bluuebunny/crossref_metadata_2025 huggingface dataset:
Method for Measurement of Body Image
Authors: Kobayashi Toshinori ,   Department of Industrial & Systems Engineering, Ashikaga Institute of Technology, 268 Ohmae, Ashikaga, Tochigi, 326 Japan, Ishikawa Torn , Minakawa Kuninao , Nakamura Michihiko ,   Department of Social Psychiatry, Tokyo Institute of Psychiatry, 2-1-8 Kamikitazawa, Setagaya-ku, Tokyo, 156 Japan,   Department of Psychiatry, Kyoto Prefectural University of Medicine, 465 Kajii-cho, Hirokoji-agaru, Kawaramachi-dori, Kamigyo-ku, Kyoto, 602 Japan
Published: April 2016

The method for the measurement of a body image by a video processing system was developed. Body images were compared between 10 normal university female students (aged 19-24) and 11 female anorexia nervosa patients (aged 20-30). The patient group was more interested in their body images, and the distortion of body images for the patient group was very large. A strong desire to adjust her body to the ideal image was found in the patient group. These results suggest that the recognition for visual information may be modified by psychological factors.
A Region-Based Stereo
Authors: Katsulai Hiroshi ,   Department of Computer Science, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, 275   Japan, Niwa Hirotaka
Published: April 2016

The stereo, which is a method of obtaining depth information of scene from images obtained from at least two different directions, plays a very important role in applications to robots and similar equipments. The most difficult task in stereo method is to match individual parts of a two-dimensional projected image to those of another image.1,2) With respect to the method of matching, many studies have been conducted, and various techniques have been proposed. The stereo method based on features has attracted attention in recent years. However, it often fails in matching parts when attempting matching using points as features3) because it is difficult to specify points in images. On the other hand, proposals have been made for using line segments, which are easier than points to extract, as opposed to points for matching individual parts.6) Furthermore, methods have been developed which use regional features as an extension of the method which uses line segments.7) The method that uses regional features is considered to have a higher probability of success in matching images than the methods that use points or straight line segments because regional features contain a relatively large amount of description. However, no sufficient studies have been made yet on the region-based stereo. This study situation makes it necessary to conduct basic studies on regionbased stereo. This paper employs regions as features for matching, describes the stereo algorithm that directly employs region segmentation, and investigates the appropriateness of the algorithm by means of computer simulations. It is assumed that the three-dimensional object is a polyhedron, and each face of the object is projected onto a two-dimensional projection plane with uniform brightness using central projection. Region segmentation is delicate and does not necessarily ensure stable results. However, it is considered that a pair of two-dimensional projected images does not contain very large differences if the same scene is to be observed from slightly different directions. This paper uses the centroid of region, which represents the position of region, region shape, and the gray level of region as features for matching. Some consideration is taken on the matching technique to increase the accuracy of matching by performing an operation that is almost equal to enumerating all regional elements, using the sum of the similarity values of regional features as the evaluation function. A three-dimensional plane can be calculated from two matching regions by matching the two boundary points at the same height in the two projected images.
Discrimination of Material Properties by Mono-Structural Touch Sensor with Capacitive-Inductive Function
Authors: Li Desheng ,   Faculty of Science and Engineering, Saga University, 1 Honjo-cho, Saga, 840 Japan, Shida Katsunori
Published: April 2016

This paper describes the development of a touch sensor, which has a mono-structure but has two kinds of functions for discrimination of material properties. The proposed sensor is used to discriminate materials such as iron, aluminum, copper, bronze, rubber, wood, acrylic resin, and styrene foam. The sensor consists of two spiral metallic lines and four terminals. When the two lines are used as a pair of coils, the sensor has the property of inductance. Otherwise, when the two lines are used as a pair of parallel electrodes, the sensor has the property of capacitance. The experiments show good results in discriminating each material sample, and the new sensor is expected to serve as a step toward the development of an artificial skin tactile sensing system in the future.
Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot Systems
Authors: Agah Arvin ,   Bio-Robotics Division, Mechanical Engineering Laboratory, AIST- MITI, 1-2 Namiki, Tsukuba, 305 JAPAN, Bekey George A. ,   (Institute for Robotics and Intelligent Systems, Computer Science Department University of Southern California, Los Angeles, CA 90089, U.S.A. ),   Institute for Robotics and Intelligent Systems, Computer Science Department University of Southern California, Los Angeles, CA 90089, U.S.A.
Published: April 2016

