bluuebunny/crossref_metadata_2025 huggingface dataset:
Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery
Authors: Sekiguchi Yuta ,   Graduate School of Science and Engineering, Waseda University, Japan, Kobayashi Yo , Tomono Yu , Watanabe Hiroki , Toyoda Kazutaka , Konishi Kozo , Tomikawa Morimasa , Ieiri Satoshi , Tanoue Kazuo , Hashizume Makoto , Fujie Masakatsu G. ,   The Faculty of Science and Engineering, Waseda University, Japan,   Center for the Integration of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Japan
Published: April 2016

Recently, a robotic system was developed to assist in Single-Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with a dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: five DOFs; cautery: three DOFs) can be attached at the tip of the sheath manipulator. In particular, this paper focuses on the details of the mechanism and control scheme of the tool manipulator. The experimental results show that our manipulator exhibits a response with a precision of less than 0.15 mm and a time delay of less than 31 ms, when the input frequency is 1.0 Hz.
AutonomousWalking over Obstacles by Means of LRF for Hexapod Robot COMET-IV
Authors: Daud Mohd Razali ,   Department of Artificial System Science, Graduate School of Engineering, Chiba University, 1-33 Yayoicho, Inageku, Chiba 263-8522, Japan, Nonami Kenzo ,   Department of Mechanical Engineering, Chiba University, 1-33 Yayoicho, Inageku, Chiba 263-8522, Japan
Published: April 2016

This paper presents an autonomous navigation system for a hydraulically driven hexapod robot (COMETIV) based on point cloud data acquired using a rotating Laser Range Finder (LRF). The size of the robot would prohibit its movement in a stochastic terrain environment if we only consider letting it avoid obstacles. However, the robot has a unique ability to walk over obstacles. We thus proposed the so-called Grid-based Walking Trajectory for Legged Robot (GWTLR) method. The method is developed on the basis of the geometric representation of a stochastic terrain in terms of grid cell characteristics. We also introduced the “Grid-cell model for COMET-IV” to assess the characteristics of the grid cells and to determine whether each of the cells is traversable or not. Finally, the shortest safe walking trajectory is generated using a search algorithm, A*. The performance of the proposed method is verified by the experimental results of the successful determination of a walking trajectory path and by completely walking over obstacles in various arrangements.
Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator
Authors: Kamezaki Mitsuhiro ,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Iwata Hiroyasu , Sugano Shigeki ,   Waseda Institute for Advanced Study (WIAS), Waseda University, 1-6-1 Nishi Waseda, Shinjuku-ku, Tokyo 169-8050, Japan,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

The purpose of this paper is to develop a fundamental external-force-detection framework for construction manipulators. Such an industrial application demands the practicality that satisfies detection requirements such as the accuracy and robustness while ensuring (i) a low cost, (ii) wide applicability, and (iii) a simple detection algorithm. For satisfying (i) and (ii), our framework first adopts a hydraulic sensor as a force sensor. However, hydraulic-pressure readings essentially include error force components. These components depend strongly on the joint kinetic state and differ in the identification difficulty owing to a nonlinear and uncertain hydromechanical system. For satisfying (ii) and (iii), our framework thus focuses on the dominant error-force components classified by the control input states, such as self-weight, cylinder driving, and oscillating forces, and identifies and removes them by using a theoreticalmodel, an experimental estimation, and a waveform analysis without complex modeling, respectively. Experiments were conducted using an instrumented hydraulic arm system. The results of a no-load task indicate that our framework greatly lowers the threshold to determine the on-off state of external force application, independent of the joint kinetic states. The results of an on-load task confirm that our framework robustly identifies the off states in which an external force is not applied to the hydraulic cylinder.
On-Demand and Size-Controlled Production of Droplets by Magnetically Driven Microtool
Authors: Feng Lin ,   Dept of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Kawahara Tomohiro , Yamanishi Yoko , Hagiwara Masaya , Kosuge Kazuhiro , Arai Fumihito ,   Tohoku University, 6-6-01 Aza-aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

