Transform
Authors: Dung Le ,   Department of Electrical Engineering, Shibaura Institute of Technology 3-7-5, Toyosu, Koto-ku, Tokyo 135-8548, Japan, Mizukawa Makoto
Published: April 2016

In hand gesture recognition or hand tracking systems relied on hand modeling methods, it is usually required to extract from a hand image some hand features. This paper presents a new robust method based on connected component labeling (CCL), distance transform (DT) and Hough transform (HT) to fast and precisely extract the center of the hand, the directions and the fingertip positions of all outstretched fingers on a skin color detection image. First, the method uses a simple but reliable technique that is performed on both the connected component labeling image and the distance transform image to extract the center of the hand and a set of features pixels, which are called distance-based feature pixels. Then, the Hough transform is calculated on these feature pixels to detect all outstretched fingers as lines. From the line detection result, the finger directions and the fingertip positions are determined easily and precisely. This method can be carried out fast and accurately, even when the skin color detection image includes hand, faces and some noise. Moreover, the number of distance-based feature pixels is usually not so high; therefore, the line detection process based on the Hough transform can be performed very fast. That can satisfy the demands of a real-time human-robot interaction system based on hand gestures or hand tracking.
Positional Features and Algorithmic Predictability of Visual Regions-of-Interest in Robot Hand Movement
Authors: Fujita Toyomi ,   Department of Electronics and Intelligent Systems Tohoku Institute of Technology Sendai 982-8577, Japan, Privitera Claudio M. ,   School of Optometry, University of California Berkeley, CA 94720, USA
Published: April 2016

Visual functions are important for robots who engage in cooperative work with other robots. In order to develop an effective visual function for robots, we investigate human visual scanpath features in a scene of robot hand movement. Human regions-of-interest (hROIs) are measured in psychophysical experiments and compared using a positional similarity index,Sp, on the basis of scanpath theory. Results show consistent hROI loci due to dominant top-down active looking in such a scene. This paper also discusses how bottom-up image processing algorithms (IPAs) are able to predict hROIs. We compare algorithmic regions-of-interest (aROIs) generated by IPAs, with the hROIs obtained from robot hand movement images. Results suggest that bottom-up IPAs with support size almost equal to fovea size have a high ability to predict the hROIs.
Interpretation of Cross-Traffic Accidents and Playing Catch Based on Newly Found Visual Perception Characteristics
Authors: Wang Qin ,   Graduate school of Information Systems, University of Electro-Communications 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Wang Lei , Idesawa Masanori
Published: April 2016

A driver trying to avoid a cross-traffic accident in an unobstructed intersection faces the same problem as a catcher trying to catch a ball thrown along a trajectory approaching the catcher directly between the eyes - how to avoid a car in the one case and how to catch the ball in the other. Interpreting this problem based on new visual perceptual properties of the approaching object we found and reported in previous work, we found that the ability of the observer to perceive such approaching objects was dramatically poorer than in other cases, and that visual perception improved just as dramatically when the viewed object was occluded from the sight in one eye or impinged upon the physiological “blind” spot - orpunctum caecumin medical terminology. This visibility increased in both cases - a mechanism we explain clearly and convincingly based on our work.
An Optical Tactile Sensor Assuming Cubic Polynomial Deformation of Elastic Body
Authors: Hoshino Kiyoshi ,   Graduate School of Systems and Information Engineering, University of Tsukuba 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Mori Daisuke , Tomida Motomasa ,   Sharp Corporation 1-9-2 Nakase, Mihama-ku, Chiba 261-8520, Japan
Published: April 2016