This paper presents a new methodology for the efficiency assessment of task performance of decentralized autonomous multi-robot system. This formulation considers the types of the robots (in terms of sensing, action, and control), the description of the environment (the world), the facts (rules) of the world, and the specifications of the tasks to be performed. The performance efficiency is defined in terms of the total time required for completing the task, total energy requirement, and the comparison of the final results and the desired results. A robot colony simulator was used to perform a number of experiments, measuring the task performance efficiency, of a colony of simulated robots which perform specific tasks in a virtual world. The experimental results are presented in this paper. This paper also describes a team of four robots designed and fabricated in hardware. The physical robots were used successfully to validate the results from the simulated colony.
Force Controlled Pneumatic Manipulator
Authors: Belforte Guido ,   Dipartimento di Meccanica, Politecnico di Torino, C.so Duca degli Abruzzi, 24 - 10129 Torino, Italy, Raparelli Terenziano , Velardocchia Mauro ,   Dipartimento di Energetica, University di L’Aquila, 67040 Roio Poggio - L’Aquila, Italy
Published: April 2016

This paper presents a pneumatic XY manipulator capable of moving a tool-plate along a surface whose position in the work plane is not known a priori while applying a desired contact force to this surface. The manipulator is particularly economical, as it is constructed entirely of commercial components. This paper describes construction, control strategy, and tuning methods for the system. Experimental results are satisfactory in terms of system robustness and accuracy, but require improvement with respect to the speed with which the tool-plate can be moved along the contact trajectory.
The University of Tokyo – Hori Laboratory –
Authors: Hori Yoichi ,   Department of Electrical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113 Japan
Published: April 2016

The research area of Hori Laboratory, The University of Tokyo is “MOTION CONTROL”. We deal with the control of anything that move. The basis of the laboratory is power electronics and electric machine control. We have been expanding our research topics to mechatronics, robotics and even to the electric vehicle control.
Self-Organization and Basis Functions of Neural Network Controllers
Authors: Yamada Takayuki ,   NTT Access Network Systems Laboratories, Shirane 162, Ooaza Shirakata, Tokaimura, Naka-gun, Ibaragi-Pref., 319-11, Japan, Yasue Norifumi , Morimitsu Takenori
Published: April 2016

This paper discusses a relationship between a controller for an unknown nonlinear plant and a self-organization capability which changes the structure of the controller. The controllers using both a neural network and a basis function have the potential to realize a nonlinear control system with self-organization capability because they can change their structure through the change of the number of neurons or basis functions.
Analysis of Somatosensory Evoked Potentials by Tactile Board Stimuli Skin
Authors: Ide Hideto ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Uchida Masafumi
Published: April 2016

Up to now, the analysis of the event-related potential has been carried out by the averaging method or the frequency analysis method. However, the averaging method is defective in that high-frequency off-phased components tend to cancel each other out and so detailed information may easily be lost. On the other hand, in the frequency analysis, time-axis information may easily be lost. In addition, in the past analysis of data, the amount of fluctuation represented by the 1/f power spectrum has been treated in its entirety as noise. Novertheless, nonlinear phenomena as represented by chaos of fractals indicate the possibility of quantification in numerical analysis. In this paper, the fractal analysis of event-related potential is carried out, and its results are used to examine fluctuational conditions in intellectual activity. In addition, peaks equivalent to N100 or P300 did not show up clearly. This is considered to be because fractal analysis is more suited to the detection of variations in the inducement amount rather than that of peaks.
A Study on Dynamically Reconfigurable Robotic System (Communication Reduction with Risk Estimate in Cellular Robotic System)
Authors: Sekiyama Kousuke ,   Graduate School of Nagoya University, Furo-cho 1, Chigusa-ku, Nagoya, 464-01, Japan, Fukuda Toshio ,   Department of Micro System Engineering, Nagoya University
Published: April 2016

This paper deals with a criterion to reduce excessive communication in the Cellular Robotic System (CEBOT). While communication plays a significant role in acquiring necessary information for the decision making, we should consider its cost especially in the case when a large number of agents is involved. Therefore, we have been trying to achieve the ""intelligent communication"" that is defined as accumulation of knowledge enables higher performance and a lower frequency of robot communication. Acquiring information through communication, a probability model is constructed. The decision is based on the model but the risk for that is evaluated with respect to whether communication is negligible. Considering both communication cost and risk for decision making that is derived from the game theory approach, we will set a criterion for communication necessity and show that there exists a correlation between accuracy of the estimate model and communication frequency and estimated risk through the simulation results.
Design Disquisition on Modular Robot Systems
Authors: Matsumaru Takafumi ,   Research and Development Center, Toshiba Corp., 4-1 Ukishima-cho, Kawasaki-ku, Kawasaki, 210 Japan
Published: April 2016