We have successfully produced size-controlled emulsion droplets on a chip by adjusting the vibration frequency for MMT. The novelty of this work is the fabrication of a thin coplanar Au electrode on the substrate of a microchip to work as a microsensor, and this microsensor contributed to a droplet-generation system with size estimation. When a droplet passes through the microsensor in the microchannel, it causes a change in the capacitance across a pair of microelectrodes in the microchannel, depending on the size of the droplet. We monitored the change in impedance in real time. The microsensor provided an output voltage proportional to the size of the droplet. The sensor output was observed by an oscilloscope at the primary stage. Manually we estimated the size and set a new actuation frequency for MMT to achieve on-demand and size control of the droplet. Real-time droplet detection was applied in this system. By monitoring the actuation frequency for MMT, size-controlled and ondemand droplet generation could be successfully carried out.
Myoelectric-Controlled Exoskeletal Elbow Robot to Suppress Essential Tremor: Extraction of Elbow Flexion Movement Using STFTs and TDNN
Authors: Ando Takeshi ,   Robotics and Design for Innovative Healthcare, Graduate School of Medicine, Osaka University, 1-7 Yamada-oka, Suita, Osaka 565-0871, Japan, Watanabe Masaki , Nishimoto Keigo , Matsumoto Yuya , Seki Masatoshi , Fujie Masakatsu G. ,   Graduate School of Creative Science and Engineering, Faculty of Science and Engineering, Waseda University, 59-309, 3-4-1 Ohkubo, Shinjuku, Tokyo 169-8555, Japan
Published: April 2016

Essential tremor is the most common of all involuntary movements. Many patients with an upper-limb tremor have serious difficulties in performing daily activities. We developed a myoelectric-controlled exoskeletal robot to suppress tremor. In this article, we focus on developing a signal processing method to extract voluntary movement from a myoelectric in which the voluntary movement and tremor were mixed. First, a Low-Pass Filter (LPF) and Neural Network (NN) were used to recognize the tremor patient’s movement. Using these techniques, it was difficult to recognize the movement accurately because the myoelectric signal of the tremor patient periodically oscillated. Then, Short-Time Fourier Transformation (STFT) and NN were used to recognize the movement. This method was more suitable than LPF and NN. However, the recognition timing at the start of the movement was late. Finally, a hybrid algorithm for using both short and long windows’ STFTs, which is a kind of “mixture of experts,” was proposed and developed. With this type of signal processing, elbow flexion was accurately recognized without the time delay in starting the movement.
Predicting Behaviors of Residents by Modeling Preceding Action Transition from Trajectories
Authors: Mori Taketoshi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan, Tominaga Shoji , Noguchi Hiroshi , Shimosaka Masamichi , Fukui Rui , Sato Tomomasa
Published: April 2016

The smooth provision of support to residents by information display systems or robots will essentially require that their behaviors be appropriately grasped and that predictions be made that allow some margin for preparations. In this paper, we offer new perspectives by proposing a novel method to predict residents’ behaviors. The proposed method mainly consists of the following two phases: (1) to grasp the chains of residents’ potential actions from their trajectories, and then, (2) to identify the rules of association between residents’ behaviors, subject behavior to support and their last actions. In order to verify the performance of the proposedmethod in predicting residents’ behaviors, we have conducted experiments using two residents’ trajectories that have been tracked for around one year.
Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII)
Authors: Ogawa Teruyoshi ,   Faculty of Science and Engineering, Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Nakamura Taro
Published: April 2016

An omnidirectional movement mechanism is needed that can move a robot in a narrow complicated passage. However, existing mechanisms cannot achieve stable operations. We noted that a snail uses traveling waves and can achieve a stable operation because of a large landing area. We therefore developed a traveling-wave-type mobile robot (TORoIII) using a snail’s locomotive mechanism. However, the directions of the robot were restricted by the number of units, i.e., the directions corresponded to the number of units. In addition, to use this robot as an autonomous robot, self-localization method and path planning method are required. At present, these methods for this robot have not been proposed. In this study, we propose a new perfectly omnidirectional locomotion strategy for TORoIII. In addition, we propose odometry based on kinematics and path planning method based on potential method. Furthermore, we propose online path tracking method using the odometry. We experimentally confirmed the utility of these proposed methods.
Efficiency Improvement of Electric Generating Engine System Based on Internal Combustion Engine: Energy Simulation of New Engine Operation with Electric Generator and Motor
Authors: Ishikawa Hiroki ,   Department of Mechanical Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya-shi, Aichi 468-8502, Japan, Takeda Yuta , Ashizawa Satoshi , Oomichi Takeo
Published: April 2016

An internal combustion engine with a crank mechanism moves with its piston and load mechanism interlocked, and this poses a problem for efficiency improvement. We therefore built a system in which the piston and load mechanism linearly; a generator is used in the combustion stroke and a motor is used in the exhaust, intake, and compression strokes. This system can control piston motion freely, so generation energy and consumption energy in each stroke can be optimized. To check its effectiveness, we developed a simulator in which an engine mechanism and motor/generator is integrated, we performed an energy simulation, and we verified the effectiveness of the method of operation of the proposed system.
Achievement of Hula Hooping by Robots Through Deriving Principle Structure Towards Flexible Spinal Motion
Authors: Kakehashi Yuriko ,   The University of Tokyo, Tokyo, Japan, Izawa Tamon , Shirai Takuma , Nakanishi Yuto , Okada Kei , Inaba Masayuki
Published: April 2016