Assuming that the elastic body makes cubic polynomial deformation, we propose a compact three-dimensional (3D) optical tactile sensor for high-speed detection of three-axial directional force components. We constructed a 3D tactile sensor using thin, soft elastic and without pattern delineation or pigment injection such as that used in light-section measurement but having wider dynamic ranges and higher resolution. Conventional light-section measurement irradiating light onto sheets to measure objects requires a huge construction of the optical tactile sensor. Light-emitting diode (LED) sources are arranged around thin, deformable elastic membrane to obtain 3D force components from two-dimensional (2D) camera images taken using light sources of a minimum number of depth layers. Using two LED light sources - red and blue - around an elastic body, we estimate an object contact point pressing the elastic body and force magnitude and force incidence angle based on a mapping relationship predetermined through neural network learning from four ellipsoids formed by light irradiation and major and minor axis intersection points. To confirm that the elastic body forms cubic polynomial concavities at the point to rubber edges where force is applied based on X-, Y-, and Z-axes force components, we photographed elastic deformation and fitted curves into cubic polynomial expressions to investigate fitting accuracy. Fitting accuracy confirmed that cubic polynomials may reasonably approximate elastic deformation. We found that fitting curves onto cubic polynomials required two intersection points in addition to each edge of contact point and each of rubber edge point. Two is the minimum number of light sources required for irradiation. Experiments with this optical tactile sensor confirmed it to be effective in accurately estimating 3D elastic deformation, the object contact point, force magnitude, and force incidence angle.
Rehabilitation System Using Teleoperation with Force-Feedback-Based Impedance Adjustment and EMG-Moment Model for Arm Muscle Strength Assessment
Authors: Duong Minh Duc ,   Department of Industrial Automation, Hanoi University of Technology 01 Dai Co Viet Road, Hanoi, Vietnam, Terashima Kazuhiko , Miyoshi Takanori , Okada Tatsuya ,   Department of Production Systems Engineering, Toyohashi University of Technology 1-1 Hibarigaoka, Tempaku-cho, Toyohashi 441-8580, Japan
Published: April 2016

In this paper, at first, a teleoperation robot systemwith haptic feedback for rehabilitation is presented. A teleoperation mechanism capable of providing force feedback by means of adjusting the system’s impedance is proposed. The stability of the teleoperation with haptic feedback via a time-delay communication environment is mathematically proved. The proposal operates theoretically with both passive and active assisted movement using teleoperation to rehabilitate of upper limb function. An EMG-moment arm model is proposed for assessing muscle strength. The performance of a two-joint link model using six muscles and a nonlinear relationship between EMG signals and muscle force is confirmed feasible in experiments with five subjects.
Smooth Path Planning with Pedestrian Avoidance for Wheeled Robots
Authors: Suzuki Yumiko ,   Digital Human Research Center, National Institute of Advanced Science and Technology, Thompson Simon , Kagami Satoshi ,   Graduate School of Information Science, Nara Institute of Science and Technology
Published: April 2016

In studying smooth robot path planning with predesigned steering sets including three trajectory types, path planning with a steering set was used to generate trajectories with smooth directional changes. To put path planning to practical use in dynamic environments, robots must be more quickly motion and efficiently, without, for example, endangering pedestrians. Assuming that the trajectories of moving obstacles are predictable, smooth path planning worked in the presence ofmoving obstacles. We defined new path evaluation method suitable for wheeled robots, evaluating our planner experimentally in an office, confirmed the efficiency of our planning.
Human Following by an Omnidirectional Mobile Robot Using Maps Built from Laser Range-Finder Measurement
Authors: Ogino Takashi ,   Omori Machinery Co., Ltd., 2761 Nishikata, Koshigaya, Saitama, Japan, Tomono Masahiro , Akimoto Toshinari , Matsumoto Akihiro ,   Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma Narashino, Chiba 275-0016, Japan,   Dept. of System Robotics, Toyo University, 2100 Kujirai, Kawagoe, Saitama 350-8585, Japan
Published: April 2016

