bluuebunny/crossref_metadata_2025 huggingface dataset:
Auxiliary Particle Filter Localization for Intelligent Wheelchair Systems in Urban Environments
Authors: Yokozuka Masashi ,   Field Robotics Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Suzuki Yusuke , Takei Toshinobu , Hashimoto Naohisa , Matsumoto Osamu
Published: April 2016

We propose the robust 2D localization applies an Auxiliary Particle Filter (APF) to Monte Carlo Localization (MCL). Urban environments have fewer landmarks than two-dimensional (2D) indoor maps for efficiently finding a unique location. Localization using MCL have the problem that few landmarks pose divergence of the particles of MCL. We use APF for MCL, because APF continues resampling until convergence particle occurs in one localization step. Another problem with 2D urban mapping is that of data association posed by three-dimensional (3D) surfaces. Pitching and rolling may, for example, adversely affect 2D scan-data metrics due to 3D surfaces, causing mismatching data association in 2D maps. We therefore use a Laplacian filter for 2D grid maps. Experimental results show that our localization method is more highly stable in urban environments than MCL.
The Joint Interface of RT Components for Mobile Robots: The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project
Authors: Shimizu Masaharu ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Kita Nobuyuki , Saito Toshihisa , Takeuchi Eijiro , Nakajima Yusuke , Takegawa Naohito , Igarashi Hiroki , Hayashibara Yasuo , Yamato Hideaki , Toda Kengo , Furuta Takayuki , Mizukawa Makoto ,   National Institute of Advanced Industrial Science and Technology, Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan,   Segway Japan, Ltd., Bankokubashi Soko 303, 4-24 Kaigandori, Naka-ku, Yokohama 231-0002, Japan,   Tohoku University, 6-6-01 Aoba, Aramaki-Aza Aoba, Sendai, Miyagi 982-0011, Japan,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan,   Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
Published: April 2016

RT-middleware enables an interface between RT components by means of interface description language IDL, but it does not prescribe any specific format. If a unique representation format is used, it leads to a reduction in the reusability of a Robotic Technology Component (RTC). A working group of three research bodies engaged in the research and development of mobile robots was organized in the NEDO Intelligent RT Software Project, and this working group is involved in activities aimed at the jointing of RTCs for mobile robots. This paper describes specific this working group’s attempts enhance the sustainability and reusability of common RT components for mobile robots by achieving the jointing of RTCs for mobile robots.
Two-Dimensional Wireless Power Supply to Ubiquitous Robots Using Microwaves
Authors: Shinoda Hiroyuki ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Makino Yasutoshi , Yamahira Naoshi , Itai Hiroto ,   Keio University,   JFE Steel Corporation,   Cellcross Co. Ltd.
Published: April 2016

This paper proposes a wireless power supply method to ubiquitous small robots using microwaves propagated in a two-dimensional waveguide (2DW). A robot working anywhere on a 2DW sheet receives the power from the sheet. The communication signal is also transmitted through the identical sheet. The structure of 2DW sheet is simple and realized with various materials at low cost. Since the microwave power is confined inside the 2DW sheet, it enables safe power transmission and communication without strong interference with the space outside the sheet.
Flexible Tactile Sensor Skin Using Wireless Sensor Elements Coupled with 2D Microwaves
Authors: Shinoda Hiroyuki ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Chigusa Hiromasa , Makino Yasutoshi ,   Future Architect, Inc.,   Keio University
Published: April 2016

The stretchable sensor skin we propose uses microwaves propagating in a two-Dimensional Signal Transmission (2DST) sheet. A small tactile sensor chip with a pair of Resonant Proximity Connectors (RPCs) couples with 2D microwaves carrying signals. Chip operating power is also supplied by 2D microwaves. The RPC is a spiral electrode whose arc length is a quarter of the electromagnetic wavelength. Chip operating power is supplied by 2D microwaves. Sensor chips are connected to the 2DST sheet by RPCs without electrical contacts anywhere on the sheet. Resonance induced at the electrode reduces impedance between the connector and the conductive layer of the 2DST sheet, enabling sensor chips to be connected stably to the sheet. Experimental results on the RPC show the concept to be effective. We fabricated a 1-bit (touch detection) tactile sensor element consisting of a RFID-tag and RPCs, and confirmed in experiments that the sensor element operates in a stretchable 2DST sheet.
Examination of Practicability of Communication Robot-Assisted Activity Program for Elderly People
Authors: Kanoh Masayoshi ,   Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota 470-0393, Japan, Oida Yukio , Nomura Yu , Araki Atsushi , Konagaya Yoko , Ihara Kazushige , Shimizu Taro , Kimura Kenji ,   Obu Dementia Care and Training Center, 3-294 Hantsuki-cho, Obu, Aichi 474-0037, Japan,   Faculty of Medicine, Toho University, 5-21-16 Omori-Nishi, Ota-ku, Tokyo 143-8540, Japan,   Business Design Laboratory Co., Ltd, 18-1 Sakae 3-chome, Naka-ku, Nagoya, Aichi, Japan
Published: April 2016