Dance is the art of physical expression. To enhance the expression of robots’ motions and foster sophisticated communication, we aspire to enable robots to dance. Flexible motion of the torso is presumed to be important in dancing, so we picked hula hooping as an accessible example. In this paper, we lay out a simple model of hula hooping that depicts both the torso and hoop, then consider applicability using dedicated robots to show that the model can enable real robots to succeed in hula hooping.
Non-Linear Time Analysis to Estimate Gait Stability Using Wearable Gyroscopes Network
Authors: Gouwanda Darwin ,   School of Engineering, Monash University Sunway campus, Jalan Lagoon Selatan, Bandar Sunway, 46150 Bandar Sunway, Selangor, Malaysia, Senanayake S. M. N. Arosha ,   Faculty Research Training Coordinator/FOS, University of Brunei, Jalan Tungku Link, Gadong, BE1410, Brunei
Published: April 2016

Gait stability is very important in assessing human locomotion. Maximum Lyapunov exponent (λ*) has been widely reported to be closely related to the ability of the human locomotor system in maintaining walking balance. Most literature reports have, however, utilized optical motion capture systems, electrogoniometers and accelerometers to determine λ*. This paper introduces the use of wearable wireless gyroscopes for estimating gait stability. An experimental study was conducted to validate the efficacy of this approach. Its outcome was consistent and comparable to results obtained from conventional approaches.
A Neural Adaptive Controller in Flapping Flight
Authors: Cheng Bo ,   School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette, Indiana 47907-2088, USA, Deng Xinyan
Published: April 2016

In this paper, we propose a neural adaptive controller for attitude control in a flapping-wing insect model. The model is nonlinear and subjected to periodic force/torque generated by nominal wing kinematics. Two sets of model parameters are obtained from the fruit flyDrosophila melanogasterand the honey beeApis mellifera. Attitude control is achieved by modifying the wing kinematics on a stroke-by-stroke basis. The controller is based on filtered-error with neural network models approximating system nonlinearities. Lyapunov-based stability analysis shows the asymptotic convergence of system outputs. We present simulation results for angular position stabilization and trajectory tracking. Trajectory tracking is illustrated by two cases: saccadic turning and sinusoidal variation in the yaw angle. The proposed controller successfully regulates flight orientation – roll, pitch and yaw angles – by generating desired torque resulting from tuning parameterized wing motion. Results furthermore show similarities between simulated and observed turning from real insects, suggesting some inherent properties in insect flight dynamics and control. The proposed controller has potential applications in future flapping-wing Micro Air Vehicles (MAVs).
Trajectory Control Based on Discrete Full-Range Dynamics
Authors: Maheshwari Nandan ,   Bio-Inspired Robotics Lab., Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology Zurich, Leonhardstrasse 27, CH-8092 Zurich, Switzerland, Gunura Keith , Iida Fumiya
Published: April 2016

There has been an increasing interest in the use of mechanical dynamics, (e.g., passive, elastic, and viscous dynamics) for energy efficient and agile control of robotic systems. Despite the impressive demonstrations of behavioural performance, the mechanical dynamics of this class of robotic systems is still very limited as compared to those of biological systems. For example, passive dynamic walkers are not capable of generating joint torques to compensate for disturbances from complex environments. In order to tackle such a discrepancy between biological and artificial systems, we present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. As a result, the system is capable of a large variety of joint operations, including dynamic switching among passive, actuated and rigid modes. The main innovation of this paper is the framework and algorithm developed for controlling the trajectory of such joint. We present different control strategies that exploit passive dynamics. Simulation results demonstrate a significant improvement in motion control with respect to the speed of motion and energy efficiency. The actuator is implemented in a simple pendulum platform to quantitatively evaluate this novel approach.
Vision-Force Guided Monitoring for Mating Connectors in Wiring Harness Assembly Systems
Authors: Di Pei ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Chen Fei , Sasaki Hironobu , Huang Jian , Fukuda Toshio , Matsuno Takayuki
Published: April 2016

Correctly mating connectors is vital in robotic harness wiring systems. Although a static force model has been established based on force and position information during mating, there are difficulties to be overcome to implement a mating process monitoring task with insufficient training samples. It is difficult to obtain consistent features from successful mating samples under different conditions using existing models, which makes it difficult to recognize whether the mating process is correctly completed by learning few successful training samples. In this study, a simple new model is proposed to describe the connector mating process. More robust features are chosen as model parameters. It turns out that the model is more appropriate for the monitoring task, despite varied assembly conditions that affect the mating process. Multiple sensors, including a force sensor, encoders and two CCD cameras are used to acquire the necessary information for the model. A real-time algorithm based on a set-membership approach is used to implement the monitoring task. The effectiveness of these methods is confirmed through experiments. This study provides a simple but effective monitoring approach for a realtime industrial system integration application.
Real-Time Optical Flow Estimation Using Multiple Frame-Straddling Intervals
Authors: Chen Lei ,   Robotics Laboratory, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Yang Hua , Takaki Takeshi , Ishii Idaku
Published: April 2016

