bluuebunny/crossref_metadata_2025 huggingface dataset:
Scented Envelopment and ERP Basis Waves
Authors: Saito Yasuhiko ,   Psychiatric Research Institute of Tokyo, Yamamoto Takuji , Kanamura S ,   Takasago International Corporation
Published: April 2016

It has been reported that a brief presentation of odorous stimulus has some effects on Event-related brain potentials (ERPs). In this present study, effects of continuous presentation of odorous stimulus (scented environment) were studies with special references to ERP basis waves which associated to cognitive function. Contingent negative variation (CNV) was recorded before and after continuous presentation of 0.2g lemon oil. ERP basis waves were extracted by Multivariate analysis of single trial CNVs, and it is shown that the ERP basis waves of CNV contained a number of positive components after S1 and S2 of the conventional CNV paradigm. These positive components corresponded from the view point of their latency and topographic characteristics to the late positive complex. In the scented environment by the lemon oil, Sl +350p basis wave, which is a positive basis wave developed 350msec after S1, and S2 +350p, a positive basis wave 350msec after S2, decreased their amplitude significantly and S2 +650p, the second positive basis wave after S2, was also decreased in its amplitude. On the contrary to this, there noted increased amplitude of S1 +500p and S2 +500p in the scented environment. According to the report after the experiment, the odor of lemon oil induced tranquil and hedonic feeling among the subjects and they felt rather relaxed in the scented environment. The effects on the ERP basis waves are thought to be explained along this line of affective changes in the subjects.
Structured Sign for Guidance of Mobile Robot
Authors: Sai Hesin ,   Faculty of Engineering, Osaka University, 2-1, Yamadaoka, Suita-shi, Osaka 565, Japan, Okawa Yoshikuni
Published: April 2016

As part of a guidance system for mobile robots operating on a wide and flat floor, such as an ordinary factory or a gymnasium, we have proposed a special-purpose sign. It consists of a cylinder, with four slits, and a fluorescent light, which is placed on the axis of the cylinder. Two of the slits are parallel to each other, and the other two are angled. A robot obtains an image of the sign with a TV camera. After thresholding, we have four bright sets of pixels which correspond to the four slits of the cylinder. We compute by measuring the relative distances between the four points, the distance and the angle to the direction of the sign can be computed using simple geometrical equations. Using a personal computer with an image processing capability, we have investigated the accuracy of the proposed position identification method and compared the experimental results against the theoretical analysis of measured error. The data shows good coincidence between the analysis and the experiments. Finally, we have built a movable robot, which has three microprocessors and a TV camera, and performed several control experiments for trajectory following.
Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and Elbow
Authors: Ino Shuichi ,   Research Institute of Applied Electricity, Hokkaido University, Kita 12-jou Nishi 6-chome, Kita-ku, Sapporo, Hokkaido 060, Japan, Izumi Takashi , Takahashi Makoto , Ifukube Tohru
Published: April 2016

We have been studying on a tele-existence robot hand based on the psychophysical analysis of the tactile information processing. This report proposes an actuator to get a feedback of the position and the force from the robot hand to the human hand. The actuator consists of metal hydrides (MH) covered with copper, Peltier elements to heat or cool the MH and a cylinder with metal bellows. The response characteristics of this actuator were investigated from a point of view of the practical use. The actuator was found to be suitable for the teleexistence hand because it may work without noise, may smoothly attach to the human hand and may be easily controlled by a microprocessor.
Difference in Recognition of Optical Illusion Using Visual and Tactual Sense
Authors: Fukui Yukio ,   Industrial Products Research Institute, M.I.T.I., 1-4 Higashi 1-chome, Tsukuba, Ibaraki 305, Japan, Shimojo Makoto
Published: April 2016

In addition to visual display, force-feedback will play an important role in interactive interface design for computers. Although the human visual system is generally more sensitive than haptics, the visual system is subject to optical illusions. In this study, we have conducted experiments to obtain visual and/or haptical sensitivity of recognition of the features of figures, such as the deformation of a circle or the bend of a line, under optical illusion. It was found that the figure which the subject judges to be a true circle or a line without bend is closer to the true figure, when using haptic exploration compared to that chosen by visual recognition. However, the probable error by haptics is larger than that by vision. Recognition using both haptics and vision causes conflict because of optical illusion, resulting in almost the same amount of errors as by vision alone.
3-D Computer Graphics System for Vision Research by Binocular Viewing
Authors: Idesawa Masanori ,   Information Science Laboratory (RIKEN: The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako-shi, Saitama 351-01, Mizukoshi Yasuhiro ,   Imaging Science and Engineering Laboratory, Tokyo Institute of Technology, 4259 Nagatuda, Midori-ku, Yokohama, Kanagawa 227
Published: April 2016