This paper describes subjects to address in modularity design for robots to find a practical and useful modular robot system using the present technology. It concerns module granularity, module scaling, hardware interface, and joint structure. The most suitable module granularity is on the simplified function level, where each module is self-contained, independent unit and the joint modular group consists of only joints with 1-DOE The modular manipulators can effectively achieve many tasks in practical applications without scaling on either joints or links, but with a common standard hardware interface. Furthermore, the joint module should be able to achieve rotation and bending in a single joint module of 1-DOE We propose a new design concept, TOMMS (TOshiba Modular Manipulator System), to produce a modular manipulator system that can be assembled into any desired configuration to provide adaptability to tasks, using a few kinds and types of modules as possible, without the weed for special handling such as modification of control software. A trial system, TOMMS-1, was developed to study the design of the hardware and software for TOMMS.
Elemental Technologies for Collective Robots
Authors: Asama Hajime ,   Biochemical Systems Laboratory, The Institute of Physical and Chemical Research, RIKEN, Hirosawa 2-1, Wako-shi, Saitama, 351-01, Japan, Fujii Teruo , Kaetsu Hayato , Endo Isao
Published: April 2016

The research on distributed autonomous robotic systems which has been carried out in RIKEN results in a conclusion that development of new elemental technologies is essential for realization of an collective robot system. In this paper, the required elemental technologies in mechanisms, sensory systems, and communication systems of collective robots are mentioned, and some elemental technologies developed so far are introduced. Interaction between collective robots and their environment is discussed, and an intelligent data carrier system is introduced as an example of a new device for the interaction. Human interface for operating collective robots is also discussed, which enables cooperation between collective robots and a human operator.
Decentralized Motion Control of Dual Manipulators in Coordination Using Vision and Force Sensors
Authors: Kosuge Kazuhiro ,   Department of Machine Intelligence and Systems Engineering, Tohoku University, Aza Aoba, Aramaki, Aoba-ku, Sendai, 980-77 Japan, Taguchi Daiji , Takeo Koji ,   Nippon Telegraph and Telephon Corporation, 2-1-1 Nishi-Gotanda, Shinagawa-ku, Tokyo, 141 Japan
Published: April 2016

A coordinated motion control algorithm for manipulators using vision and force sensors is proposed in this paper, by which each manipulator is controlled by its own controller in a decentralized way. We consider both manipulation of a single object and assembly of two parts by dual manipulators in coordination. When both manipulators are manipulating a single object in coordination, the desired motion of the manipulated object is given to one of the arms referred to as the leader and other manipulator referred to as the follower estimates the desired motion given to the leader, based on the information from its own force sensor, and manipulates the object in coordination with the leader. An task assembling two parts is described by the motion of a part handled by the leader and the relative motion between the parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed scheme.
Processor Performance Required for Decentralized Kinematic Control Algorithm of Module-Type Hyper-Redundant Manipulator
Authors: Kimura Shinichi ,   Space Communications Division, Communications Research Laboratory, Ministry of Posts and Telecommunications, 4-2-1 Nukui-Kitamachi, Koganei-shi, Tokyo 184, Japan, Okuyama Toshiyuki
Published: April 2016

Based on the great progress of studies on decentralized autonomous systems, the decentralized autonomous control mechanism has expand its territory of applications to the control of redundant manipulators. Because local control systems are closely related in the decentralized autonomous control of redundant manipulators, the performance of local control systems requires careful consideration, particularly in treating the dynamic aspects of manipulators. In this paper, computer simulation is used to assess the effects of the processor performance of a decentralized autonomous control algorithm in adaptation to the reactive motion caused by the failure of actuators under microgravity conditions. The results show that the algorithm is so simple that conservative 16-bit processors are feasible as the local processor of the decentralized autonomous control algorithm. These results suggest that the decentralized autonomous control algorithm may have great advantages in hardware architecture cost and resources. The effect of conflicts among local processors on system performance is also discussed.
Acquiring Objective Functions in Distributed Rule-Based Systems from Examples
Authors: Matsuura Kenichi ,   Faculty of Engineering, Hokkaido University, Nishi-8, Kita-13, Kita-ku, Sapporo, 060 Japan, Kakazu Yukinori
Published: April 2016

There are some great features in distributed problem solving systems, such as fault tolerance, robustness and so on. This system performs problem solving with search depending on an objective function. Distributed rulebased problem systems are considered to be of the same type. That is to say, the set of rules and the objective function exist separately within the system. However, in distributed rule-based systems, a set of rules should hold the objective function. The system should have a set of rules only, and the objective function should exist within that set of rules. In this paper, our objective is to acquire the objective function of a distributed rule-based system. A rule generation mechanism analyzes some given examples and acquires strategies for problem solving to a set of rules. In this way, the set of rules of the examples class in the domain represents the objective function of that class in the domain. Therefore, a solution using those rules keeps the same features as the examples if the problem belongs to the examples class that generates the set of rules. The system implemented by this theory has been applied to the domain of traveling salesman problem. This system has generated a set of rules that has held the objective function of its domain.
Collision Avoidance Using Communication between Autonomous Mobile Robots
Authors: Ozaki Koichi ,   Facurity of Engineering , Utsunomiya University, 2753 Ishii-cho, Utsunomiya, Tochigi, 321, Japan, Asama Hajime , Ishida Yoshiki , Matsumoto Akihiro , Endo Isao ,   The Institute of Physical and Chemical Research (RIKEN), 2-1, Hirosawa, Wako, Saitama, 351-01, Japan,   Computer Center, Kyushu University, 6-10-1, Hakozaki, Higashi-ku, Fukuoka, 812, Japan,   Faculty of Enginerring, Toyo University, 2100, Nakanodai, Kujirai, Kawagoe, Saitama, 350, Japan
Published: April 2016