This paper deals with map building from laser range finder measurement in an unknown indoor environment and its application to human following by an omnidirectional mobile robot. After reviewing basic strategies of human following by a mobile robot involving simultaneous acquisition of indoor map and robot location acquisition, we implemented “pseudo” odometry, rather than conventional odometry, for the omnidirectional mobile robot, using this information to improve scan-matching calculation accuracy. We then conducted experiments in which the robot followed a pedestrian. We confirmed that the robot could follow different pedestrian trajectories if walking was slow, and that our approach effectively improved scan matching calculation accuracy.
Recognition and Removal of Interior Facilities by Vision-Based Robot System
Authors: Cruz-Ramírez S. Rolando ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Arai Tatsuo , Mae Yasushi , Takubo Tomohito , Ohara Kenichi
Published: April 2016

For future dismantling jobs in the renovation of the interiors of office buildings, we propose a robotic dismantling system that will assist human workers with the hard works. As an application of the robotic system, this paper presents the process of removing ceiling fixtures, such as Lamp Panels (LPs) and Air Conditioning Vents (ACVs), by man and robot. In this collaboration, a robot arm provides assistance by holding and collecting the fixtures, and the human worker only removes screws and/or nuts. In order to lead the robot to a holding position, the human worker indicates a position on the fixture to the robot with brief and simple instructions. The robot estimates the pose of the fixture through 3D model-based object recognition with a hand-mounted stereo camera. The integration of multiple viewpoints for the robot with an active lighting system enhances the recognition performance against both natural lighting changes at the site and the variability in the pose between the camera and the object to be recognized. As a verification experiment, the sequential removal of several different ceiling fixtures is presented. In this experiment, robust recognition is achieved with an average accuracy of 10 mm. The feasibility of the system is verified by using the completion time and the precision requirements in a practical environment.
Facial-Expression-Based Arousal Evaluation by NST
Authors: Asano Hirotoshi ,   Dept. of Electronics Eng. Col. of Sci. and Eng., Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Ide Hideto
Published: April 2016

Fatigue accumulation and poor attention could cause accidents in situations such as flight control, and automobile operation. This has contributed to international interest in intelligent transport system (ITS) research and development. We evaluated human sleepiness arousal based on facial thermal image analysis, in doing so based on nasal skin temperature for different levels of sleepiness during vehicle driving, we found that nasal skin temperature can replace facialexpression in evaluating sleep transition.
Acceleration of Reinforcement Learning by a Mobile Robot Using Generalized Inhibition Rules
Authors: Inoue Kousuke ,   Department of Intelligent Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-cho, Hitachi, Ibaraki 316-8511, Japan, Arai Tamio , JunOta  ,   Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Research into Artifacts, Center for Engineering (RACE), The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan
Published: April 2016

One very fundamental problem in behavioral learning by an agent is that it takes quite a long time to acquire optimal behavior. In order to solve this problem, in this paper, we propose an approach to make learning processes more efficient by the use of generalized knowledge. In this approach, the agent repeats learning processes for different tasks and extracts behavioral rules that are commonly harmful to task execution by the use of statistical method. After sufficient experience is accumulated, the generalized rules are extracted from the experience and are applied to subsequent learning processes, and, consequently, the learning processes are accelerated by inhibiting commonly harmful behaviors. In order to achieve generality of rule expression, the description of the rules is based on egocentric information, namely, raw data of observations and actions experienced by the agent. In order to avoid a perceptual aliasing problem, the rule expression includes information on sequential experience and a mechanism is introduced to control the balance of utility and generality of the rules. The proposedmethod is examined in navigation tasks by amobile robot in grid environments as an example of application. The results show that the proposed method accelerates learning processes.
Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement
Authors: Seto Fumi ,   Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, Japan, Sugihara Tomomichi ,   Institute for Advanced Study, Kyushu University, 744 Moto’oka, Nishi-ku, Fukuoka, Japan
Published: April 2016