For the artificial realization and the application of the visual function of 3-D space perception, the better understanding of human visual mechanism is required strongly. The disparity and occlusion observed with binocular viewing seems to be the most important cues to get 3-D information. Then, the authors developed a simple stereoscopic display system using a time sharing display of left eye and right eye images with liquid crystal shutter. This system is composed of a simple small control circuit and has big advantages such as that the hardware can be applied to any types of display system and the software can be transplant to different type computer system easily. Then, the authors tried to apply this system for the vision research of 3-D perceptural function with binocular viewing.
Self-Evolutionary Robotic System -Sociobiology and Social Robotics-
Authors: Fukuda Toshio ,   Nagoya University, Faculty of Engineering,	1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan, Ueyama Tsuyoshi ,   Nippondenso Co., Ltd, , Shinmichi 1 Takatana-cho Anjo-shi, Aichi 446, Japan
Published: April 2016

This review presents the self-evolutionary robotic system comparing with society of human being, or sociobiology, and robotic system. Since the interaction among individuals evolves the society, the evolutionary robotic system must have the character as a ""society,"" which robotic individuals construct. In this review, we describe the concept of ""social robotics,"" which consists of autonomous distributed robots such as human being or insects, according to its intelligent level. This review shows several topics for realization of self-evolutionary robotic system, such as the comparison between information flow and organization or society of the system, the ability of self-evolution for robotic system from its architecture of control, communication and structure, and comparison between natural gene and technical gene from the theory of natural evolution. In the next generation of robotic system, the ability of self-organization and self-evolution will be desired in any application fields, e.g., manufacturing system, inspection robots, space, agriculture application, and so on.
A Layered, Multi-Agent System for Intelligent Control
Authors: Ishioka Takuya ,   Industrial Electronics & Systems Lab., Mitsubishi Electric Corp., 8-1-1 Tsukaguchi Honcho, Amagasaki, Hyogo 661, Japan, Takegaki Morikazu
Published: April 2016

We propose a layered, multi-agent model as a method for establishing an intelligent control system. The model handles each task, which constitutes control processing, as a group of agents operating autonomously, and organizes the agents in a layered structure from the viewpoint of real-time constraints. This enables real-time control processing and knowledge information processing simultaneously. We will describe a method for building the layered multiagent model using a concurrent rule set. The concurrent rule set can be processed by extending the expert shell and can realize the layered agent model in various computer environments through the use of the shell.
A Hierarchical Distributed Path Planning for Redundant Manipulators Based on Virtual Arm
Authors: Tsuji Toshio ,   Faculty of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Hiroshima 724 Japan, Ito Koji ,   Toyohashi University of Technology, 1-1, Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441, Japan
Published: April 2016

This paper proposes a collision-free path planning algorithm in the task space based on virtual arms. The virtual arm has the same kinematic structure as the actual arm except that its end-point is located at the joint or link of the actual arm. Therefore, the configuration of the actual arm can be represented as a set of end-points of the virtual arms, and the path planning for multi-joint manipulators can be performed only in the task space. Our method adopts a hierarchical strategy which consists of the global level, the intermediate level, and the local level. The global level plans the collision-free endpoint trajectory of the actual arm based on the global representation of the task space. The intermediate level generates the subgoals for the actual and virtual endpoints based on the current positions and the actual endpoint trajectory specified by the global level. The local level moves each end-point to the corresponding subgoal, avoiding the close obstacles based on the local informations of the task space. The effectiveness of the method is verified by computer simulations using a planar manipulator with redundant joint degrees of freedom.
Development of Welfare Robots Similar to Human Hands
Authors: Ide Hideto ,   Faculty of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya, Tokyo 157, Japan, Uchida Masafumi
Published: April 2016

A robot today is used at various industries. At its early stage first the robot had only one function but today it has many functions and also the intelligent robot is manufactured. This paper presents a robot hand system that has the same motions as human. This robot hand is designed to have three fingers that are a thumb, a indexfinger and a middle finger. And the robot hand system adjusted to the motions of human fingers is designed by two detective methods of the motions of human fingers.
The Control Method for the Robot Hand Based on the Fuzzy Theory
Authors: Uchida Masafumi ,   Faculty of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya, Tokyo 157, Japan, Ide Hideto
Published: April 2016

By moving muscles, the myogenic potential (Electromyogram: EMG) is observed on the surface of the living body. It is considered that the EMG is useful for controlling a robot hand. However, the EMG depends on physical conditions, the state of mind and so on. So, the original EMG will be not used for controlling the robot hand directly. In this study, it is considered that the EMG relating the motion of the human hand is analyzed by the fuzzy theory for making the robot hand performs the same motion as the human hand. EMG were measured under the following conditions. (1) opening the hand, (2) bending the thumb, (3) bending the middle finger, (4) bending the index finger, (5) closing the hand, (6) not move. Six production rules were made with fuzzificate data resulted from fourier transforming the EMG (30-band 1/3 octave analysis). Also the EMG measured by experimental motion of the human hand was transformed into the fuzzificate date. Rates of recognitions were calculated in comparison with the six production rules and the experimental data. And one production rule with highest rate of recognition was used for recognition of movement of the human hand in the computer. From the experimental results, about 90% of movement were recognized by the computer. The results were applied to control the robot hand.
Optimum Velocity Vector of Articulated Robot for Soft Bumping
Authors: Nagata Kazuyuki ,   Electrotechnical Laboratory, Tsukuba 1-1-4, Umezono, Tsukuba, lbaraki 305, Japan, Ogasawara Tsukasa , Omata Toru
Published: April 2016