This paper addresses mutual collision avoidance between multiple mobile robots based on a layered strategy. In this Strategy, static motion generation and dynamic motion generation of several levels are provided , and a proper level of dynamic motion generation is selected for mutual collision avoidance according to the complexity of the situation. We have implemented two typical methods in the layered strategy , which are rules-based local collision avoidance and negotiation-based global one using communication. In each method, a robot detects collision and applies as a local method as possible. Experimental results show two actual mobile robots can achieve mutual collision avoidance based on the layered strategy.
On Sign-board Based Inter-Robot Communication in Distributed Robotic Systems
Authors: Wang Jing ,   Bourns College of Engineering, University of California, Riverside, CA 92521-0425, USA
Published: April 2016

Inter-robot communication based on the conceptual mechanism of ""sign-board"" in Distributed Robotic Systems (DRS) is discussed. Equipped by each robot, a sign-board can be written only by the robot that carries it, and be read by robots in the neighborhood. Consistent with DRS principles, the sign-board model is not supported by any centralized mechanism, and is considered a natural way of interaction among autonomous robotic units. It is shown that along with message passing, the sign-board model is one of the two important mechanisms for inter-robot communication. Previous research on DRS algorithms employing the sign-board model assume zero signal propagation delay. These algorithms may fail if non-zero propagation delay is taken into account. A simple fix for these algorithms exists if the propagation delay is bounded. Implementation strategies for the conceptual sign-board are also discussed.
Construction of Robot Structure Design Support System by Constraint Logic Programming
Authors: Aiba Akira ,   Japan Information Processing Development Center, Research Institute for Advanced Information Technology, Shiba Tokyo Kaijo Bldg. 2F 3-3, Shiba 2-chome, Minato-ku, Tokyo, 105 Japan, Sato Shinichi , Aramaki Shigeto ,   Systems Development Laboratory, Hitachi, Ltd., 1099 Ozenii, Asao-ku, Kawasaki, Kanagawa, 215 Japan,   Faculty of Engineering, Fukuoka University, Nanakuma 8-19-1, Jyonan-ku, Fukuoka-shi, Fukuoka, 814-01 Japan
Published: April 2016

In this paper, we show a validity of a new programming paradigm called constraint logic programming by constructing a robot structure design support system. The design process of a robot structure is divided into a fundamental structure design and a internal structure design. A fundamental structure design is a process that determines a framework of the robot such as a degree of freedom, a number of joint, etc. We mainly support a fundamental structure design. This design system is constructed by constraint logic programming language. The Buchberger algorithm is used to calculate the nonlinear equation in this language. Our design system generates an analysis program independent of robot structure easily. The result of analysis is also gotten in the form of expression. The constraint can be appended incrementally. By constructing such a system, we can achieve remarkable reduction of designer's work in design process.
Special Issue on Integration of Intelligence for Robotics in VLSI Chips
Authors: Kameyama Michitaka ,   Professor, Department of Computer and491 Mathematical Sciences, Graduate School of Information Sciences, Tohoku University, Aoba-ku, Sendai 980-77 Japan
Published: April 2016

Intelligence is one of the most important subjects in information and electronics systems. In many applications such as multi media systems, home electronics systems, factory automation systems, security systems and aerospace systems, advanced intelligent processing technologies are more required to be developed as shown in Figure. There are two approaches to increase intelligence, although they are closely related each other and may not be separable. One is an algorithm-based approach to directly increase intelligence quality. The other is a computational-power-based approach to directly increase processing performance. Even if a single operation is very simple, its repeated operations often make the processing intelligent. The problem is how to increase the computational power. It is obvious that software acceleration using general-purpose microprocessors has some limitation. Therefore, special acceleration using newly developed chips is one of the most important solutions. In particular, real-world applications need to achieve very quick response for dynamically changing real-world environment. Therefore, special-purpose processors and special-purpose accelerators or engines, are essential to make the above applications realistic. Another words, ""to realize high speed processing intelligence"" On the other hand, solid-state circuits technology enabling single-chip systems have rapid advancement resulting in dramatic improvements in both performance and cost oer function. In fact, one-giga-bit DRAMs, ten SPECint95 microprocessors containing ten million transistors are being developed by recent VLSI technology. It is no more a dream to develop practical special processors using the recent VLSI technology. Moreover, new architecture and new concept circuits have been actively studied for the next-generation integration technology. From the above point of view, this special issue was planned to demonstrate the above important area. Especially, intelligent robot is a typical class of applications, soits intelligence technology makes also any other application promising. Finally, I would like to express my application to the authors for their efforts and contributions to this special issue and also the members of the Editorial Board for their useful comments.
Robot Vision VLSI Processor for the Rectangular Solid Representation of 3-Dimensional Objects
Authors: Hariyama Masanori ,   Department of Computer and Mathematical Sciences Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, 980-77, Japan, Araumi Yuichi , Kameyama Michitaka
Published: April 2016