We have developed a Robot Assisted Activity (RAA) program for recreational use in health care facilities for elderly people. The RAA program has been evaluated in such a facility to assess its usefulness. The program applies a standard classroom model, starting with homeroom and including lessons in the Japanese language, music, gymnastics, arithmetic, and other subjects. At the end of the program, there is a graduation ceremony. We use a video camera to record each scene. Each behavior and utterance of the participants is then analyzed. In addition, immediately upon completion of the RAA program, specialists conduct a Focus Group Interview (FGI) in which they collect comments, opinions, and requests from the participants. Ten elderly people participate in the program, two men and eight women (81.0±3.7 years old). All are residents at a health care facility in Aichi Prefecture, Japan. TheMMSE (MiniMental State Examination) score indicating the level of dementia is 24.1±3.0 points. Two participants are judged to be in a moderate stage of cognitive decline (21 points or less), six are in a mild stage (22-26 points), and the remaining two are normal. On the Geriatric Depression Scale (GDS), in which a score of 13.3±4.2 points indicates a state of depression, seven participants are judged to be depressive (11 points or more). The results of our study show that all participants have a favorable impression of the robot and nearly all have a positive opinion of the RAA program. This suggests that the program can be used for emotional and recreational therapy at health care facilities for the elderly. However, in spite of the overall success of the RAA program, we seldom observe interaction between participants and the robot.
Holding Device with a Chain Net and its Modeling
Authors: Noguchi Hitoshi ,   Port and Airport Research Institute, 3-1-1 Nagase, Yokosuka 239-0826, Japan, Omata Toru , Takayama Toshio ,   Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8502, Japan
Published: April 2016

A holding device with a chain net developed for automating and cutting labor in lifting has been used to remove wave-dissipating blocks and to recover hydrofoils from the seabed. It operates simply, but lifting safety must be rigorously checked, especially for heavy objects, so lifting models are highly desirable. We discuss modeling holding a four-leg block with the device, showing that its geometrical and static constraints are expressed as a set of nonlinear simultaneous equations having the same number of unknowns. From the solution to the simultaneous equations, the holding configuration and chain tension useful in determining whether the device can hold the block are obtained. Our proposal is also applicable to a four-leg block with a broken leg.
An Intelligent High-Frame-Rate Video Logging System for Abnormal Behavior Analysis
Authors: Yao-DongWang  ,   Robotics Laboratory, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan, Ishii Idaku , Takaki Takeshi , Tajima Kenji ,   Photron Limited, 1-1-8 Fujimi, Chiyoda-ku, Tokyo 102-0071, Japan
Published: April 2016

This paper introduces a high-speed vision system called IDP Express, which can execute real-time image processing and High-Frame-Rate (HFR) video recording simultaneously. In IDP Express, 512×512 pixel images from two camera heads and the processed results on a dedicated FPGA (Field Programmable Gate Array) board are transferred to standard PC memory at a rate of 1000 fps or more. Owing to the simultaneous HFR video processing and recording, IDP Express can be used as an intelligent video logging system for long-term high-speed phenomenon analysis. In this paper, a real-time abnormal behavior detection algorithm was implemented on IDP-Express to capture HFR videos of crucial moments of unpredictable abnormal behaviors in high-speed periodic motions. Several experiments were performed for a high-speed slider machine with repetitive operation at a frequency of 15 Hz and videos of the abnormal behaviors were automatically recorded to verify the effectiveness of our intelligent HFR video logging system.
A Prototype of ElectricWheelchair Controlled by Eye-Only for Paralyzed User
Authors: Arai Kohei ,   Saga University, 1 Honjo, Saga 840-8502, Japan, Mardiyanto Ronny ,   Institut Teknologi Sepuluh Nopember, Keputih, Sukolilo, Surabaya, Indonesia
Published: April 2016

The numbers of persons who are paralyzed dependent on others due to loss of self-mobility is growing as the population ages. We have developed a wheelchair prototype exclusively controlled by eye and able to be used different users while proving robust against vibration, illumination change, and user movement. The keys to this flexibility are the camera mounted on the user’s glasses and the use of pupil detection. Image processing analyzes the user’s gaze for wheelchair control. Result of pupil detection method compared to others showed that our method is superior. Also, result of camera placement compared to other systems regarding vibration influence showed that our camera placement reduces vibration almost completely. Moreover, influence of illumination change has been evaluated. Experiments involving five different users in the wheelchair along a 9.73-meter track recorded an average travel time of 85.8 second. Demonstrating the feasibility and reliability of our proposal providing computer input for paralyzed user is to use in controlling wheelchair.
Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces
Authors: Wada Nobutaka ,   Dept. of Mechanical and Aerospace Engineering, Tottori University, 4-101 Koyama-Minami, Tottori 680-8552, Japan, Takahashi Akihiro , Saeki Masami , Nishimura Masaharu ,   Dept. of Mechanical System Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
Published: April 2016