Controlling manipulators during the transition from the free space to the constraint space is important to avoid vibration or crashing of a grasped object in assembly tasks. This paper discusses smoothing the contact of an articulated manipulator with the object in the transition from the free space to the constraint space. We point out that lateral velocities significantly change the momentum of the manipulator and thus much reduce the contact impact while keeping the pose of the manipulator and the velocity in the direction perpendicular to the contact surface. First, we derive the optimal bumping velocity which minimizes the error between a desired steady state force and an impact force, and apply this method to a 2-link manipulator. Next, the relationship between the optimal bumping velocity and the momentum is considered in terms of energy ellipsoid. Further, we examine the optimal bumping velocity when time delay of contact detection exists. Lastly, simulation results of bumping by the 2-link manipulator are shown.
Visual Inspection System for Welded Beads of Automotive Panel
Authors: Ozeki Osamu ,   Toyota Central Res. & Develop. Labs., Inc., Nagakute-cho, Aichi 480-11, Japan, Kogure Kouichi , Onouchi Hiroyuki , Higuchi Hideo Abe Kazunori , Yamamoto Shin ,   Kanto Auto Works, Ltd., Taura-minato-machi, Yokosuka, Kanagawa 237, Japan
Published: April 2016

A 3-D vision sensor and a visual inspection system for welded beads of automotive panels using this sensor have been developed. The items to be inspected are the depth, width, flushness, and inclination angle of the welded point. The 3-D vision sensor detects the section line of the welded bead using slit light method in real time, and the inspection system calculates the four inspection items from the section line. The measurement accuracy levels of this system are ±0.02mm for the depth and flushness, ±0.01mm for the width, and ±7 deg. for the inclination angle. Moreover, the system is able to inspect a single welded bead in 150ms. This system has been used particularly in an automotive factory.
Vehicle License Number Recognition System for Measuring Travel Time
Authors: Kurosaki Hisashi ,   The Nippon Signal Co., Ltd. 3-3-1, Marunouchi, Chiyoda-ku, Tokyo 100, Japan, Yagi Makoto , Yokosuka Hisanori
Published: April 2016

A vehicle license number recognition system for measuring travel time has been developed. This is a vehicle license number recognition system by applying image processing. A series of four-digit numbers are transmitted to the center. With the recognition results being matched at the center, the system is capable of directly measuring travel time which is an important parameter for the operation of the road traffic surveillance and control system. This paper will discuss (1) a hardware composition for solving problems associated with the imaging processing to be done outdoors and problems such as processing speed, etc.; (2) the method of extracting each letter by extracting license plate region from complicated images, and the letter recognition system based on peripheral-pattern matching; and (3) experiments for evaluation in the field. As a result of experiments for evaluation, the processing time is within a second, and the recognition rate for all moving vehicles has been as high as over 85% at day time and night time.
Development of a Personal Robot with the Modularized Link Units
Authors: Kurono Shigeru ,   Faculty of Engineering, Kyushu Sangyo University, 2-3-1, Matsukadai, Higashi-ku, Fukuoka 813, Japan, Aramaki Shigeto , Fujino Yoshikazu ,   Kyushu Engineering Department, Kinki University, 11-6 Kashiwanomori, Iizuka, Fukuoka 820, Japan
Published: April 2016

If the links which can be used as the components of a robot are organized in a manner of ""modularized units"" equipped with an actuator, a sensory device, and even a servo-mechanism, respectively, many kinds of robots can be easily constructed and their flexibility will be greatly improved. For this purpose, we developed a modularized link unit comprised of a DC servo motor, a position sensor, and a reduction gear set. This unit has a number of characteristics such as having large torque and small backlash, making the direction of the robot hand independent of its position, and so on. Using these units, we constructed a ""personal robot"" and developed its control system. In this paper, we introduce the composition and characteristics of our link unit, and illustrate the hardware and software system of a robot made from the modularized link units in this study.
Focusing Actuator for Magneto-optical Disk Drives
Authors: Ichihara Junichi ,   Atsugi Laboratory, Fujitsu Laboratories, Ltd., 10-1, Morinosato Wakamiya, Atsugi, Kanagawa 243-01, Japan, Tezuka Koichi , Makita Akihiko
Published: April 2016

Magneto-optical disk drives have some disadvantages compared with hard disk drives such as low access speed and low data rate. A small-light optical head and high speed rotation of the drive would improve the performance , as well as achieving over write. This paper details the development of a small-light focusing actuator, which can be used in high speed rotation of disks and make optical heads small and thin. It discusses the actuator suspension which raises the frequencies of higher order mechanical resonance. It also includes a parallel leaf spring suspension with the visco-elastic damping layer. It experimentally evaluates the vibration characteristics. Results show that the frequencies of higher order mechanical resonance are above 50kHz. The actuator is driven by a novel moving coil motor which makes the moving part thin and stiff. This paper describes the design and performance of the motor.
Positioning of an X-Y Stage Using the Horizontal Acceleration Signal of the Base Plate
Authors: Wakui Shinji ,   Canon Inc., Control Research Dept., 53 Imaikamimachi, Nakahara-ku, Kawasaki, Kanagawa, 211 Japan, Sato Mikio , Asada Katsumi , Sawada Takeshi
Published: April 2016