A compact rectangular solid representation of the 3-dimensional (3-D) objects is proposed for motion planning of intelligent robots. A VLSI-oriented algorithm is considered by which the discrete point representation of a 3-D object is transformed to the rectangular solid representation. A new architecture is proposed to perform matching operations between a rectangular solid and discrete points in parallel. The performance evaluation shows that the designed VLSI processor is 25,000 times faster than the RAM-based architecture.
Implementing Intelligence in Silicon Integrated Circuits Using Neuron-Like High-Functionality Transistors
Authors: Shibata Tadashi ,   Department of Electronic Engineering, Tohoku University, Aza-Aoba, Aramaki, Aobaku, Sendai, 980-77 Japan, Ohmi Tadahiro
Published: April 2016

The primary objective of this article is not to present integrated circuit implementation of neural networks in the sense that neurophysiological models are constructed in electronic circuits, but to describe new-architecture intelligent electronic circuits built using a neuron-like high-functionality transistor as a basic circuit element. This has greatly reduced the VLSI hardware/software burden in carrying out intelligent data processing and would find promising applications in robotics. The transistor is a multiple-input-gate thresholding device called a neuron MOSFET (neuMOS or νMOS) due to its functional similarity to a simple neuron model. vMOS circuits are characterized by a high degree of parallelism in hardware computation, large flexibility in the hardware configuration, and a dramatic reduction in circuit complexity compared to conventional integrated circuits. As a result, a number of new-concept circuits has been developed. Examples include a real-time reconfigurable logic circuit called flexware and associative memory conducting a fully parallel search for the most similar targets. A simple hardware model for self-learning systems is also presented. The enhancement in functionality at a very elemental transistor level is critical to building human-like intelligent systems on silicon.
Design of a Parallel Processor for Visual Feedback Control Based on the Reconfiguration of Word Length
Authors: Fujioka Yoshichika ,   Department of Electrical Engineering, Hachinohe Institute of Technology, 88-1, Obiraki, Myo, Hachinohe 031, Japan, Tomabechi Nobuhiro
Published: April 2016

In the sensor feedback control of intelligent robots, the delay time must be reduced for a large number of multioperand multiply-additions. To reduce the delay time for the multiply-additions, switch circuit is used to change the direct connection between the multipliers and adders, so that the overhead in data transfer is reduced. To change the word-length of the multi-operand multiply-adders, in addition, the switches are also provided in multipliers and adders. By changing to the short wordlength, the numbers of multiplier and adders can be increased. The performance evaluation shows that the delay time for visual feedback control becomes about 6 times faster than that of a parallel processor approach using conventional digital signal processor (DSPs).
Tactile Based Active Sensing for Detecting Stiffness and Contact Point Using Robotic Finger
Authors: Shirai Tatsuya ,   Sony Co., Ltd., 6-7-35 Kitashinagawa, Shinagawa-ku, Tokyo, 141, Japan, Imamura Nobuaki , Fukuda Toshio , Kaneko Makoto ,   Shinko Research Co., Ltd, 1-5-5, Takatsukadai, Nishi-ku, Kobe, 651-22, Japan,   Department of Microsystem Engineering, Nagoya University, Furo-cho 1, Chikusa-ku, Nagoya, 464-01, Japan,   Faculty of Engineering, Hiroshima University, Kagamiyama, 1-4-1 Higashihiroshima, Hiroshima, 724, Japan
Published: April 2016

This paper discusses an approach for detecting not only a contact point between an environment and a robotic finger, but also the local stiffness of the environment where the finger makes contact. We assume that the environment's stiffness is three-dimensional with coupling terms, whereas most conventional studies have assumed a one-dimensional spring as an environment model for simplification. When a finger confirms that there exists considerable compliance, the finger tip is pressed against the environment and starts several active pushing motions in various directions to eventually obtaining the measured stiffness matrix. The overall concept is also verified by experiments utilizing a wire-driven robotic finger.
Special Issue on Human Oriented Technology in Robotics and Mechatronics
Authors: Wada Mitsuo ,   Professor, Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Sapporo, Hokkaido, 060 Japan
Published: April 2016

