bluuebunny/crossref_metadata_2025 huggingface dataset:
Remote Ultrasound Diagnostic System (RUDS)
Authors: Koizumi Norihiro ,   School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Tsurumi Takehiko , Kato Takahiro , Warisawa Shin’ichi , Nagoshi Mitsuru , Hashizume Hiroyuki , Mitsuishi Mamoru ,   Nagoshi Orthopaedics, 229-2 Niwase, Okayama, Okayama 701-153, Japan,   Kasaoka Daiichi Hospital, 1945 Yokoshima, Kasaoka, Okayama 714-0043, Japan
Published: April 2016

Remote Ultrasound Diagnostic System
 Ultrasound diagnosis is generally employed for its high level of safety and ease of use. The remote medical system for ultrasound medical diagnostics (RUDS) we developed enables medical doctors to send and receive information such as diagnostic images, providing essentially the same level of medical diagnostic services as conventional diagnostic systems at remote locations. 
Technology of Unmanned Construction System in Japan
Authors: Chayama Kazuhiro ,   Kokankyo Engineering Corporation, 4-30-3 Sendagaya, Sibuya, Tokyo 151-0015, Japan, Fujioka Akira , Kawashima Kenji , Yamamoto Hiroshi , Nitta Yasushi , Ueki Chikao , Yamashita Atsushi , Asama Hajime ,   Civil Engineering Technology Department, Construction Division, Fujita Corporation, 4-25-2 Sendagaya, Sibuya, Tokyo 151-8570, Japan,   Tokyo Medical and Dental University, 2-3-10 Kanda-Surugadai, Chiyoda, Tokyo 101-0062, Japan,   Kanto Technology Development Office, Ministry of Land, Infrastructure, Transport and Tourism (MLIT), 6-12-1 Gokou-Nishi, Matsudo, Chiba 270-2218, Japan,   Matsue National Highway office, Ministry of Land, Infrastructure, Transport and Tourism (MLIT), 2-6-28 Nishitsuda, Matsue, Shimane 690-0017, Japan,   Tokyo Architectural Construction Branch, Kajima Corporation, 2-14-27 Akasaka, Minato, Tokyo 107-0052, Japan,   Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113-8656, Japan
Published: April 2016

Bird's-eye view system
 This paper describes the application of Japan’s most advanced unmanned construction technologies to disaster recovery operations. These technologies were originally R&D focused, but have continued to become increasingly sophisticated with invaluable realworld applications. This paper focuses on robotic and autonomous operations and ultra long-distance remote control. We detail unmanned construction equipment and systems operating in radiationcontaminated environments and examine the effectiveness of monitoring-image technology in improving the operational safety of construction machinery. Finally, future directions and prospects are described. 
Utilization of Robot Technology for Earthquake, Storm, and Flood Problems in the Tokai Region
Authors: Okugawa Masayuki ,   Department of Mechanical Engineering, Faculty of Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yakusa-cho, Toyota-shi, Aichi 470-0392, Japan
Published: April 2016

Evacuation support system
 This paper reports on the characteristics of disaster problems in the Tokai region of Japan, especially the Aichi Mikawa and the port of Nagoya industrial waterfront areas. The problems experienced in the mountains, the river basin, and the crowded manufacturing industry area on the seaside and inland are discussed. This paper proposes solutions utilizing robot technologies for each of the problems faced in disasters. 
Small Search Robot Consisting of Plural Driving Wheels Connected by Flexible Shafts
Authors: Hayashi Ryota ,   Graduate School of Science and Engineering, Kagoshima University, 1-21-40 Korimoto, Kagoshima 890-0065, Japan, Nicho Kenta , Yu Yong , Kinugasa Tetsuya , Amano Hisanori ,   Department of Mechanical Systems Engineering, Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan,   National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-Machi, Chofu, Tokyo 182-0012, Japan
Published: April 2016