In this paper, we propose a novel method for accurate optical flow estimation in real time for both high-speed and low-speed moving objects based on High-Frame-Rate (HFR) videos. We introduce a multiframe-straddling function to select several pairs of images with different frame intervals from an HFR image sequence even when the estimated optical flow is required to output at standard video rates (NTSC at 30 fps and PAL at 25 fps). The multiframestraddling function can remarkably improve the measurable range of velocities in optical flow estimation without heavy computation by adaptively selecting a small frame interval for high-speed objects and a large frame interval for low-speed objects. On the basis of the relationship between the frame intervals and the accuracies of the optical flows estimated by the Lucas–Kanade method, we devise a method to determine multiple frame intervals in optical flow estimation and select an optimal frame interval from these intervals according to the amplitude of the estimated optical flow. Our method was implemented using software on a high-speed vision platform, IDP Express. The estimated optical flows were accurately outputted at intervals of 40 ms in real time by using three pairs of 512×512 images; these images were selected by frame-straddling a 2000-fps video with intervals of 0.5, 1.5, and 5 ms. Several experiments were performed for high-speed movements to verify that our method can remarkably improve the measurable range of velocities in optical flow estimation, compared to optical flows estimated for 25-fps videos with the Lucas–Kanade method.
Analysis of Nurse Calls for Residents and Workers Condition Understanding in Nursing Homes
Authors: Miwa Hiroyasu ,   Center for Service Research, National Institute of Advanced Industrial Science and Technology (AIST), AIST Tokyo Waterfront 3F, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan, Fukuhara Tomohiro
Published: April 2016

Nursing-care facilities, such as specialized facility of fee-based homes for the elderly, have nurse call buttons in residents’ rooms. Nurse call systems are usually used by residents to call workers at the facilities. In this paper, we regarded the nurse calls as sensors that form a sensor network installed in the nursingcare facilities. We then conducted a long-term consecutive measurement of nurse calls at 15 facilities measuring nurse calls by residents for seven months, and analyzed monthly and diurnal variations in the number of nurse calls activated. As a result, we found no seasonal variation in average numbers but did find diurnal variations related to the schedules of facilities. We also clarified four kinds of characteristics of residents.
A Depressurization Assistance System for a Seated Patient on a Wheelchair
Authors: Chugo Daisuke ,   Kwansei Gakuin University, 2-1 Gakuen, Sanda, Hyogo 669-1337, Japan, Fujita Kazuya , Sakaida Yuki , Yokota Sho ,   RIKEN RTC, 2271-130 Anagahora, Shimoshidami, Moriyama, Nagoya, Aichi 463-0003, Japan,   Setsunan University, 17-8 Ikeda-Nakamachi, Neyagawa, Osaka 572-8508, Japan
Published: April 2016

For reducing the risk of pressure sores caused by a long period of sitting in a wheelchair, we have developed a depressurization motion assistance system that is low in cost and suitable for practical use. Our developing system consists of a seat cushion that the patient sits on and four air cells that can lift or incline the seat cushion. In this paper, our key ideas are two. One is mechanical design for practical use. We realize a thin mechanism that enables easy implementation on a standard wheelchair. For realizing this thin design, we developed a tilt mechanism using the elasticity of acrylic resin and a controller that uses only pressure sensors for estimating lift height and inclination. The other topic is an assistance control scheme based on the patient’s depressurization operation for increasing rehabilitation performance. For realizing the proposed control scheme, we analyzed hip depressurization operation by nursing specialists and used results for estimating the patient’s condition.
A System for Predicting Unprecedented Injury by Spatiotemporally Superimposing Children’s Normal Behavior
Authors: Koizumi Yoshinori ,   Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Nishida Yoshifumi , Kitamura Koji , Miyazaki Yusuke , Motomura Yoichi , Mizoguchi Hiroshi ,   National Institute of Advanced Industrial Science and Technology (AIST), 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan,   Research Fellow of the Japan Society for the Promotion of Science,   Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan
Published: April 2016