We have proposed a design method of an active front wheel steering controller that guarantees closed-loop stability under lateral tire force saturation. The controller uses lateral tire force information to counteract destabilization caused by such saturation. The controller suppresses slip angle magnitude while lateral tire force is saturated. Numerical simulation results confirmed the effectiveness of the proposed method.
A Force Measurement Device Using Optical Fiber for Surgical Tools - Basic Concept and Implementation -
Authors: Taniguchi Kazuhiro ,   School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kobayashi Etsuko , Joung Sanghyun , Ono Minoru , Motomura Noboru , Kyo Shunei , Takamoto Shinichi , Sakuma Ichiro ,   Department of Cardiothoracic Surgery, The University of Tokyo,   Department of Therapeutic Strategy for Heart Failure, The University of Tokyo,   Mitsui Memorial Hospital
Published: April 2016

The system proposed here measures compressive and tensile stress working longitudinally in an endoscopic surgical-assistant robot tool for the palpation of lung cancer. The force sensor is a safe, sanitary Fiber Bragg Grating (FBG) strain sensor. Such sensors are suitable for medical applications but have the disadvantage of force measurement being adversely affected by temperature. An FBG sensor on a workpiece is strained simultaneously with the workpiece to measure force based on the strain degree. A workpiece with a high Young’s modulus decrease strain, compromising sensor measurement resolution. Our proposal, discussed and evaluated in the sections that follow, solves these problems of temperature compensation and measurement resolution. The trial device we fabricated amplifies strain to enhance measurement resolution. We measured FBG sensor performance by applying compressive and tensile stress longitudinally on the trial device and determined, based on measurement results, that strain was amplified. We also confirmed that FBG sensormeasurement corresponded linearly to the compressive and tensile stress of 0-3 N. The trial device we fabricated filtered bending and torsional stress – excluding tensile and compressive stress – applied to the workpiece and confirmed device effectiveness in suppressing bending and torsional stress. Our trial device for temperature compensation solves the problems of the FBG sensor within a small, lightweight package.
Development of a New Type of Personal Vehicle for Rough-Terrain Applications
Authors: Ickowzcy Ewerton ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, I1-52, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Aoki Takeshi , Hirose Shigeo ,   Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan
Published: April 2016

This paper discusses the development of a new type of personal vehicle designed specially for rough-terrain applications. The selection of suitable shapes and mechanisms for such a vehicle is addressed; a threewheeled configuration which maintains the horizontal posture of the vehicle’s passenger in rough terrain is proposed, and different possibilities of implementation are investigated. Experiments with a full-scale prototype of the vehicle are presented.
Acquisition of a Gymnast-Like Robotic Giant-Swing Motion by Q-Learning and Improvement of the Repeatability
Authors: Hara Masayuki ,   Robotics Systems Laboratory (LSRO), Ecole Polytechnique Federale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland, Kawabe Naoto , Huang Jian , Yabuta Tetsuro ,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Dept. of Intelligent Mechanical Engineering, School of Engineering, Kinki University, 1 Takaya Umenobe, Higashi-Hiroshima City, Hiroshima 739-2116, Japan,   Dept. of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
Published: April 2016

This paper proposes an application of Q-learning to a compact humanoid robot, aiming at acquisition of a gymnastic swinging even through the Markov property may not be guaranteed in such dynamic motions. As for this, several studies have relied on information from the robotic models or multiple controllers, but very few studies have tried Q-learning of human-like swing motion without preliminary knowledge. We avoid this Markov property problem by embedding the dynamic information in a robotic state space and averaging action-value functions. In this study, Q-learning is executed with a dynamic simulator based on a real humanoid robot with 5 degrees of freedom (DOF) and we verify the learning effectiveness by actually applying the learning results to the real robot. The particularly significant point in our Q-learning is that preliminary information is eliminated as far as possible; only the reward and current robotic state are available. The key factor in robotic giant-swing motion is discussed by examining effects of various rewards on the robotic performance. In addition, we argue a method for improving the repeatability and duration until reaching giant-swing motion. Finally, this paper demonstrates an attractive robotic giant-swing motion generated by only the environmental interaction.
Simultaneous Dynamics-Based Visual Inspection Using Modal Parameter Estimation
Authors: Yang Hua ,   Robotics Laboratory, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan, Takaki Takeshi , Ishii Idaku
Published: April 2016