Search robot driven by flexible shafts
 The small mobile search robot we proposed in a previous study is driven by a pair of flexible shafts and is used effectively for searching rubble to find victims, e.g., of an earthquake. The robot weighs relatively little because it does not have any power unit on it. It may be kept from moving forward, however, if the flexible shafts catch on obstacles. We propose a new small search robot consisting of plural driving wheels connected by flexible shafts. This robot drags the flexible shafts along the ground easily using driving wheels. We designed the robot to connect its driving wheels using a pair of flexible shafts. We consider a differential gear suitable for the drive transmission and confirm the robot’s propulsion and turning in experiments. 
Development of the Stretcher with the Vibration Isolator Using Nonlinear-Structure
Authors: Iwano Yuki ,   Akashi National College of Technology, 679-3 Nishioka, Uozumi-cyo, Akashi, Hyogo 674-8501, Japan, Horai Satoru , Osuka Koichi , Amano Hisanori ,   Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan,   National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-Machi, Chofu, Tokyo 182-0012, Japan
Published: April 2016

Nonlinear-structure stretcher
 During ambulance or stretcher transport, subjects experience vibration causing discomfort or pain. Measures must thus be taken against such vibration. The purpose of this study was to develop stretchers that minimize vibration during transport. This study first details vibration size, direction, and frequency through vibration measurement experiment, resulting in a nonlinear stretcher using a vibration isolator. Stretcher performance was then evaluated and confirmed RMS and acceleration PSD. 
Impedance Control of Two d.o.f. CPM Device for Elbow Joint
Authors: Matsunaga Nobutomo ,   Department of Computer Science and Electrical Engineering, Kumamoto University, 2-39-1 Kurokami, Cyuou-ku, Kumamoto 860-8555, Japan, Miyaguchi Shota , Okajima Hiroshi , Kawaji Shigeyasu
Published: April 2016

Two d.o.f. CPM device
 Continuous passive motion (CPM) involves orthopedic or post-surgery physiotherapy. Following surgery to correct ulna collateral ligament (UCL) injury in the elbow, for example, excessively extending the UCL aggravates the injury and reaction force of the arm increases excessively near the end of the range of motion (ROM). Controlling pro/supination, i.e., rotarymotion of the wrist, effectively suppresses reaction force, but may extend the UCL excessively. We propose a 2 d.o.f. (degrees of freedom) impedance controller as a CPM device for the elbow to suppress reaction force based on the musculoskeletal system. 
Autonomous Underwater Vehicle “Tuna-Sand” for Image Observation of the Seafloor at a Low Altitude
Authors: Nishida Yuya ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo, Japan, Ura Tamaki , Nakatani Takeshi , Sakamaki Takashi , Kojima Junichi , Itoh Yuzuru , Kim Kangsoo ,   Kyushu Institute of Technology, 2-4 Hibikino, Wakmatsu, Kitakyushu, Fukuoka, Japan,   Japan Agency for Marine-Earth Science and Technology, 2-15 Natsushima, Yokosuka, Kanagawa, Japan,   KDDI R&D Laboratories, 2-1-15 Ohara, Fujimino, Saitama, Japan,   Ocean Engineering Research, Inc., 503 Koshin Building, 1-28-3 Takadanobaba, Shinjuku, Tokyo, Japan,   National Maritime Research Institute, 6-38-1 Shinkawa, Mitaka, Tokyo, Japan
Published: April 2016

AUV Tuna-Sand
 An autonomous underwater vehicle Tuna-Sand operating at a depth of 1,500 m to investigate benthic organisms was developed to observe detailed images of the seafloor. Once submerged, vehicle Tuna-Sand navigates several meters altitude above the seafloor with complex terrain using only onboard sensors and taking 2,000 high-resolution images of the seafloor before returning to the surface. Since its launch in March 2007, vehicle Tuna-Sand has performed underwater research 81 times in Japan’s exclusive economic zone, e.g., Kagoshima Bay, the Myojinsho caldera, and the Kuroshima knoll as of March 2014. Survey on the Joetsu knoll in the waters off of Niigata in July 2010 clarified the presence of live red snow crabs – a confirmation highly appreciated by fisheries researchers. An image-based photomosaic showed that 3,341 red snow crabs lived on the Joetsu knoll within an area of 800 m2. The authors are planning to survey the biomass of Kichiji rockfish in the Kitami-Yamato sea bank. 
Current State of the Art of Multi-Axis Control Machine Tools and CAM System
Authors: Takeuchi Yoshimi ,   Chubu University, 1200 Matsumoto-cho, Kasugai, Aichi 487-8501, Japan
Published: April 2016