The nonlinear reference shaping for manipulators used in ordinary living environments is proposed. It generates an intermediate reference position, and it is combined with control based on the virtual springdamper hypothesis. Initial acceleration is moderated by the reference position inserted between the original target and current endpoint position and by a secondorder lag filter. The endpoint position is fed back to prevent from excessive trailing force and large acceleration, resulting in smooth reaching movement and flexible behavior against external force. The feasibility of the concept of the proposed controller is confirmed through computer simulation on a planar 4-DOF manipulator.
Development of Walking Assist Machine Using Linkage Mechanism - Mechanism and its Fundamental Motion -
Authors: Inoue Hiroyuki ,   Tsuyama National College of Technology, 624-1 Numa, Tsuyama-shi, Okayama 708-8509, Japan, Noritsugu Toshiro ,   Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan
Published: April 2016

This paper proposes a walking assist machine, which is driven by a single actuator to reduce weight and cost, and describes its mechanism and fundamental motions. The machine is worn by a user for assistance with the motions of his lower extremities during walking. The machine is composed of a leg, which is responsible for assisting the motions of the lower extremities, and a waist, which contains the actuator. The leg is composed of sections for assisting the thigh, lower thigh, and foot, and the sections for assisting the thigh, lower thigh, which are composed of a fourbar mechanism. As a result, the mechanism provides only a monotonic motion. Therefore, the effects of link lengths on leg motions are clarified and the machine is designed based on this knowledge. The machine can ensure a user’s physical safety by limiting the range of movement of the machine’s joints, keeping the range within the range of movement of the pertinent joint. The effectiveness of the proposed walking assist machine is verified through experiments.
Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -
Authors: Ashizawa Satoshi ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoyashi, Aichi 468-8502, Japan, Kuromiya Yusuke , Watanabe Toshiya , Oomichi Takeo , Maeda Junichiro ,   Shimizu Corporation, 3-4-17 Etchujima, Koto-ku, Tokyo 135-8530, Japan
Published: April 2016

We have developed a dismantling robot for ceiling boards. The system design of the dismantling robot actually includes a cooperative system between humans and robots. It has a hierarchical system of the independent robot. Indeed, we carried out the dismantlement of ceiling boards by a new method of cutting ceiling boards, and verified the effectiveness of the robot system.
Generation of Large Mosaic Images for Vegetation Monitoring Using a Small Unmanned Aerial Vehicle
Authors: Suzuki Taro ,   Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Amano Yoshiharu , Hashizume Takumi , Suzuki Shinji , Yamaba Atsushi ,   Department of Aeronautics and Astronautics, School of Engineering, The University of Tokyo,   Forestry Research Center, Hiroshima Pref. Technology Research Inst.
Published: April 2016

This paper describes low-cost flexible vegetation monitoring and compares it to with conventional remote sensing systems such as airplanes and satellites. The small lightweight Unmanned Aerial Vehicle (UAV) we have developed has visible and near-infrared cameras that create a high-resolution wide-area mosaic image for observing vegetation. We propose integrating a GPS receiver, inertial sensors, and an image sensor to accurately estimate the UAV location and altitude to generate a mosaic image. The vegetation index is then calculated from the generated mosaic image to evaluate vegetation status. Monitoring experiment results at the Yawata moor in Hiroshima Prefecture showed that our small UAV both effectively and usefully provided low-cost flexible vegetation monitoring.
Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder
Authors: Miyaguchi Shota ,   Omron Corporation, 9-1 Kizugawadai, Kizugawa-City, Kyoto 619-0283, Japan, Matsunaga Nobutomo , Kawaji Shigeyasu ,   Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto-shi, Kumamoto 860-8555, Japan
Published: April 2016