In this study, we introduce the concept of dynamicsbased visual inspection with High-Frame-Rate (HFR) video analysis as a novel non-destructive active sensing method for verifying dynamic properties of a vibrating object. The HFR video is used for determining the structural dynamic properties of an object, such as its resonant frequencies and mode shapes, which can be estimated as modal parameters by modal analysis only when the object is excited. By improving and implementing a fast output-only modal parameter estimation algorithm on a real-time 2000-fps vision platform, the modal parameters of an excited object are simultaneously estimated as its input-invariant dynamic properties for dynamics-based visual inspection evenwhen the objects undergo different excitation conditions. Our simultaneous 2000-fps visual inspection system can facilitate non-destructive and longterm monitoring of the structures of beam-shaped objects vibrating at dozens or hundreds of hertz, and it can detect small changes in the dynamic properties of these objects caused by internal defects such as fatigue cracks in real time, even when their static appearances are similar. To demonstrate the performance of the proposed 2000-fps simultaneous dynamics-based visual inspection approach, the resonant frequencies and mode shapes for beam-shaped cantilevers with different artificial cracks and weights, excited by human finger tapping, were estimated in real time.
Tsukuba Challenge 2009 - Towards Robots Working in the Real World: Records in 2009 -
Authors: Yuta Shin’ichi ,   University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 305-8573, Japan, Mizukawa Makoto , Hashimoto Hideki , Tashiro Hirofumi , Okubo Tsuyoshi ,   Shibaura Institute of Technology, Japan,   The University of Tokyo, Japan,   New Technology Foundation, Japan,   Tsukuba City Office, Japan
Published: April 2016

We organized the “Tsukuba Challenge 2009,” which took place November 20-21 in Tsukuba, Japan. The “Tsukuba Challenge” is a Real World Robot Challenge which aims at realizing practical intelligent robots that can work in the real environment of daily life. As the objective of the Tsukuba Challenge 2009, the robots were required to make their way, safely and autonomously, over 1 km down a pedestrian street and through a park in Tsukuba.
Hovering Control of Outdoor Blimp Robots Based on Path Following
Authors: Saiki Hitomu ,   Department of Mechanical Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan, Fukao Takanori , Urakubo Takateru , Kohno Takashi ,   Department of System Science, Kobe University, Japan,   Japan Aerospace Exploration Agency, Japan
Published: April 2016

After large-scale disasters, a surveillance system is required to gather information about the stricken area safely and quickly. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering of outdoor blimp robots under strong winds by a path-following approach. The method consists of inverse optimal path-following control in the horizontal plane and Proportional-Integral-Derivative (PID) control for altitude and pitching motion of the blimp in the longitudinal plane. Some simulations and experiments for a 12m class outdoor blimp are performed to confirm the usefulness of the proposed method.
Design Principle of High Power Joint Mechanism Possible to Walking and Jumping Imitating Locust Leg Structure
Authors: Nishida Yuya ,   Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0196, Japan, Sonoda Takashi , Ishii Kazuo ,   Fukuoka Industry, Science & Technology Foundation, 1-1 Hibikino, Wakamatsu, Kitakyushu, Fukuoka 808-0135, Japan
Published: April 2016

Many insects can jump several times their own body length. Locusts with their powerful hind legs can for example jump up to five times as high - 250 mm. We propose a high-power joint mechanism mimicking the locust leg structure in walking and jumping. The mechanism can produce power higher than motors mounted in the joint mechanism and separate walking and jumping using two motors. We also report the joint mechanism design principles.
Response Evaluation of Rollover Recognition in Myoelectric Controlled Orthosis Using Pneumatic Rubber Muscle for Cancer Bone Metastasis Patient
Authors: Ando Takeshi ,   Faculty of Science and Engineering, Waseda University, 59-309, 3-4-1 Ohkubo, Shinjuku-ku, Tokyo 169-8555, Japan, Okamoto Jun , Takahashi Mitsuru , Fujie Masakatsu G. ,   Dept. of Robotics & Design for Innovative Healthcare (Panasonic), Graduate School of Medicine, Osaka University, 1-7 Ymada-oka, Suita, Osaka 565-0871, Japan,   Institute of Advanced Biomedical Engineering & Science, Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan,   Division of Orthopaedic Oncology, Shizuoka Cancer Center, Naga-izumi, Shizuoka 411-8777, Japan
Published: April 2016

The myoelectric controlled rollover support orthosis we have been developing for use in bone cancer metastasis requires high accuracy and quick response in signal processing to recognize movement. We quantitatively evaluated the response performance of recognizing rollover using our original Micro Macro Neural Network (MMNN) algorithm. Required response time was calculated as 60 ms by measuring contraction time for the muscle used in the orthosis to support rollover. TheMMNN recognized rollover 65 ms before it started. Rollover was recognized 5 ms after a myoelectric signal was generated, so the MMNN response was sufficient for the muscle to finish contraction before rollover started.
Development of Flowering Stage Inspection Equipment for Small-Flowered Chrysanthemum
Authors: Fukumoto Yasuhiko ,   Kagawa Prefectural Industrial Technology Center, Hamada Toshihiro , Suyama Jun , Yamamoto Akira , Naka Terufumi ,   Minoru Industrial Co., Ltd.,   Nara Prefectural Agricultural Experiment Station
Published: April 2016