Asymmetric curved grooving
 Multi-axis numerical control (NC) machine tools such as 5-axis control machining centers and 5-axis control multi-tasking machines are widely used in machine shops. NC data, which are prepared using computeraided manufacturing (CAM) systems, are used with multi-axis control NC machine tools that have a variety of advantages. This article describes the advantages ofmulti-axis control machining. The structure of CAM systems used for multi-axis control machining and the important role of collision avoidance in generating cutter location (CL) data are then explained. The transformation of CL data to NC data for use in machining, which is performed by a post-processor, is presented. Finally, an efficient machining method and unique shape creation via 6-axis control machining are explained. 
Development of Robotic Unicycles
Authors: Suzuki Hisanobu ,   Olympus Imaging Corp., 2951 Ishikawa-machi, Hachioji, Tokyo 192-8507, Japan, Moromugi Shunji , Okura Takeshi ,   Department of Electrical, Electronic, and Communication Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan,   Mitsubishi Electric Corporation, 1-3-6 Higashikawasaki-cho, Chuo-ku, Kobe, Hyogo 650-0044, Japan
Published: April 2016

Robotic Unicycle in stable driving
 This paper introduces the first successful development of a robotic unicycle imitating a human rider. The robot consists of a body supported on a single wheel, a closed linkage on each side of the body to drive the wheel, and a rotor on the top. The effects of the closed link, gyro effect, centrifugal force, and reaction torque of the rotor on the robot’s stability and direction were investigated in simulations and experiments. Stability and drive principles of the robotic unicycle were proposed. The unicycle accelerated or decelerated because of the location of the compound center of gravity. Direction control was proposed based on the proposed acceleration control rule and a specified yaw angular velocity. Using that rule, drive simulations of tracing a circle and a “number 8” were conducted. The computer simulations demonstrated stable driving of the robotic unicycle. The experimental evaluation, velocity, and direction control of the robot were also studied. The principles of postural stability and driving of the robotic unicycle were clarified. 
Network-Wide Optimization of Traffic Signals Using Mixed Integer Programming
Authors: Kamal Md. Abdus Samad ,   Japan Science and Technology Agency and Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Imura Jun-ichi , Hayakawa Tomohisa , Ohata Akira , Aihara Kazuyuki ,   Department of Mechanical and Environmental informatics, Tokyo Institute of Technology, 2-12-1-W8-1 Ookayam, Meguro-ku, Tokyo 152-8552, Japan,   Toyota Motors Corporation, Sizuoka 410-1107, Japan,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan
Published: April 2016

Network with four intersections
 In this paper a network-wide traffic signal control scheme in a model predictive control framework using mixed integer programming is presented. A concise model of traffic is proposed to describe a signalized road network considering conservation of traffic. In the model, the traffic of two sections that belong to a traffic signal group of a junction are represented by a single continuous variable. Therefore, the number of variables required to describe traffic in the network becomes half compared with the models that describe section wise traffic flows. The traffic signal at the junction is represented by a binary variable to express a signal state either green or red. The proposed model is transformed into a mixed logical dynamical system to describe the traffic flows in a finite horizon, and traffic signals are optimized using mixed integer linear programming (MILP) for a given performance index. The scheme simultaneously optimizes all traffic signals in a network in the context of model predictive control by successively extending or terminating a green or red signal of each junction. Consequently, traffic signal patterns with the optimal free parameters, i.e., the cycle times, the split times and the offsets, are realized. Use of the proposed concise traffic model significantly reduces the computation time of the scheme without compromising the performance as it is evaluated on a small road network and compared with a previously proposed scheme. 
Understanding of Falling Cat Phenomenon and Realization by Robot
Authors: Kawamura Takashi ,   Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan
Published: April 2016