As a desire for leeway and richness in human living rises with the twenty-first century close at hand, the following problems are becoming social subjects of discussion; a rapid progress in the coming of the advanced aged society, a large number of women's participation to the society, and the internationalization of our life; a decrease in population of the young generation , an increase in the responsibility of an age of DANKAI (people who were born in a baby boom just after the World War II), and an increase in handicapped people caused by the rising accidents. In such circumstances, the technology that is based on the society and can cope with the various needs result from the transition and diversity of value judgment in our life is requested. This technology includes how to live healthily, how to lead a worthwhile life, how to make the most of spare time, reduction of domestic affairs, prevention of stress, realization of the safe and received social life that occurs no accidents, consideration on a global scale to our environment and so on. Therefore, in point of the human oriented technical development in the fields of robotics and mechatronics, development and realization of the ""human friendly"", ""reliable"" technology are greatly expected that considers the mind and the intellect concerning human nature and sociality and especially thinks highly of human individuality. The human oriented technology in robots and machines is a technology to join men ourselves, life and technology at a ""mind"" level. Its produce a new technological paradigm that changes household products and industrial technology from the usual state of being based on the advanced technological development in property and efficiency to the state of being basd on human life side on the basis of health, safety, convenience, and confort. This special article has been organized from the point of view of such human oriented technology, specially in the field of robotics and mechatronics. I would like to express my thanks to those who have found time in their busy lives to express my thanks to this special article. There are more papers that were presented at the various symposia in Japan, so only a function of them were included in this article because of the limitation of space. And it will be my great pleasure if readers can understand the latest situation of the research in this field from this issue. Finally, my thanks are also due to Dr. Makoto Shimojo (National Institute of Bio-sciences and Human-Technology) who helped in editing this article.
A study on Force Feed-back Device Using 6 D.O.F Cartesian Robot (Adaptive control method for human spatial movement)
Authors: Yokoi Hiroshi ,   Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Kita-ku, Sapporo 060, Japan, Fukui Yukio , Yamashita Juji , Shimojo Makoto ,   National Institute of Bioscience and Human Technology, 1-1 Higashi, Tsukuba, 305, Japan
Published: April 2016

This paper reports the 3D force feed-back device for CAD system with the adaptable control for human characteristics. For the problem of unstable motor action of force feed-back device caused by disagreement of impedance between man and machine, the human friendly device is proposed with adaptive control using parameter tuning for device controller. One hypothesis of propotional relation between grasping force and muscle tension. From the hypothesis and experimental result, the system parameters are unfolded on grasping force, and an adaptive control method is described. As an evaluation experiment of proposed device, a comparison is examined among tracing-resistance of virtual surface and real surface and (ice, steel, and wood), and shows smooth feeling rather than ice plate.
Safety Materials and Control of Human-Cooperative Robots
Authors: Morita Toshio ,   Dept. of Mechanical Engineering , School of Science and Engineering, Waseda University, 3-4-1, Okubo, Shinjuku, Tokyo, 169, Japan, Sugano Shigeki
Published: April 2016

This paper discusses the design theory of a human-cooperative robot that has the capability of realizing both personal safety and cooperative work. The design parameters discussed in this paper include the safety materials, motion control, collision conditions, and safety standards that are necessary for realizing the symbiosis of robots with humans. To be concrete, the paper describes the modeling of shock-absorption materials, construction of an emergency stop system and a joint compliance control system, determination of collision simulation conditions, and the selection of a head injury standard equation. Next, the paper simulates collisions between a cooperatively working human and a robot by combining the parameters and straightens out the effects of various parameters regarding anticollision safety (presupposing collisions). Furthermore, the paper derives, based on experiments, a method of determining the parameters that are necessary for actually designing the system. Finally, the paper proposes safety guidelines and design points regarding human-cooperative robots by integrating the results of the above experiments and discussions.
Individual Identification Using Images of Eyes
Authors: Tanigawa Satoshi ,   College of Science and Engineering, Aoyama Gakuinn University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan, Uchida Masafumi , Ide Hideto
Published: April 2016

Individual identification is required in various fields such as credit business, security business, information industry and crime investigation. This paper describes the individual identification system using images of eyes. With this system having used images data of 20 registered persons and 20 unregistered persons, we could obtain a high recogniniton rate and showing how efficient this system is.
A Study on Visual Mechanism with Optical Illusions
Authors: Idesawa Masanori ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182, Japan
Published: April 2016

Optical illusion seems to be the phenomena which are purely reflecting the mechanism of.human visual system and are expected as the effective cues to elucidating human visual mechanism. The author found the new types of 3-D visual illusion with binocular viewing. From the visual stimuli of binocular disparity given only along the contour of an object, human visual system can perceive entire 3-D illusory object where there are no physical visual stimuli giving depth information. They have close relation with the 3-D space perceiving functions in the human visual system. A study on these newly found optical illusions are introduced and the considerations are made for their applications and the exploitations including the contributions of information processing techniques such as computer graphics, computer vision and so on.
Simulation of Depth Interpolation from Surface Boundary in Binocular Viewing
Authors: Shi Weifu ,   Nikon Corporation, 1-6-3, Nishi-oki, Shinagawa-ku, Tokyo, 140, Japan, Idesawa Masanori ,   Graduate School of Information Sysyems, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182, Japan
Published: April 2016