Small chrysanthemums are a major type of cut flower used in Japan for which we are developing flowering stage inspection equipment. This equipment has a camera and a flower carrier. When a flower is input to equipment, the equipment captures the flower image from the zenith, recognizes the flower and leaf parts in the image, determines whether it is appropriate for shipping, and drops it into the appropriate output area. Considering usability, equipment is designed to be attached to the weight grading equipment widely used by growers of small chrysanthemums. In this paper, we introduce this equipment and the results of evaluation experiments.
Study on a Practical Robotic Follower to Support Daily Life - Mobile Robot Development for Home Oxygen Therapy Patients with the “Hyper Tether” -
Authors: Iribe Masatsugu ,   Osaka Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka 572-8530, Japan, Matsuda Hideaki , Aizawa Hiroyuki , Endo Gen , Takubo Toshio ,   Tokyo Institute of Technology, I1-60, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan,   Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan
Published: April 2016

In this paper, we propose a practical robotic follower adopting the hyper-tether concept to support the daily lives of the patients undergoing home-oxygen therapy. For this, we developed a prototype for user testing and verified its effectiveness in an evaluation conducted in a real environment.
On-Chip Particle Sorting into Multiple Channels by Magnetically Driven Microtools
Authors: Hagiwara Masaya ,   Department of Mechanical Science & Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Niimi Miyako , Kawahara Tomohiro , Yamanishi Yoko , Nakanishi Hayao , Arai Fumihito ,   JST PRESTO, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan,   Aichi Cancer Center Research Institute, Chikusa-ku, Nagoya, Aichi 464-8682, Japan
Published: April 2016

This paper presents a new type of sorting system by magnetic microtools (MMT) separating particles into multiple channels. Two nickel-based MMTs are activated by commercially available permanent magnets below the biochip to lead particles to certain channels via fluid force. The horizontally assembled permanent magnet drive we developed shows that the MMT positioning accuracy had been improved 5 times in 2 degrees of freedom. The channel and the MMT shape are determined based on FEM analysis to ensure that particles flow smoothly. We have successfully achieved to sort 100 µm diameter microbeads into 7 branched channels. The noncontact drive and disposable chip provide a less invasive environment for the cell with low cost.
Biplane US-Guided Real-Time Volumetric Target Pose Estimation Method for Theragnostic HIFU System
Authors: Seo Joonho ,   Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Koizumi Norihiro , Funamoto Takakazu , Sugita Naohiko , Yoshinaka Kiyoshi , Nomiya Akira , Homma Yukio , Matsumoto Yoichiro , Mitsuishi Mamoru ,   Graduate School of Medicine, The University of Tokyo, Hongo, Tokyo, Japan
Published: April 2016

This paper presents a real-time pose estimation method as a part of robotic HIFU treatment system for moving volumetric targets. For the acquired biplane US images, current pose of the preoperative model is calculated by iterative segmentation and registration. Seed contours for the segmentation in each iteration is provided by previously registered preoperative 3-D model. The segmented boundary points then update the pose of 3-D model. The boundary outlier-removal makes the algorithm robust against partially noisy boundaries as well as the spatial boundary points accelerates the algorithm to be calculated in real-time. By the phantom experiments, registration accuracy for a biplane US image data was evaluated, and the processing time was also investigated.
Heart Rate and Respiratory Rate Measurement Using Body-Sound
Authors: Miwa Hiroyasu ,   Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST), AIST Waterfront 3F, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan
Published: April 2016

Daily stress management is essential for preventing mental illness. We have therefore been developing physiological signal sensors for measurement of multiple stress markers. The present study focused on “body-sound,” i.e., sound generated inside the human body, which included high amounts of information on physical condition. The prototype body-sound sensor we developed consisted of stethoscopes, amplifier microphones, an A/D converter and a PC. We measured body-sound in the neck and trunk. Then, we selected heart rate and respiratory rate as common stress markers. By comparing body-sound at different measurement positions, we developed new sensing system simultaneously measuring heart and respiratory rate with a body-sound sensor at the neck. Finally, we evaluated proposal performance by comparing body-sound and the electrocardiogram and respiratory waveform, confirming that our proposal could measure both heart and respiratory rate.
Passive Edge Tracing of Deformable Object by Robot
Authors: Sahari Khairul Salleh Mohamed ,   Department of Mechanical Engineering, Universiti Tenaga Nasional, Jalan Ikram-Uniten, 43000 Kajang, Selangor, Malaysia, Seki Hiroaki , Kamiya Yoshitsugu , Hikizu Masatoshi ,   School of Mechanical Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan
Published: April 2016