Predicting injuries in daily life is important in the field of product safety design and risk assessment. However, in the case of children, it is usually thought that unprecedented injuries are difficult to predict because they are caused by “irregular” child behavior. Despite the prevalence of this belief, this study proposes a new injury prediction system based on the view that unprecedented injuries can, in fact, be predicted by identifying high-risk combinations of “normal” behaviors and environmental states. In this article, we also propose an injury prediction system based on spatiotemporally superimposing normal child behavior. The proposed system enables us to consistently predict injury processes consisting of the situation leading to the injury, the impact occurrence, and the resulting injury. This paper also presents an example of a system application for predicting potential injuries around a swing set in an actual park. To prove the effectiveness of the proposed system, we compare the patterns of accident processes predicted by the system with those of actual incident processes found in our observations of normal behaviors.
A Symbolic Construction Work Flow Based on State Transition Analysis Using Simplified Primitive Static States
Authors: Kamezaki Mitsuhiro ,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Iwata Hiroyasu , Sugano Shigeki ,   Faculty of Science and Engineering, Waseda University, 27 Waseda-cho, Shinjuku-ku, Tokyo 162-0042, Japan,   Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

In this paper, a quantitative analysis method for a comprehensive work flow in construction work for identifying work states in more detail is proposed. The proposed method is based on analyzing state transitions of simplified primitive static states (s-PSS), which consist of four symbolic work states defined by using the on-off state of lever operations and manipulator loads. First, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined on the basis of the transition rules, according to which an operation flag changes arbitrarily and a load flag changes only during a lever operation. Second, PST is notionally classified into essential (EST) and nonessential (NST) state transitions whose definitions change depending on the task phase, including reaching, contacting, loadworking, and releasing. Third, closed loops formed by EST represent work content and those formed by NST represent wasted movements. In work-analysis experiments using our instrumented setup, results indicated that all s-PSS definitely changes on the basis of PST under various experimental conditions and that work analysis using EST and NST easily reveals untrained tasks related to wasted movements.
High Accuracy Position Marking System Applying Mobile Robot in Construction Site
Authors: Inoue Fumihiro ,   Technical Research Institute, Obayashi Corporation, 4-640 Shimokiyoto, Kiyose-shi, Tokyo 204-8558, Japan, Ohmoto Eri
Published: April 2016

This paper describes a development of high accuracy position marking system applying the mobile robot and survey system. In the construction process of foundation works, the initial marking on the base floor is very important work to set and built the construction materials exactly. However, the marking errors were often reported by human error of survey worker. This trouble causes not only the lack of construction confidence but also the decrease of work efficiency. In order to accomplish high accuracy marking and to reduce the human errors, the automated marking system was developed using mobile robot and two survey system with laser range finder and tracking total station. In this mobile robot, the marking device was installed at robot center and the error between right target point and mark stamp point could be modified exactly. Using this marking system, high accuracy position marking on the base floor could be executed. The marking process controlled by the automatic operation, the high efficient and the high accuracy foundation work, was performed.
The Effect of Mobile Robot on Group Behavior of Animal
Authors: Fujiwara Daisuke ,   Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda City 386-8567, Japan, Iizuka Kojiro , Matsumura Yoshiyuki , Moriyama Tohru , Watanabe Ryo , Enomoto Koichiro , Toda Masashi , Gunji Yukio ,   International Young Researchers Empowerment Center, Shinshu University, 3-15-1 Tokida, Ueda City 386-8567, Japan,   Division of Textile and Kansei Engineering, Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda City 386-8567, Japan,   Division of Mechanical Engineering and Robotics, Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda City 386-8567, Japan,   Graduate School of Systems Information Science, Future University Hakodate, 116-2 Kamedanakano-cho, Hakodate, Hokkaido 041-8655, Japan,   Department of Center for Multimedia and Information Technologies, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan,   Department of Earth & Planetary Sciences, Faculty of Science, Kobe University, 1-1 Rokko-dai, Nada, Kobe 657-8501, Japan
Published: April 2016

This paper observes the effect of a mobile robot on the group behavior of soldier crabs. The mobile robot interacts with eight soldier crabs. For the experimental analysis, this paper adopts four settings. In the first setting, eight soldier crabs are placed in an experiment area without the presence of the robot. In the second, third, and fourth settings, eight soldier crabs are placed in an experiment area with, respectively, a stationary robot, a continuously moving robot, and an intermittently moving robot. These experimental results are analyzed using a fluctuation index. From analysis, it was found that the fluctuation slope for the fourth experiment alone differs from that for other experiments. This result suggests that the intermittently moving robot influences the group behavior of soldier crabs.
Verification of Fall Detection Sensor
Authors: Hasegawa Tadahiro ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Kohto-ku, Tokyo 135-8548, Japan, Yokota Hiroki
Published: April 2016

We report about a fall-detection sensor system that detects the beginning of a fall. The fall-detection sensor system monitors the human pulse as a vital sign, acceleration, and angular velocity. The fall-detection algorithm using these signals enables us to detect the beginning of a fall correctly. Especially, the fall detection algorithm using the vital sign was able to distinguish between a case in which persons did not fall down due to keep their balance although the fall began and a case in which persons fell.
Outdoor Map Construction Based on Aerial Photography and Electrical Map Using Multi-Plane Laser Range Scan Data
Authors: Mori Taketoshi ,   Graduate School of Medicine, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan, Sato Takahiro , Kuroda Aiko , Tanaka Masayuki , Shimosaka Masamichi , Sato Tomomasa , Sanada Hiromi , Noguchi Hiroshi ,   Graduate School of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Published: April 2016