In this paper, we formulate the effectiveness of the horizontal acceleration feedback for an X-Y stage installed in the reduction stepper by. using the 2-degree-of-freedom mechanical model and show that its feedback is equivalent to the zeroing of disturbance. Furthermore, we propose the disturbance observer instead of acceleration feedback, and its superior performance is illustrated by using the numerical simulation.
Auditory Neuromagnetic Fields Evoked by Spectral Transition of Syllables
Authors: Hayashi Minoru ,   NTT Basic Research Laboratories, Midoricho 3-9-11, Musashino-shi, Tokyo, 180 Japan
Published: April 2016

As the first step of the analysis of the correspondence of natural human speech sound to neuromagnetic field responses, a study is conducted on the auditory evoked neuromagnetic field responses corresponding to the stimulation sound of the syllables pronounced at three different speeds. The results of the study reveal that the same peak in the neuromagnetic field responses, as appears 100ms after the beginning of the consonant of a syllable, also appears 100ms after the consonant/vowel spectral transition.
Study of Dynamic Walk Control of a Biped Robot on Rugged Terrain - Derivation and Application of the Linear Inverted Pendulum Mode -
Authors: Kajita Shuuji ,   Robotics Department Mechanical Engineering Laboratory, Namiki 1-2, Tsukuba, Ibaraki, 305 Japan, Tani Kazuo
Published: April 2016

This paper introduces a control method for biped walking on rugged terrain. We assume a biped robot which has a mass body and massless legs, and which is restricted to move in a vertical plane. We apply constrain control to the body of the robot so that it moves on a particular straight line and rotates at a constant angular velocity. As the result of such control, the dynamics of the center of mass of the body becomes completely linear. We also notice that the dynamics of the body does not depend on the slope of the line on which the center of mass of the body is constrained. We call such motion of the ideal model ""Linear Inverted pendulum Mode"". The limitation of the condition under which this method works is also discussed. After these consideration, we have developed the control scheme of the biped walking on rugged terrain. Under the control based on the linear inverted pendulum mode, walking on a particular rugged terrain is shown to be equivalent to walking on a level surface. Finally, it is shown that by using ankle torque, our method becomes robust and can be applied to a real biped robot with mass legs. This is ascertained by simulation.
Development of Quadruped Walking Robots and Their Gait Study
Authors: Adachi Hironori ,   Mechanical Engineering Laboratory, 1-2 Narniki, Tsukuba, Ibaraki, 305 Japan, Koyachi Noriho , Nakamura Tatsuya , Nakano Eiji ,   Faculty of Engineering, Mie University, 1515 Kamihama, Tsu, Mie, 514 Japan,   Graduate School of Information Science, Tohoku University, Aramaki Aza Aoba, Aoba-ku, Sendai, 980 Japan
Published: April 2016

This paper describes the quadruped walking robots developed at the Mechanical Engineering Laboratory and their gait analysis. Legged locomotion has the potential to adapt itself to changes in walking conditions, but also has problems such as complexity. To overcome these problems, a new link mechanism called ASTBALLEM is used for the legs of the robots, and highly rigid and easily controllable legs are constructed by using this mechanism. To make a legged robot walk stably, it is necessary to provide a suitable gait. In this paper, two kinds of gaits are considered. One is the periodic gait, and it is systematically classified by two parameters. By using this classification method, suitable gaits for static walking and dynamic walking are selected. The other is the adaptive gait. In order to realize their potentials, walking robots must sense the walking conditions and change their gaits. Two adaptive gait schemes are proposed in this paper. One is a gait which adapts to the position of the center of gravity, and the other is a gait for incline terrain. Both gaits use force sensor data for detecting changes in the walking conditions. All the gaits discussed in this paper are experimentally evaluated.
8-Legged Underwater Walking Robot
Authors: Naruse Toshihisa ,   Robotics Dept., Komatsu Ltd., 2-3-6 Akasaka, Minato-ku, Tokyo, 107 Japan, Sawano Toshiyuki
Published: April 2016

In this article, 8-legged underwater walking robot is introduced as an example of a walking robot in the ocean. It illustrates the outstanding mobility and stability on uneven ground. Due to this feature, it is applicable to a wide variety of underwater works.
A Fundamental Examination of Recognition of Manual Alphabets on Color Image
Authors: Nagashima Yuji ,   Kogakuin University, 2665-1, Nakano-machi, Hachioji-shi, Tokyo, 192 Japan, Fujii Masanori , Kanda Kazuyuki , Terauchi Mina , Nagashima Hideyo ,   Chukyo University, 101, Tokodate, Kaizu-cho, Toyota-shi, 470-03 Japan,   The Polytechnic University, 4-1-1, Hashimoto-dai, Sagamihara-shi, Kanagawa, 229 Japan
Published: April 2016