Continuous Passive Motion (CPM) is a postoperative orthopedic treatment or physiotherapy. After surgery in Ulna Collateral Ligament (UCL) injury to the elbow, excessive UCL extension aggravates the injury. Postoperative large stiffness increases reaction force at hand of patient excessively near the end of the range of motion. Controlling pro/supination effectively suppresses the reaction force, but the UCL may be extended excessively by the pro/supination. In this paper, focusing on postoperative UCL treatment, we propose the trajectory generation method for controlling the pro/supination to suppress both the reaction force and the UCL extension based on a skeleton model. Finally, experimental results with simulated patient show the effectiveness of our proposal.1
Size-Dependent Filtration and Trapping of Microparticles in a Microfluidic Chip Using Graduated Gaps and Centrifugal Force
Authors: Maruyama Hisataka ,   Department of Mechanical Science & Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan, Sakuma Shinya , Yamanishi Yoko , Arai Fumihito ,   Department of Bioengineering and Robotics, Tohoku University, Aramaki-Aoba 6-6-01, Aoba-ku, Sendai 980-8579, Japan,   JST PRESTO
Published: April 2016

We proposed size-dependent microparticle filtration and trapping using graduated microchannel gaps and centrifugal force using a three-dimensional magnetically driven microtool (3D-MMT) in a microfluidic chip made of polydimethylsiloxane (PDMS). Our paper contributes the following to the field: (1) Particle filtration is robust against pressure fluctuation due to tube vibration between the chip and pump. (2) Clogging by microparticles is avoided by rotating the 3D-MMT in a microchamber. (3) Size-classified microparticles are trapped by flow control along microchannel gaps. Different-sized microparticles flow in spiral microchannels and are filtered based on size between gaps and the substrate by centrifugal force. Microparticles larger than gaps remain in the inner microchannel. Rotating the 3D-MMT using an external magnetic circuit generates swirling flow in the microchamber. Size-classified microparticles are trapped in microchannels by closing the drain port for the targeted particle. Trapped particles are measured by direct observation and treated by reagent. After experiments, trapped particles are extracted by opening drain ports. We demonstrated microparticle filtration and microparticle trapping in the microfluidic chip.
Design and Characterization of Load Sensor with AT-Cut QCR for Miniaturization and Resolution Improvement
Authors: Narumi Keisuke ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan, Fukuda Toshio , Arai Fumihito ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

The compact load sensor we developed uses an AT-cut quartz crystal resonator whose resonance frequency changes under external load, featuring high sensitivity, high-speed response, and a wide measurement range – plus superior temperature and frequency stability. The vulnerability of previous quartz crystal resonators to stress concentration in bending prevented them from being more widely applied to load measurement. The sensor we developed maintains the quartz crystal resonator safely. Our objective here is to improve load measurement resolution and to miniaturize the sensor, which we did designing novel retention of the quartz crystal resonator fixed vertical to applied load. The new load sensor’s resolution is 3.21 mN –seven times better than conventional load sensors.
Tracked-Vehicle Clutching Position Detectability on Bumps by Distributed Inclination Sensors
Authors: Inoue Daisuke ,   Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Ohno Kazunori , Konyo Masashi , Tadokoro Satoshi
Published: April 2016

We develop Distributed Inclination Sensors (DISs) to measure the distributed inclination of track shoes, i.e., determining where a tracked vehicle clutches road bumps using the reflection-intensity inclination of track shoes due to dead weight. We confirmed in experiments that dead weight on a slope is a major factor in measurement error.
Development of BilateralWearable Device Kento for Control Robots Using Muscle-Actuator Modules
Authors: Hongo Kazuo ,   Dept. of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Nakanishi Yuto , Yoshida Mariko , Mizuuchi Ikuo , Inaba Masayuki ,   Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, Japan,   Dept. of Creative Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

The bilateral wearable device with stiffness-adjustable muscle-actuator modules we developed to control robots by sensing external force from them and teaching them movement for contact with their surroundings. Experiments confirmed that maneuvering a musculoskeletal humanoid fed back the humanoid’s force to a manipulator and its force feedback through bilateral control enabled the manipulator to engage in safe contact with its environment.
Generating Circular Motion of a Human-Like Robotic Arm Using Attractor Selection Model
Authors: Sugahara Atsushi ,   Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Nakamura Yutaka , Fukuyori Ippei , Matsumoto Yoshio , Ishiguro Hiroshi
Published: April 2016