This research is on personal mobility that estimates its self position on a sensor data map created from sensor data, acquired from laser range scan sensors and/or other sensors, and annotates various multiple items of information on a digital map. This paper describes a method of creating an edge-based grid map from both aerial photography and an electricalmap for this purpose and a way and its realization to estimate position and to construct outdoor maps from multi-plane laser range scan data on the grid map. Since threedimensional scanning is rather difficult and the scan rate is low, we used two-dimensional scanning that enables movement without slowing it down by scanning multiple horizontal and/or slanted planes. Experimental results show that the system is able to ensure the accuracy of accumulated error within 2 m by integrating aerial photography and electrical maps plus multiplane scanning.
Visual Localization for Mobile Robots Based on Composite Map
Authors: Yu Hung-Hsiu ,   Intelligent Robotics Division, Mechanical and System Laboratory, Industrial Technology Research Institute, 195, Sec. 4, Chung Hsing Rd., Chutung, Hsinchu 310, Taiwan, Hsieh Hsiang-Wen , Tasi Yu-Kuen , Ou Zhi-Hung , Huang Yea-Shuan , Fukuda Toshio ,   Department of Computer Science and Information Engineering, Chung-Hua University, 707, Sec. 2, WuFu Rd., Hsinchu 30012, Taiwan,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

In this paper, we propose a novel mobile robot visual localization method consisting of two processing stages: map construction and visual localization. In the map construction stage, both laser range finder and camera are used to construct a composite map. Depth data are collected from laser range finder while distinct features of salient feature points are gathered from camera provided images. In the visual localization stage, only camera is used and the robot system detects feature points from camera provided images, computes features of the detected feature points, matches them with the features recorded in previously constructed composite map, and decides location of the robot. Using this method, a robot can locate its own position effectively without expensive laser range finder so that greater acceptance can be expected due to affordability. With the proposedmethod, several experiments have been performed. The matching accuracy of proposed feature extraction achieves 97.79%, compared with 92.96% of SURF. Experiment results show that our method not only reduces hardware cost of robot localization, but also offers high accuracy.
Robust Global Localization Using Laser Reflectivity
Authors: Zhang Dongxiang ,   Graduate School of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan, Kurazume Ryo , Iwashita Yumi , Hasegawa Tsutomu
Published: April 2016

Global localization, which determines an accurate global position without prior knowledge, is a fundamental requirement for a mobile robot. Map-based global localization gives a precise position by comparing a provided geometric map and current sensory data. Although 3D range data is preferable for 6D global localization in terms of accuracy and reliability, comparison with large 3D data is quite timeconsuming. On the other hand, appearance-based global localization, which determines the global position by comparing a captured image with recorded ones, is simple and suitable for real-time processing. However, this technique does not work in the dark or in an environment in which the lighting conditions change remarkably. We herein propose a two-step strategy, which combines map-based global localization and appearance-based global localization. Instead of camera images, which are used for appearance-based global localization, we use reflectance images, which are captured by a laser range finder as a byproduct of range sensing. The effectiveness of the proposed technique is demonstrated through experiments in real environments.
Abstraction Multimodal Low-Dimensional Representation from High-Dimensional Posture Information and Visual Images
Authors: Hirose Tatsuya ,   Kyoto University, Oiwake-cho, Kitashirakawa, Sakyo-ku, Kyoto, Japan, Taniguchi Tadahiro ,   Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga, Japan
Published: April 2016

Imitative learning is an effective method for robots to obtain a novel movement from a person demonstrating many kinds of movement. Many problems need to be solved, however, before a robot can achieve imitative learning. One problem is how to convert visual information on the demonstrator’s motion to kinematic posture information for the learner. This is referred to as a correspondence problem and we have focused on this problem in this study. To solve it, we focus on the formation of a low-dimensional representation that integrates sensory information from two different modalities. We propose a computation method for constructing the low-dimensional representation combining posture information and visual images by using Kernel Canonical Correlation Analysis (KCCA). Using this method, a robot becomes able to estimate posture information from visual images in a bottom-up way. Using several experiments we show how effective our proposed method is in estimating kinematic information.
High-Speed Focusing and Tracking of Multisized Microbiological Objects
Authors: Nguyen Chanh-Nghiem ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Ohara Kenichi , Mae Yasushi , Arai Tatsuo
Published: April 2016