Usage of active tracing method to find a second corner has been proven to be efficient in finding a second corner next to the first found corner. Passive tracing is a method where the tracing gripper is static while another gripper holding the first corner maneuvers according to the feedback from sensors inside the static gripper so that it pulls the clothes appropriately for the static gripper, with adequate force control, to trace the edge of the clothes. Vision sensor is used from time to time to check whether the static gripper has reached the second corner or not.
Flexible Discovery of Components for Sensor Data Processing by RDF in Network Middleware for Home Environment
Authors: Noguchi Hiroshi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Mori Taketoshi , Sato Tomomasa
Published: April 2016

This paper discusses the discovery mechanism of program components based on knowledge descriptions of home sensors in network middleware. Descriptions are written in Resource Description Framework (RDF). RDF descriptions are easily appended to new information and connected to other knowledge. Developers and programs search appropriate program components based on knowledge such as sensor properties in the middleware. We prepared knowledge on sensor-embedded objects and constructed program components for an occupant’s location estimation and a context-aware application. Experiments show the feasibility of flexible discovery for heterogeneous program components using RDF-based description.
Design and Implementation of Basic Framework for Integration of Robot Technology Elements in Intelligent Space
Authors: Sasaki Takeshi ,   Department of Engineering and Design, College of Engineering and Design, Shibaura Institute of Technology, 3-9-14 Shibaura, Minato-ku, Tokyo 108-8548, Japan, Toshima Yoshihisa , Hashimoto Hideki ,   Solutions Product Development Center, Daikin Industries, Ltd., 1000-2 Okamoto-cho, Kusatsu-shi, Shiga 525-8526, Japan,   Department of Electrical, Electronic, and Communication Engineering, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
Published: April 2016

This paper considers design and implementation of intelligent Space (iSpace) which is a space with many distributed sensors and actuators. iSpace system should have flexibility and scalability so that we can easily change the configuration of embedded devices and switch applications based on the situation. To realize such a system, iSpace framework requirements are discussed and a layered structure which consists of four layers – the sensor node, basic information server, application and actuator layers – is proposed. The structure makes it possible to fuse information extracted by each sensor node effectively and provides system flexibility and scalability. A componentbased iSpace implementation is also addressed. The designed framework is implemented using RT (Robot Technology) middleware.
Stable Soft-Tissue Fracture Simulation for Surgery Simulator
Authors: Nakayama Masano ,   Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, Abiko Satoko , Jiang Xin , Konno Atsushi , Uchiyama Masaru ,   Department of Mechanical Systems and Design, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan
Published: April 2016

Soft-tissue fracture simulation is a key to surgery simulation virtually reproducing cutting, dissection, and removal. Soft-tissue fracture is modeled by finite element fracture in which elements are removed if their stress exceeds a specified fracture stress. Removing elements without considering connection to adjacent elements may produce structurally unstable elements, that cause computational instability. We propose geometric limitation and element fracture method to avoid this instability. We confirmed the feasibility of our proposals by comparing blunt dissection simulation results to blunt dissection experiment results using agar.
Development of Educational Robotics Instruction Kit for Embodying Creativity: “f-palette” Educational Microcomputer Kit with Extension Methodsand Full JTAG Function
Authors: Okumura Yu ,   Future Robotics Technology Center (fuRo), 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Toda Kengo , Tomiyama Ken , Furuta Takayuki ,   Chiba Institute of Technology (C.I.T.), 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
Published: April 2016

We present the features of a 32-bit educational microcomputer kit f-palette with an extension module intended for educational material that “does not constrain students’ creativity.” We actually used the educational material at the Department of Advanced Robotics, Chiba Institute of Technology, as a verification test. We give outlines, results, and discussions on the “robot experience practice” from the first semester, 2010.
Application of an Intelligent Table-Top Vacuum Robot Cleaner in Mechatronics System Design Education
Authors: Chin Cheng S. ,   School of Marine Science and Technology, University of Newcastle upon Tyne, Armstrong Building, Newcastle upon Tyne, NE1 7RU, United Kingdom, Yue Keng M. ,   School of Engineering, Mechatronics Division, Temasek Polytechnic, 21 Tampines Ave 1, Singapore 529757, Singapore
Published: April 2016

Robotics is a rapidly emerging field of engineering and many institutions of higher learning in engineering now offer majors in mechatronics. This article explores the use of an intelligent vacuum robot cleaner for mechatronics education, with a focus on the problem-based learning approach. The current structures in mechatronics education can in some cases prevent students fromunderstanding the mechatronics and also the methodology in designing it. This inevitably demotivates students from traversing pathways towards postgraduate research. As shown in the results from the confidence log and questionnaires, the problem-based learning approach improve the students’ results and interest in the mechatronics. It was also found that the activities were quite appreciated by the students.
Development of Hands-on Educational Tool for Control Based on ARCS Model and Emotions
Authors: Tasaki Takao ,   Utsunomiya Technical High School, 52 Suzumenomiya, Utsunomiya, Tochigi 321-0198, Japan, Watanabe Shinichi , Shikanai Yoshihito , Ozaki Koichi ,   Graduate School of Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi 321-8585, Japan,   Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Fukuroi, Shizuoka, 437-8555, Japan
Published: April 2016