Recognition of the handshape is the indispensable step to recognize the JSL (Japanese Sign Language) which uses hands as a part of articulators. We start from recognition of Manual Alphabets (MA below) as a basis to understand the handshape of a sign. In our method considering its application to sign recognition at bust shot size image, we succeeded in obtaining a hand region of the bust shot color image (512 x 512 pixels) by transforming RGB system into HVC (Hue, Value and Chroma) system, and by cutting out automatically a region of a hand out of a region in skin color. The finger region was extracted out by the Erosion-Dilation method from the hand region and the features such as finger vector were obtained. We detected a direction of gradient direction and a figure of a contacted extended finger and used them as the features, which constructed a decision tree and made the MA recognized.
Attitude Control Algorithm for Free-Flying Space Robot (Cooperative Control of Feedforward and Feedback)
Authors: Kobayashi Nobuyuki ,   lshikawajima-Harima Heavy Industries, Co., Ltd., 3-1-15 Toyosu, Koto-ku, Tokyo, 135 Japan, Saito Osamu , Nonami Kenzo , Tohsya Susumu ,   Chiba University, 1-33 Yayoi, Inage-ku, Chiba, 260 Japan
Published: April 2016

An attitude control algorithm for a free-flying robot by the cooperative control of feedforward control and feedback control is proposed. The motion of a manipulator on a space robot causes the attitude deviation of the robot’s main body because of dynamic interaction. The proposed cooperative control algorithm is composed of Disturbed-Torque Compensation control on the thrusters, as feedforward control, and sliding mode control on the reaction wheels, which is a known method of robust control, as feedback control. The proposed algorithm is verified by a one-degree-of-freedom model test. In addition, the robustness is also discussed.
Robust Control of a Flexible Arm
Authors: Liu Kang-Zhi ,   Dept. of Electrical and Electronics Engineering, Faculty of Engineering, Chiba University, 1-33, Yayoi-cho, Inage-ku, Chiba, 263 Japan, Higaki Koji , Mita Tsutomu
Published: April 2016

This paper addresses the vibration control of a flexible arm with a two-degree-of-freedom robust controller. The feedback controller is designed by H∞ control theory to achieve robust distrubance attenuation, and the feedforward controller is designed by a signal-matching method to improve the trasient response. An experiment verifies that this methodology is effective.
Vibration and Motion Control of Flexible Structures by Hybrid Dynamic Absorber(Influence of Vibration System with Nonlinear Element)
Authors: Mitsuta Shinji ,   Komatsu Ltd., 1200, Manda, Hiratsuka, Kanagawa, 254 Japan, Seto Kazuto , Ito Hiroyuki , Nagamatsu Akio ,   Nihon University, 1-8-14 Kanda-Surugadai, Chiyoda-Ku, Tokyo, 101 Japan,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan
Published: April 2016

Recently, the necessity for making machines weighing less and operating at high speeds has increased. This paper is concerned with vibration and motion control by a control system which combines a servo controller and a hybrid dynamic absorber. In our method, vibration control and motion control are designed independently. First, the dynamics of a tower structure and a servo motor are modeled. Then, it is shown experimentally that although vibration control by the servo controller alone causes instability due to nonlinear elements such as friction or rattle, the hybrid dynamic absorber does not easily cause this sort of instability. On the comparison of vibration control effect and control force, the hybrid dynamic absorber requires less force. Finally, to know the effect of the new method, we evaluated the motions (triangular wave and sine wave) of the flexible structure. The effectiveness of this vibration and motion control method for the flexible structure was demonstrated by simulations and experiments.
Computer-Aided Control System Design and Control Performance for Active Vibration Control Systems Based on μ Synthesis Theory
Authors: Nonami Kenzo ,   Faculty of Engineering, Chiba UniversityYayoi-cho 1-33, Inage-ku, Chiba, 263 Japan, Fan Qi-fu ,   Graduate School of Chiba University
Published: April 2016

The H∞ control theory is currently the most powerful method for robust control theory, and is useful as well as practical because a great amount of software related to computer-aided control system design is available. However, it has some disadvantages in that the H∞ control system is a conservative one and cannot deal with robust performance. This is due to maximum singular values. Doyle proposed a structured singular value instead of a maximum singular value. This is called ∞ synthesis theory and actively deals with robust performance using D-K iteration. This paper is concerned with computeraided design of active vibration control systems based on the μ synthesis theory. First, the paradigm of the μ synthesis theory is described concerning μ, robust performance, and D-K iteration. Next, the relationships between the μ controller, robust performance, nominal performance, and robust stability are discussed for vibration control systems.
Special Issue on Fuzzy Control
Authors: Watanabe Keigo ,   Professor, Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjo-Machi, Saga, 840 Japan
Published: April 2016