This paper proposes a novel algorithm for high-speed autofocusing and tracking of multisized microbiological objects observed under a transmitted light microscope. Unlike well-known autofocus algorithms found in the literature, the intensity variation of only a small defined region around the border of the microobject is analyzed in the frequency domain to determine the focused position of the object quickly. In the experiment, 20 µm3T3-SWISS cells were used as smallermicroobjects and 97 µm diameter microspheres were used to represent larger microbiological objects. The execution time and accuracy of the proposed algorithmwere assessed and better results were obtained compared to some related autofocusing algorithms. Since its computational cost was low, the algorithm facilitated highspeed autofocusing of both 3T3-SWISS cells and microspheres. The algorithm was also applied to the tracking of moving microobjects by implementing a PD controller. Since visual feedback took only about 1 ms, high-speed tracking was achieved.
Development of Rehabilitation System for Upper Limbs: PLEMO-P3 System for Hemiplegic Subject (Motor Function Test for Assessment and Training, and Research for Development of Practical Type)
Authors: Ozawa Takuya ,   Socio-Medical Corporation Kyowakai, Kano General Hospital, 7-5-15 Tenjinbashi, Kitaku, Osaka 531-0041, Japan, Furusho Junji , Kikuchi Takehito , Fukushima Kazuki , Tanida Sosuke , Fujikawa Takamitsu ,   Faculty of Engineering, Fukui University of Technology, 3-6-1 Gakuen, Fukui, Fukui 910-8505, Japan,   Graduate School of Science and Engineering, Yamagata University, 4-3-16 Jonan, Yonezawa-shi, Yamagata 992-8510, Japan,   Proctor and Gamble Japan Baby Care Engineering, 6 Minami, Futami, Futami-cho, Akashi 674-0093, Japan,   Bukkyo University, Japan
Published: April 2016

We have developed PLEMO-P3, a rehabilitation system for the upper limbs that utilizes ER brakes as torque generators and is a passive haptic device. To detect abnormalities in patients, we developed a new sensing device and installed it on the grip of the PLEMO-P3. In this paper, we compare several kinds of information from the sensor system (grasping force, reaction force against the working plane, and wrist joint range) and traditional stroke assessment (BRS, FMA and STEF). We establish effective assessment and training methods with PLEMO-P3, finding the effects of training and a strong correlation between them. We suggest a training method with PLEMO depending on the results of clinical assessment. We confirmed the correlation of the working plane reaction force and wrist joint range of motion and were able to detect synergy movement within the motion sensor wrist joint range. This correlation has been understood that it will equip it only with the wrist joint range of motion sensor in PLEMO-P4, a machine for practical use.11. This paper is the full translation from the transactions of JSME, Series C, Vol.76, No.762, pp. 323-330, 2010.
Characterization of Deformable Objects by Using Dynamic Nonprehensile Manipulation
Authors: Ramirez-Alpizar Ixchel G. ,   Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Higashimori Mitsuru , Kaneko Makoto
Published: April 2016

This paper presents amethod for evaluating a physical parameter of unknown deformable objects, by using nonprehensile manipulation. By means of simulation analysis, we show that the curve representing the relationship between the object’s angular velocity and the plate’s frequency has a resonance-like response. Based on the above phenomenon, we utilize a Lorentz curve fitting to represent the object’s angular velocity as a function of the plate’s frequency with a simple mathematical expression, instead of deriving the equation of motion of the system that is rather complex due to the intricate dynamics of the system. Then, we show that the first order natural angular frequency in bending determines the frequency at which the object’s has its maximal angular velocity. Using this information, we present a method of how to estimate the object’s first order natural frequency in bending. We show the simulation and experimental results to verify the validity of the method presented.
Cellular Force Measurement Using a Nanometric-Probe-Integrated Microfluidic Chip with a Displacement Reduction Mechanism
Authors: Sakuma Shinya ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito
Published: April 2016

This paper presents noncontact nanometric positioning of a probe tip with high output force in a microfluidic chip. To measure cellular force in a microfluidic chip on the basis of cell deformation, we employed an on-chip probe with a magnetic drive method with actuation on the order of millinewtons. A reduction mechanism was proposed to realize nanometric resolution for positioning the probe tip. This mechanism utilizes a combination of springs with different stiffness levels and is driven bymagnetic force. The performance of the prototype device was examined and results indicated that, as ameasure of repetitive positioning accuracy, standard deviation of probe tip displacement was under 0.18 µm. Deformation was successfully measured for an oocyte on the order of 0.1 mN, demonstrating, as a consequence, nanometric order noncontact actuation of the on-chip probe with high output force. Using this on-chip probe, cellular force measurement was achieved for the microfluidic chip.
Local Ablation of a Single Cell Using Micro/Nano Bubbles
Authors: Kuriki Hiroki ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Yamanishi Yoko , Sakuma Shinya , Akagi Satoshi , Arai Fumihito ,   NARO Institute of Livestock and Grassland Science, 2 Ikenodai, Tsukuba, Ibaraki 305-0901, Japan
Published: April 2016