With binocular viewing, the human visual system can perceive depth information of a 3-D object from several kinds of cues, such as binocular disparity, occlusion, optical flow, perspective, texture gradients, shading, and motion. Several years ago, in relation to the 3-D illusion, we found that surface depth can also be perceived even if no apparent visual stimulus occurs inside the surface boundary that provides the cues above except for binocular disparity given partially along the surface boundary. In addition, we found that, in some cases, shapes could be perceived in different forms from entirely the same surface boundary when the attention depth is changed or the attention point is presented in binocular viewing. We built a simple, preliminary mathematical model to simulate surface depth perception. It was based on the following hypotheses: activity potential sources are located along the perceived surface boundary; cells inside the column corresponding to the view volume enclosed by the surface boundary are activated by the summation of the activation power emitted from the activity potential sources; the surface then is perceived at the depth where the most activated cell is observed in depth. We then improved our mathematical model to introduce the effects of attention points. In this paper, we describe the mathematical model in detail and present simulation results for different surface shapes. We also discuss the influence on surface shape by changing the parameters of the mathematical model.
Volume Perception and a Processing Method of Unpaired Region in Stereo Vision
Authors: Iwamoto Tatsuya ,   Sony Corporation, 2-10-14, Osaki, Shinagawa-ku, Tokyo, 141, Japan, Idesawa Masanori ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182, Japan
Published: April 2016

In the human visual system, binocular unpaired regions, where binocular images do not correspond to each other, play a very important role on stereo perception. In our recent experiments, we found that binocular unpaired regions give a special effect on the volume perception of solid objects with curved surfaces. In this paper, we shall introduce phenomena of volume perception, and then propose some strategies for realizing such function on a computer vision system.
Matching of Affine Transformed Images by Using Similarity Based on Local Concentric Features
Authors: Sakai Atsushi ,   Faculty of Engineering, Nagoya University, 1, Furo-cho, Chikusa-ku, Nagoya, 464-01, Japan, Ujifuku Seiji , Nomura Yoshihiko ,   NKK Corporation, Tsurumi-ku, Yokohama, 230, Japan
Published: April 2016

This paper proposes a pattern matching method based on concentric features calculated over local areas close to feature points. For such feature points, the corner points of images are used, and images generated by complex-log mapping and Fourier transform are used as the concentric features. The procedures are as follows: (1) Similarity is found based on the concentric features in neighborhoods of corner points; (2) in consideration of the uniqueness of correspondence and removal of pseudo-correspondence, correspondence is obtained from this similarity; (3) with correspondence as a weight, the parameters of the affine transformation are estimated. By conducting experiments, the robustness of the proposed technique against deformations and noises is shown.
Uncertainty Analysis of Three-Dimensional Coordinate Measuring Machines
Authors: Matsuda Jiro ,   National Research Laboratory of Meteorology, 1-1-4 Umezono, Tsukuba 305, Japan
Published: April 2016

On the basis of the condition that the distances between planes be measured in accordance with the ISO guide ""Uncertainty of Measurement"", the uncertainty of measurement of a CMM in the orthogonal coordinate system has been obtained by carrying out a systematic experiment. So the expanded uncertainty is given as 4.4μm.
Study on the Control of a Robot with Very Large Number of Freedoms
Authors: Kurono Shigeru ,   Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka-shi 813, Japan, Aramaki Shigeto , Fujino Yoshikazu , Toyofuku Takashi ,   Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Jonanku, Fukuoka 814-01, Japan,   Graduate School, Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka-shi 813, Japan
Published: April 2016

We developed the control system of a robot which has 20 degrees of freedom all of them are controlled with PWM control method through single frequency of radio wave. The radio wave transmitter/receiver developed in this study is able to send and receive the references for servo mechanisms more than 30 degrees of freedom. The transmitter is controlled by a 8-bits microprocessor (Z80) board. This paper introduces the construction of a robot and the architecture of transmitter/receiver unit developed in this study.
Application of Surface Display into Shape Forming Task
Authors: Hirota Koichi ,   Dept. of Information and Computer Sciences, Toyohashi University of Technology, 1-1, Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441, Japan, Saito Jun , Hirose Michitaka ,   Document Engineering Lab. Corporate Research Labs. Fuji Xerox Co., Ltd., 430 Sakai, Nakai-machi, Ashigarakami-gun, Kanagawa 259-01, Japan,   Dept. of Mechanical Engineering, the University of Toikyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113, Japan
Published: April 2016