This special issue is devoted to the study of Fuzzy Control applied to robotics and mechatronics. In particular, it contains a collection of fuzzy-neural network approaches, together with the conventional fuzzy reasoning or new approaches. Since the first pioneering work on fuzzy sets and fuzzy logic reported in 1965 by Zadeh, many control application papers have been published with the fundamental fuzzy controllers based on the so-called Mamdani's min-max centroidal method, the TakagiSugeno's functional reasoning, and the simplified reasoning. However, it is recognized that much trial and error is necessary in the design of the conventional fuzzy controller, because the fuzzy reasoning methods mentioned above are not fundamentally related to any control or system theory. In addition, it should be noted that the total number of control rules grows exponentially as the number of input variables to the conventional fuzzy reasoning increases. Thus, in order to improve the conventional approach and develop the new approach for large-scale systems, most current work on fuzzy control is concerned with an effective design, construction, or analysis of the fuzzy controller by invoking the neural network theory, genetic algorithm, and other control or system theories. Although the literature, both in Japanese and in English, on fuzzy control and applications is now very rich, I believe that this special issue provides an important impact on the advanced fuzzy control. This issue would not have been possible without the enthusiastic support of the contributors. I am indebted to all of them for their up-to-date contributions and to the editorial staff for care throughout the editorial and printing process.
Robot Manipulator Control Using Fuzzy Gaussian Potential Neural Networks
Authors: Teshnehlab Mohammad ,   Graduate School of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan, Watanabe Keigo ,   Department of Mechanical Engineering, Saga University
Published: April 2016

This paper describes the complete flexible design of a fuzzy gaussian potential neural network (FGPNN) having the ability to learn expert control rules of fuzzy controller. The proposed structure consists of gaussian potential function (GPF) which is utilized in the antecedent as the membership function, and the flexible bipolar sigmoid function (FBSF) is utilized in the conclusion part. The GPF enables a reduction in the number of labelings in the antecedent, and the FBSF leads to a reduction in the learning load in the conclusion and captures the linearity and/or nonlinearity of the system in the conclusion. The proposed construction reduces the complexity to a simple design in the antecedent, especially for large-scale inputs, thus shortening the time for learning with learning sigmoid function parameters (SFPs) in the conclusion part only. Finally, the simulations of two-link manipulator will be provided for both the conventional and proposed FGPNN controller in order to evaluate the newly designed controller.
Fuzzy Control for Inverted Pendulum Using Fuzzy Neural Networks
Authors: Horikawa Shin-ichi ,   Department of Information Electronics, Faculty of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-01 Japan, Yamaguchi Masahiro , Furuhashi Takeshi , Uchikawa Yoshiki ,   Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5, Takayama-cho, Ikoma-shi, Nara, 630-01 Japan
Published: April 2016

Fuzzy control has a distinctive feature in that it can incorporate experts' control rules using linguistic expressions. The authors have presented various types of fuzzy neural networks (FNNs) called Type I-V. The FNNs can automatically identify the fuzzy rules and tune the membership functions of fuzzy controllers by utilizing the learning capability of neural networks. In particular, the Type IV FNN has a simple structure and can express the identified fuzzy rules linguistically. The authors have also proposed a method to describe the behavior of fuzzy control systems based on the fuzzy models. The method can comprehensively express the dynamic behavior of fuzzy control systems and makes easy to know how to modify the fuzzy controllers. This paper studies an acquisition of fuzzy controller for an inverted pendulum using the Type IV FNNs and presents a new method for describing of the behavior of the fuzzy control system. The new method expresses the dynamic ehavior of the fuzzy control system more clearly by incorporating the change of the output of the controlled object. This new rule-to-rule mapping method enables easy modification of the fuzzy control rules. The experimental results illustrate that the method is effective in designing the fuzzy controllers having good performance.
Back-Upper Control of a Car-Like Robot Having a Trailer via Model-Based Fuzzy Control
Authors: Tanaka Kazuo ,   Department of Mechanical Systems Engineering, Kanazawa University, 2-40-20 Kodatsuno Kanazawa, 920 Japan
Published: April 2016

In previous papers, 1,2) we designed a control system for backing up a computer-simulated, car-like robot having a trailer which is non-linear and unstable. Furthermore, we have theoretically shown 1,2) that the designed fuzzy controller smoothly achieves backing up control of this robot from all initial positions. In this paper, we realize backing up control of a real car-like robot having a trailer. The design is based on a technique of modelbased fuzzy control using a robust stability analysis and the concept of parallel distributed compensation. It is shown that the concept of parallel distributed compensation is simple and easy. Stability analysis and modelbased fuzzy controller design are described in terms of Lyapunov’s approach. The usefulness of the modelbased fuzzy controller design is then checked in the simulation. Finally, the experimental results illustrate that the designed fuzzy controller effectively realizes backing up control of the real car-like robot having a trailer.
Special Issue on Biological Information Sensors
Authors: Ide Hideto ,   Professor, College of Science and Engineering Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan
Published: April 2016