We have successfully produced mono-dispersed microgas bubbles less than around 10 µm in diameter in an electrically induced ultrasonic field. The discharged output power and conductive area of the micro-electrode are controlled by glass shell insulation around the copper micro-wire. A small space between the wire and glass tip, a “bubble reservoir,” contributes to the stabilization of the electric discharge and directional bubble generation. The directionally dispensed bubbles can be used for processing soft materials such as biological cells. For the present study, the cell membrane has successfully been processed with resolution of a few µm order and without any thermal collateral damage.
An Approach to Rescue Robot Workshops for Kindergarten and Primary School Children
Authors: Kawada Kazuo ,   Graduate School of Education, Hiroshima University, 1-1-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8524, Japan, Nagamatsu Masayasu , Yamamoto Toru ,   Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
Published: April 2016

This paper describes a framework for “Robo-iku” (education facilitated by robots) at the kindergarten and primary school levels. We believe the concept of “Robo-iku” can help to give a unified approach to the problem of the avoidance of science and technology learning. It can also provide young children with opportunities to develop various skills, such as cooperative skills and/or skills to help them relate well to others. We detail the practical experience of a “monotsukuri” workshop for primary school children, a workshop on designing and building rescue robots. A working definition of “Robo-iku” is provided. The results of the workshop imply that the concept of Robo-iku needs to be further investigated.
Design, Modeling and Performance Testing of End-Effector for Sweet Pepper Harvesting Robot Hand
Authors: Bachche Shivaji ,   Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada, Kami City, Kochi 782-8502, Japan, Oka Koichi
Published: April 2016

This paper presents a new design and modeling fundamentals of gripper and cutting system for 5 degree of freedom robotic arm, designed to harvest sweet peppers in horticultural green house. The design consists of two parallel jaws mounted on gears and operated with the help of servo motor. The same servo motor was used to operate the cutting system which was composed of scissors. The complete system was designed to operate by using one servo motor only. The system model was developed in SolidWorks and tested for different kinematic and dynamic performances. The performance of the gripper and cutting tool system has been evaluated through simulation to determine the design parameters of practical prototype. Based on the design concept, practical prototype of the gripper and cutting system was developed by considering the results obtained by model developed in SolidWorks. The developed prototype was tested to verify the feasibility and reliability of the model developed in Solid-Works. The performance and practical application of the developed prototype was verified and validated by conducting experiments in the lab and greenhouse and comparing the results with simulation results.
A Stereo Vision System for Underwater Vehicle-Manipulator Systems – Proposal of a Novel Concept Using Pan-Tilt-Slide Cameras –
Authors: Sagara Shinichi ,   Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu 804-8550, Japan, Ambar Radzi Bin , Takemura Fumiaki ,   Okinawa National College of Technology, 905 Henoko, Nago 905-2192, Japan
Published: April 2016

Underwater Vehicle-Manipulator Systems (UVMS) are expected to be used in various tasks in underwater environments. The manipulators of the UVMS are designed to execute tasks such as handling and catching objects. It is therefore necessary to equip UVMS with sensors that observe and measure the position of target objects. Stereo vision systems are one type of such sensors. We propose a stereo vision system for UVMS consisting of 2 mobile cameras that pan, tilt and slide individually using motors. This vision system is installed inside a waterproof cylindrical container that enables it to track a target object in underwater environments. Stereo vision system concept and mechanism are proposed, and the effectiveness of the proposed system is shown by experiments using a vision system prototype.
Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes
Authors: Osaki Mikio ,   Department of Mechano-Micro Engineering, Tokyo Institute of Technology, 4259 Nagatsuta, Midori-ku, Yokohama, Kanagawa 226-8502, Japan, Omata Toru , Takayama Toshio
Published: April 2016

During laparoscopic surgery, large internal organs should often be manipulated while being internally visualized. For this purpose, we study an assemblable two-fingered hand implemented with an ultrasound probe. The fingers are separately introduced into the abdominal cavity through small incisions and are assembled into a hand sufficiently large to grasp or manipulate the large organ. Two types of ultrasound probes are employed; a phased array probe of a commercially available ultrasound diagnosis system, and a single-element probe. Using the latter probe, the hand is assembled through 12 mm trocars and is assessed in an in vivo experiment. Ultrasound echo sensing is found to retrieve diagnostic information regarding specific internal organs. It also visualizes the finger and its back during grasping, which can improve the safety of hand grasping and manipulation. Furthermore, ultrasound echo sensing can assist the measurement of the relative position and orientation of the two grasping fingers.