Since animals have survived in unstructured environments, it would be beneficial to refer to animals to develop a robot that operate practical tasks. In this research, we developed a human-like robotic arm imitating the anatomy of human upper limb. Although human can control his arm flexibly and robustly, controlling such complex system by existing control methods would be difficult because of its complexity. In this paper, we propose a simple but flexible control mechanism inspired by a biological adaptation mechanism called “yuragi.” We applied our proposed method to the control of the robot, and experimental results show that our proposed method is applicable to the control of a robot with complex structure.
Disposable Inkjet Mechanism for Microdroplet Dispensing
Authors: Mizunuma Takehito ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan, Yamanishi Yoko , Sakuma Shinya , Maruyama Hisataka , Arai Fumihito ,   PRESTO, Japan Science and Technology Agency (JST), 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

We succeeded in dispensing microdroplets using a disposable inkjet. The novelty of our device lies in the following points: (1) We used a glass-plate-bonded polydimethylsiloxane (PDMS) membrane to fabricate a leaf spring whose spring coefficient is 14 times higher than that of conventional PDMS membranes. This enabled droplets to be dispensed continuously up to 10 Hz when the membrane vibrated through the use of a multilayer piezoelectric actuator attached to the disposable PDMS chip. (2) The nozzle for droplet dispensing was fabricated from thick photoresist (SU-8) to obtain a hydrophobic surface preventing the production of undesired satellite droplets, yielding a droplet dispensing accuracy of ±16.2 µm. Droplets produced by the disposable nozzle, which was 100 µm in diameter, ranged from 95-105 µm at an applied voltage of 105 V.
Massive Parallel Assembly of Microbeads for Fabrication of Microtools Having Spherical Structure and Powerful Manipulation by Optical Tweezers
Authors: Maruyama Hisataka ,   Department of Mechanical Science & Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Iitsuka Ryo , Onda Kazuhisa , Arai Fumihito ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

Production of functional microtools having an arbitrary shape by self-assembly of microparticles and heat treatment above the glass transition temperature of the microparticles was developed. Polystyrene microbeads were used as a material of the microtool. A solution including microparticles was dispersed onto the silicon substrate having microtool patterns fabricated by photolithography and etching. Dispersed particles were introduced to the pattern by gravity force. Microparticles in the pattern aggregate autonomously by surface tension through evaporation of the solution. Aggregated microparticles were fused by heating above the glass transition temperature (100°C). Fused microparticles were detached from the pattern by ultrasonic treatment and used as microtools. Produced microtool has spherical part since the microtool is made of microparticles. Spherical part is suitable for trapping point of optical tweezers. We demonstrated production of microtools using self-assembly and manipulation of the fabricated microtool on a chip.
Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System
Authors: Ikehara Tadaaki ,   Tokyo Metropolitan College of Industrial Technology, Tanaka Eiichirou , Nagamura Kazuteru , Tamiya Takanobu , Ushida Takurou , Hashimoto Kenichi , Kojima Sho , Ikejo Kiyotaka , Yuge Louis ,   Shibaura Institute of Technology,   Hiroshima University,   Graduate School of Engineering, Shibaura Institute of Technology
Published: April 2016

A walking assistance device using a flexible shaft was developed. The combination of a flexible shaft with a worm gear was successfully adopted on this device to simplify its appearance and reduce its size. A hybridcontrol system on this device controls both torque and angle at the ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account by the motor in controlling the power and angle of rotation of the motor. To expand the area in which a person may use the device, it is equipped with a self-contained system powered by a Lithium-ion battery and controlled by an SH-4 microcomputer and actuators, consisting of motors and gears, all of which are carried in a small backpack. Consequently, persons using the device may walk freely in both indoor and outdoor environments.
Adaptive Attitude Control of Redundant Time-Varying Complex Model of Human Body in the Nursing Activity
Authors: Dong Haiwei ,   Department of Computational Science, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan, Luo Zhiwei , Nagano Akinori
Published: April 2016