Robot researchers are always aiming at expanding robot functions, but no doubt the foremost aim in the expansion of functions is learning ability. Without learning ability, it is impossible to cope with the environment which changes in million different ways. Speaking from the present level of knowledge, it will be impossible for a robot to approach anything close to a human being even in the year 2000. This time, let us lower our aim one step below the ideal level and look our eyes at reality, which encompasses biological information and sensors. A human hand is an excellent actuator as well as an excellent sensor. The functions as an actuator have a close interaction with the functions as a sensor, and through this interaction, many functions are recognized and actions are realized. Generally speaking, it is common knowledge that the operation of an actuator is assisted by sensor information in the form of feedback, but in thecase of a hand, there exist not only this form but also a reverse form, namely a form in which an actuator is used in order to realize the sensing function; in addition, a form in which these two forms are mixed also exists. Thus, the motion of a mere hand contains very complex elements. This special issue, as was the case with the issue of last year published in a similar fashion, is considered interesting in order to learn what topics have been created in the past year. Thanks are expressed to those authors who have contributed their papers to this issue.
Evaluation of the Arousal Level in Motorcar Driving Using Skin Potential Level II: Its Effectiveness Compared with Other Electrophysiological Quantities
Authors: Nishimura Chiaki ,   Toho University School of Medicine, Omori-Nishi 5-21-16, Ota-ku, Tokyo, 143 Japan, Kosaka Akio , Terada Kazuko , Yoshizawa Shuji , Nagumo Jun’ichi ,   School of Electrical Engineering, Purdue University, 1285 Electrical Engineering Building, West Lafayette, IN 47907-1285, U.S.A.,   Faculty of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo-ku, Tokyo, 113 Japan
Published: April 2016

The present paper deals with the relationship between changes in the level of arousal and those in the level of several electrophysiological quantities in motorcar driving. In experiments, five subjects experience motorcar driving on a test circuit with other cars excluded. Each experimental driving session lasts for approximately 30 minutes. Electroencephalogram (EEG), electrocardiogram (ECG), electrooculogram (EOG), and skin potential level (SPL) are recorded; and their correlation to the level of arousal is studied. Results of the experiments show that (1) close correlation is observed between SPL and the level of arousal, (2) EEG alpha power is almost at a constant level during motorcar driving, (3) blinking frequency is weakly correlated to the level of arousal, and (4) no correlation is found between heart rate and arousal change. From these results, we conclude that SPL is the most effective index of the arousal level in motorcar driving. Furthermore, the results suggest a possibility of doze detection in motorcar driving by using SPL as an index of the arousal level.
Robotic Intelligence for Man-Robot Cohabitation - Model-Based Approach -
Authors: Hasegawa Tsutomu ,   Department of Computer Science and Communication Engineering, Kyushu University, 6-10-1, Hakozaki, Higashi-ku, Fukuoka, 812 Japan
Published: April 2016

This paper focuses on the robotic intelligence which enables a robot to work in an ordinary, daily human environment. We develop several motion/task planning systems mainly based on the geometric and kinematic models.
Special Issue on Advanced Vehicle Dynamics and, Control
Authors: Seto Kazuto ,   Professor, Faculty of Engineering, Nihon University, 1-8 Surugadai, Kanda, Chiyoda-ku, Tokyo, 101 Japan
Published: April 2016

Various attempts have been made from olden days on vehicles for better riding comfort and for improved maneuverability. Past vehicles have achieved vibration isolation performance, which relaxes impact from road surfaces, by means of link mechanisms and passive suspensions consisting of springs and dampers, as well as basic motion performance such as running, turning, and stopping. However, as far as passenger cars are concerned, a passive suspension has its own limitation, and the contradiction that if riding comfort is to be improved at low speeds, the maneuverability during high-speed operations becomes bad has not been solved. Demand of users has become stronger and stronger for vehicles which satisfy riding comfort and maneuverability at the same time. Moreover, as far as trains are concerned, the past technology has increased the vibration of trains as they are operated at higher speeds; thus a drop in riding comfort has been a cause for preventing high-speed operations. Nevertheless, in line with progress in mechatronic technology, active suspensions have been adopted aggressively in automobiles and trains in recent years, and attempts have been started for improving both riding comfort and maneuverability to satisfy demand of users. Some passenger cars have already appeared which are equipped with an active suspension. A similar trend is found in the case of trains; by the introduction of active suspensions, operations of trains on conventional lines at higher speeds are being started. Under these circumstances, this special issue has been created. Although high performance in vehicles may be achieved by means of active suspensions, the problem of increased energy consumption has become a serious issue, which has been brought to the fore with the bursting of the bubble. This problem seems to be solved by saying how effectively semi-active suspensions may be realized. In this special issue, new trends have been taken up, such as vehicle dynamics, design theory on active suspension systems, reduction of engine vibration by optimum design of hydraulic engine mounts, design of control systems for neural networks of semi-active suspension systems, control of variable structures of suspension systems, predictive control, magnetic levitation suspension, etc. It is hoped that these articles will be useful in future research.
Modeling of Dynamics and Model-Based Control of DELTA Direct-Drive Parallel Robot
Authors: Miller Karol ,   Biomechanics Division, Mechanical Engineering Laboratory, MITI, Namiki 1-2, Tsukuba, Ibaraki, 305 Japan, Stevens Boris S. ,   (Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Nowowiejska 24, 00-665 Warsaw, Poland),   Swiss Federal Institute of Technology (Ecole Polytechnique Fédérale de Lausanne), Institut de Microtechnique, 1015 Lausanne, Switzerland
Published: April 2016