In this study, we have developed teaching material for helping technical high-school students understand control techniques. Students understand control techniques through the emotion obtained from the experience of riding a robot. We have considered the correspondence of the teaching material with the ARCS Model. Therefore, the material is aimed at improving student’s interest and willingness to learn mechatronics and control techniques by experience the difference of the response by the change in the control parameters. By performing an experiment, we have verified the educative effect of the teachingmaterial, which can improve the willingness of students to learn and their interest in mechatronics and control techniques.
The Introduction Case and Effect of “Robot Design” for Object Lesson of Mechanical Engineer
Authors: Aoyama Hajime ,   Fuji Heavy Industries Ltd., 1-1-11 Yonan, Utsunomiya, Tochigi 320-8564, Japan, Yokota Kazutaka , Ishikawa Kazuyoshi , Ishimura Saori , Seki Junya , Adachi Yoshinori , Satsumi Yuichi , Takahashi Asami , Ishimaru Yoji , Imai Nobushige , Okamura Yoshinao , Nishihara Itsuo , KojiArai  ,   Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi 321-8585, Japan,   RBI Corporation, 3077-24 Higashiminemachi, Utsunomiya, Tochigi 321-0944, Japan
Published: April 2016

The situation that a present industrial world surrounds has changed intensely. However, (1) grounding that is a necessary nature for the engineer of the enterprise, (2) problem discovery ability, a problemsolving ability, (3) communications skills, young man engineer’s skills, and (4)member of society basic skills, etc. are fragile. Then, we began the project to work on the reform of the undergraduate education to teach the student the nature requested by the engineer of the enterprise in the H20 fiscal year in cooperation with the enterprise in the machine of Mechanical System Engineering Department, Faculty of Engineering at Utsunomiya University. In this text, the project is introduced.
Educational Activities with a Focus on Robot Strategies – Through the Development of LEGO Manipulation Robots –
Authors: Fukui Rui ,   7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Department of Mechano-Informatics, The University of Tokyo, Sato Tomomasa
Published: April 2016

This paper reports a robotics educational trial for 3rd grade undergraduate students in Intelligent Cooperative Systems Laboratory at The University of Tokyo. In the trial, we discussed with the students about strategies to realize automatic domino aligning or transferring robots comparing with existing manipulation robots. The students produced prototype robots to confirm the validity of their strategies. These processes prompted the students to understand the importance of adopting the best strategy to realize this target mission with the least effort.
Hands-on Education of Robotics Department for Four Years of College
Authors: Hayashibara Yasuo ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan, Nakajima Shuro , Tomiyama Ken , Yoneda Kan
Published: April 2016

In this paper, we introduce engineering education at the Department of Advanced Robotics, Chiba Institute of Technology. At the department, we try to teach useful knowledge and provide laboratory work leading to useful experience. One purpose of the curriculum is to enable students to design a system with a mechanism, control circuit, and computer programming. We then provide many lectures related to system design – control engineering, mechanics, mechanical dynamics, electronic circuits, information engineering, mechanical drawing, and so on – and provide laboratory work on related theory in the lectures. Laboratory work helps students understand abstract theories that are difficult to understand based on desk study alone. This laboratorywork continues fromthe first to fourth years. In addition, we provide many project studies. Some students try to develop their own systems through extracurricular studies. Through the project, students obtain much knowledge and experience. After introducing our curriculum, we discuss the results of this curriculum.
Hands-on Robotics Instruction Program for Beginners
Authors: Toda Kengo ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Okumura Yu , Tomiyama Ken , Furuta Takayuki
Published: April 2016

A robotics instruction program is implemented for beginners to understand outlines of robotics. The aim of this program is to give students an outline of “what a robot is” together with its relations with various areas concerned and facilitate each student to produce their own robots and learn its process. This paper introduces lecture contents of “Robot Hands-On Exercise” conducted on freshmen of the Department of Advanced Robotics at Chiba Institute of Technology. This paper also includes visiting lectures with reorganized contents for a crash course provided as a part of Super Science High Schools (SSH) and Science Partnership Project (SPP), which are learning support projects by Japan Science and Technology Agency. We will summarize the findings based on questionnaire survey results and interactions with the students through those lectures.
Joint Education Program Between Technical High School and University for Technical High School Student ThroughDeveloping Robots
Authors: Shimanuki Ryohei ,   The Department of Electricity, Chiba Technical High School, 1478 Imai-cho, Chuo-ku, Chiba-shi, Chiba 260-0815, Japan, Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
Published: April 2016