The sensation of Touch and force is generated or conducted through the phenomenon of contact. This fact make us aware of a new force feedback method, which was named the concept of Surface Display. In this concept, we are remarking not on the force between the user and the object but on the surface and existence of the object. The force feedback device based on this concept presents the surface of an object, the user interact with surface. Force is caused only as a result and it is measured by the device for the simulation of the behavior of the object. In this paper, the application of the device into a shape forming task is discussed. We have developed a kind of the virtual clay modeling environment, in which the shape of the surface can be changed by pushing directly on the surface. Sensation of making contact with the surface and the sensation of force caused by the elas ticity of the clay is fedback by using the device. From an experiment in the environment, the importance and effectiveness of force feedback were made clear.
Media Heavy Industries
Authors: Hirose Michitaka ,   Dept. of Mechanical Engineering, the University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113, Japan
Published: April 2016

The term multimedia is now one of the most important keywords of modern society. This is a leading-edge field for computer technology, but has drastically different characteristics from the conventional computer technology from various standpoints.

At one time in the past, the computer was, literally speaking, a machine for 'computing'. If its source is traced back, it is found that there was an interest in knowing how much a machine would be able to approach man's intelligence, i.e. logical thinking. As a consequence, the computer is an artificial 'brain', and we have been thinking of the computer by using 'brain' as metaphor.

However, if we try to apply this metaphor to the computer of the multimedia age, we realize that it does not work from many perspectives. This is because multimedia technology appears to be developing in a direction somewhat different from the direction for artificially creating a highly intelligent machine called the brain.
Application of Artificial Reality in Manufacturing Industry
Authors: Igoshi Masanori ,   Faculty of Engineering, Tokyo Metropolitan University, 1-1, Minamiosawa, Hachioji-shi, Tokyo, 192-03 Japan
Published: April 2016

The role of human beings to the computer integrated manufacturing system is to be re-evaluated from the point of view of flexible and agile manufacturing. This paper deals with this issue from the stand point of the smooth communication between human beings and computers with models and images of products and factories in it, and discusses the effectiveness of 3-dimensional models and images with artificial reality for industrial product design and production. It also develops the possibility of the virtual factory with artificial reality and classifies the virtual factory from the view of the concerning styles of human beings to the factory system. This paper unifies human beings and sense-of-presence devices to H, computer and communication to C, and real (physical) objects and world to R, and discusses the four combining types of the virtual factory.
Extraction of Features in EEG
Authors: Hamamoto Ichiro ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1, Chitosedai, Setagaya-ku, Tokyo, 157, Japan, Tanaka Hisaya , Uchida Masafumi , Ide Hideto
Published: April 2016

We take various information from the outside world into our brain by moving our eyes in every direction and sounds EEG contain basic rhythms of the brain, such as alpha waves, and components, such as myoelectric potentials. The results of the simulation indicated that the use of multiple windows would raise the accuracy in the detection of time delays and demonstrated the effectiveness of the present technique. However, the features of the estimated waveforms of the adaptive correlation filter are affected by various elements, and the level of accuracy is not so high as to be useful in clinical medicine.
Special Issue on Robot with Integrated Locomotion and Manipulation
Authors: Taguchi Kan ,   Associate Professor, Cooperative Research Center, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan
Published: April 2016

Recently, demand has risen for outdoor robots in architecture, civil engineering, agriculture, fire fighting, or restorations of earthquake disasters. For such cases, robots should have both locomotion and manipulation to work in unknown and unassisted fields. Since robot locomotion and manipulation have been researched independently, robots with integrated locomotion and manipulation are anticipated. However, problems involve the cooperative control of locomotor and manipulators or their integrated mechanisms. In January 1994, the Robotics Society of Japan set up an integrated locomotion and manipulation robot research committee whose aim is identify different aspects of such robots, such as analysis and synthesis of mechanisms, control theory for integrated locomotion and manipulation, and actual on-job applications. The Committee includes researchers from industry, government laboratories, and academia, who have discussed the possibilities of new type robots. The Committee organized sessions such as ""Robots with Integrated Locomotion and Manipulations"" in the 12th (1994) to 14th (1996) annual conferences of the Robotics Society of Japan and ""Integrated Locomotion & Manipulation"" in International Robotics Symposium IROS96. A special issue of ""Integrated Locomotion and Manipulation"" for the Journal of the Robotics Society of Japan was compiled and published in November 1995 by the Committee. In November 1996, the Committee handed in its final report to the Society and adjourned. The final report is in Japanese. As a Committee member, I have wanted to introduce some of the Final Report in English. Fortunately, the editors of the Journal of Robotics and Mechatronics have given me the opportunity to publish these reports in a special issue. Other Committee members have agreed to contribute as well. I thank the Committee -- especially Chairman Dr. Tatsuo Arai (MEL), who encouraged me in writing this article. Special thanks go to Prof. Yamafuji, who introduced me to the editors who gave me the chance to publish this article.