The term ""Extended Space"" used in this article is hereby defined as a union of the operational and articulation spaces of a manipulator. The advantages in the use of such coordinates (extended space) in the description of DELTA robot is presented here and discussed in some detail. The emerging importance of parallel robots has necessitated an increased sophistication to achieve improved control. A method based on the direct application of the Hamilton's Principle in extended space, has been applied efficiently to solving the inverse problem of dynamics and implemented for real time application in the control law of the direct-drive version of DELTA parallel robot.1-3) The full dynamic model of this robot has been developed herein. The numerical efficiency and other benefits of this approach over the more classical Lagrange and Newton-Euler methods for the inverse dynamics problem solving are also briefly discussed. For similar models, the version obtained by the direct application of Hamilton's principle is found to possess 23% less mathematical operations than for the Lagrangebased model. Frictional effects. being very small in the direct-drive manipulator, are not included in the present Hamilton development but can be handled with a slight modification. Furthermore the acceleration information of the robot are not required as input states to the Hamilton model. The measurement of trajectory tracking performances for different controllers is conducted. The repeatability of the robot trajectory tracking is determined. The improvement obtained in the control algorithm's performance after the Hamilton implementation is proven to be conclusive.
Navigation System for Air Conditioning Equipment Inspection Robot
Authors: Abe Yasunori ,   Research and Development Center, Shinryo Corporation, Wadai 41, Tsukuba, Ibaraki, 300-42 Japan, Fukuda Toshio , Tanaka Kouetsu , Tanaka Yoshio , Arai Fumihito , Shimojima Koji , Ito Shigenori ,   Department of Mechano-Informatics and Systems, Nagoya University, Furo-cho l, Chikusa-ku, Nagoya, 464-01 Japan
Published: April 2016

We have previously proposed a navigation system for autonomous mobile robots that can recognize regular ceiling landmarks. This system can find square air diffusers on ceilings by sensing their multiple-quadrangle characteristics. We have now developed a new system that is able to recognize circular air diffusers. In addition, certain lighting conditions which obstructed recognition in the original system do not interfere with the newly proposed system. Here we applied Fuzzy and Neural Network Logic technology. A pre-processed image of a landmark is compared with a fuzzy template made from the fuzzy membership function. In order to find specific landmarks, the system determines the degrees of similarity by comparing the sited object with a variety of templates stored in its memory. Then a Neural Network uses results of this calculation to hone in on its target. So, the system can recognize many different kinds of landmarks. This paper shows the principle of this system and experimental results.
Development of Internal Gas Pipe Inspection Robot
Authors: Kawaguchi Yoshifumi ,   Osaka Gas Co., Ltd., 1 Awata-cho, Chudoji, Shimogyo-ku, Kyoto, 600 Japan, Yoshida Itsuo , Iwao Keizo , Kikuta Takashi
Published: April 2016

This paper describes a new mechanism and communication system for an in-pipe inspection robot. To date, inspection robots have been limited as to their mobility to turn in a T -shaped pipe or move in a plug valve. The new mechanism based on our dual magnetic wheels overcomes these limitations without difficult controls. This dual mechanism, resembling a crawler, enable the robot to climb over steep obstacles like sleeves and dresser joints. Another drawback of earlier robots is that the friction between the pipes and the cables for communication and power supply makes it difficult for them to move long distances. A fiber-optic communication system can reduce such friction. The spools of the fiber-optic communication cables and batteries are mounted on the robot and the cables are rolled or unrolled when the robot is moving forward or backward, respectively. An experimental inspection robot has been made to confirm the efficiency of the new mechanism. However, the robot fell off a Tshaped pipe when it attempted to turn in the pipe with its position being inadequate. It is difficult to eliminate such inadequacy because the robot might be disturbed while attempting to avoid a plug or because of sensors functioning uncertainly. For that reason, a mechanism which makes a robot twist is adopted. The improved experimental robot successfully turned in a T-shaped pipe even when its position was inadequate.
Hybrid Robot System Fire-Defense in High-Rise Buildings
Authors: Naruse Toshihisa ,   Robotics Development Division, Komatsu Ltd., 2-3-6 Akasaka, Minato-ku, Tokyo, 107 Japan, Takada Yoshinori ,   Measuring Engineering Division, Komatsu Engineering Corp., 1144-1, Shinomiya, Hiratsuka, Kanagawa., 254 Japan
Published: April 2016

Due to the recent increase in the number of high-rise buildings, fire-defense is attracting much attention. When a fire occurs in a high-rise building, the area of firefighting is restricted because the ladder of a fire engine has a short reach. A solution to this problem lead is a hybrid robot. The robot maintains the building under normal conditions; and in case of a fire, it assists in fire-defense by replacing the Maintenance Unit with a Fire-Defense Assist Unit. The main characteristics of the robot are as follows. (1) It is possible to replace the Maintenance Unit with a Fire-defense Assist Unit. (2) It is possible to move horizontal along the surface of the building with guide rail. (3) It is possible to monitor rooms through glass by a device that consists of a CCD camera and an sinfrared imaging device. (4) It is possible to cut windows in building for Fire-defense Assist. A 3-year feasibility study of the robot since 1990 led to the fundamental design. Practical testing of a prototype model confirmed the validity of its several fundamental functions and performance.