With the development of human society, there are more and more elderly people need to be taken care of. However, there is not enough labor force to take the nursing jobs. Nowadays robots play more and more important roles in our daily life, especially in nursing activities. In this paper, we illustrate a new attitude control approach to lift human regardless of the individual differences, such as height, weight, and so on. In detail, considering our daily experience that only very few joints are critical for accomplishing the lifting up task, we treats the human body as a redundant system. We use robust adaptive control to eliminate the effects from the “uninterested joints” and identify the human parameters in real time. In addition, the convergence analysis, including tracking time and track error, is also given. The approach is simulated by lifting a human skeleton with two robot arms, which verifies the efficiency and effectiveness of our strategy.
Electric Wheelchair Controlled by Human Body Motion -Classification of Body Motion and Improvement of Control Method-
Authors: Yokota Sho ,   Faculty Science and Engineering, Setsunan University, Hashimoto Hiroshi , Ohyama Yasuhiro , She Jinhua ,   Advanced Institute Industrial Technology,   School of Computer Science, Tokyo University of Technology
Published: April 2016

This paper classifies human body movements when an electric wheelchair was controlled using a Human Body Motion Interface (HBMI) by a Self-Organizing Map (SOM) and proposes control based on classification results. The Human Body Motion Interface (HBMI) uses body movement following voluntary motion. This study focuses on electric wheelchair control as an application of the HBMI. The viability of the HBMI was confirmed using Center Of Weight (C.O.W.) from pressure distribution information on backrest in the wheelchair to control it. If body movement concentrated on a single point at C.O.W. in pressure distribution, a problem occurred because the system would recognize even different body-movement patterns as the same movement. We call body movement taking the same C.O.W. even if it has a different body-movement pattern movement confusion. We solve the movement confusion problem and enhance wheelchair control, classifying body movement using the SOM and reflecting this classification result to improve wheelchair control. Experimental results showed that movement confusion is solved and wheelchair control improved.
Adaptive Formation Transition of a Swarm of Mobile Robots Based on Phase Gradient
Authors: Kurabayashi Daisuke ,   Tokyo Institute of Technology, Choh Tatsuki , Cheng Jia , Funato Tetsuro ,   Toshiba Corporation,   NTT Data Corporation,   Kyoto University
Published: April 2016

This paper describes an algorithm, inspired by the intelligent property of a slim mold, for adaptive formation transitions of a robot group composed of autonomous, non-labeled robots. In the proposed system, one leader robot that knows the target position guides the other robots; the other robots do not have any global information. Each individual robot is equipped with a nonlinear oscillator and a simple communication system realized by flashing LEDs. In order to control these robots, phase gradients and phase waves are used in a manner similar to those of a slime mold (amoeba). By controlling the directions the followers are heading according to the phase gradients, a swarm of robots can change its formation adaptively in an obstacle course. Not only is the algorithm formulated, but also real hardware is developed and the system design is analyzed. The proposed system was verified through simulations and real implementations of 10 autonomous mobile robots.
Flow Path Network Design for Robust AGV Systems Against Tasks Using Competitive Coevolution
Authors: Chiba Ryosuke ,   Tokyo Metropolitan University, 6-6 Asahigaoka, Hino-shi, Tokyo 191-0065, Japan, Arai Tamio , Ota Jun ,   The University of Tokyo
Published: April 2016