This report details, in terms of the management and course content, joint projects between technical high schools in Chiba Prefecture, Japan, and a university. The projects were courses that intended to improve, through a wide range of manufacturing activities involving the development of robots, the manufacturing abilities and basic skills as working people of technical high school students. In 2009 and 2010, various high schools and a university ran courses in cooperation, and through questionnaire surveys we discovered the significance of the use of robots as an educational subject of study and learned useful points regarding the course content.
EMARO: A European Contribution in Shaping the Future World Roboticists
Authors: Khalil Wisama ,   Ecole Centrale de Nantes, Robotics team, Institut de Recherche en Communication et Cybernétiques de Nantes (IRCCyN), 1 rue de la Noë, Nantes 44321, France, Molfino Rezia Maria , Resaz Valentina ,   PMAR-Robotics Laboratory, University of Genova, Via Opera Pia 15 A, Genova 16145, Italy,   Department of Computer, Communication, and Systems Sciences (DIST), University of Genova, Via Opera Pia 13, Genova 16145, Italy
Published: April 2016

In this report we present the European Master in Advanced Robotics (EMARO) Master’s Course. This course has been developed and accepted in the Erasmus Mundus European program framework. This program [1] is a cooperation and mobility program of the European Union in the field of higher education which promotes the European Union as a centre of excellence in learning worldwide. It aims at enhancing the quality in European higher education and at promoting intercultural understanding through cooperation with non European countries. The Erasmus Mundus programprovides a response to the challenges of globalisation faced by European higher education today, in particular the need to adapt education systems to the demands of the knowledge society and to enhance the attractiveness and visibility of European higher education worldwide. The Erasmus Mundus program supports high-quality European Master’s Courses by providing very attractive grants for students having excellent academic results from around the world to engage in graduate study at EMARO institutions. It also provides scholarships to scholars for conduct teaching and research assignments and scholarly work related to masters’ topics at partner institutions.
Robot Assisted Instruction in Elementary School Based on Robot Theater
Authors: Yorita Akihiro ,   Tokyo Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan, Kubota Naoyuki
Published: April 2016

As the younger generation in Japan moves away from the sciences, the decreasing of scientific literacy is a concern, and the decreasing of communication skills is also a concern in the development of the information society. To enhance interest in science and technology, we gave classes using robots. Robot edutainment usually means a class in which students make robots, but we intended to improve communication skills by proposing a theater that uses robots. As a result, the proposed method showed an improvement in communication skills and in interest in science and technology.
Cooperation Between a High-Power Robot and a Human by Functional Safety
Authors: Morioka Masahiro ,   FANUC CORPORATION, Oshino-mura, Yamanashi 401-0597, Japan, Adachi Satoshi , Sakakibara Shinsuke , Tan Jeffrey Too Chuan , Kato Ryu , Arai Tamio ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan
Published: April 2016

In industrialized countries, high wages, a declining number of skilled workers, and other issues, have led to a need for the establishment of new highefficiency and high-reliability production systems capable of maintaining high international competitiveness. This particular issue could be addressed with a form of human-robot cooperative production (in which the robot provides supplementary support so that the human operator can devote him- or herself to highly difficult, high-value-added work), which requires the establishment of technologies for ensuring human safety. In this research, the authors propose the application of functional safety that is realized by combining position, speed, and force monitoring, and the authors have realized cooperation between a human operator and an inherently high-speed, highpower robot, as well as cooperative work implemented by a human operator while touching an automatically operated robot.
Development of Production Robot System that can Assemble Products with Cable and Connector
Authors: Haraguchi Rintaro ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-Honnmachi Amagasaki, Hyogo 661-8661, Japan, Domae Yukiyasu , Shiratsuchi Koji , Kitaaki Yasuo , Okuda Haruhisa , Noda Akio , Sumi Kazuhiko , Matsuno Takayuki , Kaneko Shun’ichi , Fukuda Toshio ,   Aoyama Gakuin University, Japan,   Toyama Prefectural University, Japan,   Hokkaido University, Japan,   Nagoya University, Japan
Published: April 2016

To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and task-level programming for quick system start-up. We assembled FA control equipment to verify the feasibility of our developments.
Development of Whole-Body Emotional Expression Humanoid Robot for ADL-Assistive RT Services
Authors: Endo Nobutsuna ,   Graduate School of Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan, Takanishi Atsuo ,   Faculty of Science and Engineering, Waseda University, Japan,   Humanoid Robotics Institute, Waseda University, Japan
Published: April 2016

Personal robots and Robot Technology (RT)-based assistive devices are expected to play a substantial role in our society largely populated by the elderly; they will play an active role in joint works and community life with humans. In particular, these robots are expected to play an important role in the assistance of the elderly and disabled people during normal Activities of Daily Living (ADLs). To achieve this result, personal robots should better be capable of making emotional expressions like human. In this perspective we developed a whole body bipedal humanoid robot named KOBIAN that is capable of expressing humanlike emotions. In this paper we present the development and evaluations of KOBIAN.