An effective and robust flow path network is desired in Automated Guided Vehicle (AGV) systems. A design process to obtain the desired flow path network in AGV systems is proposed in this paper. Our proposed method can make flow path networks robust against tasks, which include pick-up point, drop-off point and throughput and number of AGVs . It is important for this robust flow path network that the kinds of tasks be of various and non-linear to the system effectiveness. The problem is solved by the design method of various kinds of tasks that are difficult for AGV systems using Genetic Algorithm (GA). An effective flow path network is designed with GA simultaneously because the difficult tasks and number of AGVs depend on the flow path networks. Competitive coevolution is applied to the simultaneous design. AGV systems can be effective with uni/bi-directional combined flow path networks which utilize just simple routings. Results of the design are shown through simulations, and the designed flow path network makes it possible to complete various tasks with various numbers of AGVs.
Adaptive Division-of-Labor Control Algorithm for Multi-Robot Systems
Authors: Ikemoto Yusuke ,   Graduate School of Science and Engineering for Research, University of Toyama, 3190 Gofuku, Toyama 930-8555, Japan, Miura Toru , Asama Hajime ,   Graduate School of Environmental Science, Hokkaido University, CN10 W5, Kita-ku, Sapporo 060-0810, Japan,   Department of Precision Engineering, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Published: April 2016

An advanced function for multi-robot systems is the division of labor. There are some studies proposing a multi-agent reinforcement learning method for a division of labor. However, it often requires much time to converge. Many studies focusing on division-of-labor control inspired biological phenomenon have been reported. In those methods, whether heterogeneous or homogeneous state is determined by self-organization, however, group performance improvement is not guaranteed because decentralized control is typically complicated. In this study, we propose adaptive division-of-labor control, enabling adaptive selection of homogeneous or heterogeneous group state. We demonstrate the adaptability of proposal method versus working conditions and address the performance improvement by mathematical analysis. To evaluate the effectiveness of the proposed method, we treat foraging by multi-robot systems and confirm that the robot group inevitably organizes the division of labor with group performance improvement in computer simulations.
Learning of Whole Arm Manipulation with Constraint of Contact Mode Maintaining
Authors: Kawarai Nobuyuki ,   Tokyo University of Agriculture and Technology, 2-14-16 Naka-cho, Koganei, Tokyo 184-8588, Japan, Kobayashi Yuichi
Published: April 2016

This paper proposes the learning of whole arm manipulation with a two-link manipulator. Our proposal combines a controller obtained by reinforcement learning (actor-critic) and a learning classifier realized by a Support Vector Machine (SVM). The classifier learns the boundary between slip and stick modes in torque space. Using the result of classification, the robot learns to move the object toward desired position while keeping the desired contact modes. Control input (torque) is first specified by the actor. The SVM classifier judges whether torque can maintain the desired slip or stick mode and, if not, it modifies the torque so that the desired mode is maintained. It was verified in the simulation that our proposed learning realized accelerating of the object and decelerating it while keeping the desired mode, i.e., avoiding undesired slipping of the object.
Fuzzy Self-Tuning Precompensation PD Control with Gravity Compensation of 3 DOF Planar Robot Manipulators
Authors: Amer Ahmed Foad ,   Department of Electrical and Control Engineering, Arab Academy for Science and Technology, Egypt, Sallam Elsayed Abdelhameed , Elawady Wael Mohammed ,   Department of Computers and Control Engineering, Tanta University, Egypt
Published: April 2016

Industrial robot control covers nonlinearity, uncertainty and external perturbation considered in control laws design. Proportional and Derivative (PD) with gravity compensation control is well-known control used in manipulators to ensure global asymptotic stability for fixed symmetrical positive definite gain matrices. To enhance PD with gravity compensation controller performance, in this paper, we propose hybrid fuzzy PD control precompensation with gravity compensation, consisting of a fuzzy logic-based precompensator followed by hybrid fuzzy PD with gravity compensation controller. Hybrid fuzzy control is done by a Supervisory Hierarchical Fuzzy Controller (SHFC) for tuning conventional controller Proportional and Derivative gains based on actual tracking location and velocity error. Hierarchical hybrid fuzzy control consists of an intelligent upper supervisory fuzzy controller and a lower direct conventional PD controller. Numerical simulations using the dynamic model of a three DOF planar rigid robot manipulator with uncertainty show the effectiveness of the approach in trajectory tracking problems. Our results show that the proposal controller has performance superior to a conventional controller.