Cat-turn by cat and robotic cat
 The movement of live cat righting itself in midair, is investigated analytically and experimentally. The objective of the author is to develop a robot that lands upright on its feet like a cat. Interestingly, explanations in physics and dynamics textbooks that dealing with feline the self-righting remain contradictory and ambiguous. This is analyzed based on the law of conservation of angular momentum using a cat model. A robotic cat was then developed to turn in mid air. The robot righted itself completely after performing a 180° turn in the air. 
Human Detecting and Following Mobile Robot Using a Laser Range Sensor
Authors: Cai Jianzhao ,   South China University of Technology, Wushan RD., Tianhe District, Guangzhou 510641, China, Matsumaru Takafumi ,   Graduate School of Information, Production and Systems, Waseda University, 2-7 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0135, Japan
Published: April 2016

Human Detecting and Following
 To meet the higher requirements of human-machine interface technology, a robot with human-following capability, a classic but significant problem, is discussed in this paper. We first propose a human detection method that uses only a single laser range scanner to detect the waist of the target person. Second, owing to the limited speed of a robot and the potential risk of obstructions, a new human-following algorithm is proposed. The speed and acceleration of a robot are adaptive to the human-walking speed and the distance between the human and robot. Finally, the performance of the proposed control system is successfully verified through a set of experimental results obtained using a two-wheelmobile robot working in a real environment under different scenarios. 
Design and Control of a Human-Operated Biped Robot for Transportation of Objects
Authors: Uchiyama Naoki ,   Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan, Kurita Dai , Sano Shigenori
Published: April 2016

Human-operated biped robot
 Object transportation is a basic task for which mechanical systems provide support. Examples of the many types of mobile devices developed thus far are handcarts, unmanned autonomous vehicles, forklifts and turret trucks. Most such vehicles are based on wheeled mobile mechanisms, which would be difficult to use for moving objects in areas with high steps. A walking mobile mechanism, in contrast, enables steps to be ascended and descended, so it is expected that walking mechanisms could support object transportation in environments with stairs or steps. In this paper, we present a biped robot that supports object transportation involving stairs instead of human operators doing so. We start with the design of a biped robot with four actuators for one each for the hips and knees of each leg. Dynamics of the biped robot is then derived for simulation in which force applied by a human operator and a reaction from the ground are considered. A controller is presented for transporting objects up stairs having an unknown step height. Experimental results and photos confirm that the developed system successfully climbs the stairs of unknown height during human operation. 
Control Method for Power Assisted Cart Using Walking Effect Prediction Aimed at Improvement of Load Reduction Ratio
Authors: Kobayashi Norihiro ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan, Tanaka Takayuki
Published: April 2016

Proposed LRRC concept
 In previous work, we proposed controlling powerassisted carts by using a motor torque limiter that achieves the desired load-reduction ratio even if torque saturates. We assumed, however, that the operator accelerates smoothly up to the target speed, so that when velocity is affected largely by the input force of walking, prediction error becomes large and the target load reduction ratio was not achieved. To solve this problem, we propose an improving the achievement rate of the target load reduction ratio in two steps, first, by predicting the number of steps toward target speed from initial input and, second, by switching the prediction model. We use cart input force and speed to predict operator acceleration patterns. Our proposal predicts operator needs and delivers the desired loadreduction ratio by predicting operation. Results show that the achievement rate of the target load-reduction ratio is improved by using our proposed control. In other words, applying our proposal improves the short available time of power-assisted carts. 
New Urea-SCR Control System for Super Clean Diesel
Authors: Haga Hisao ,   Honda R&D Co., Ltd., Hashimoto Eiji , Nakajima Koichi , Matsunaga Hideki , Yasui Yuji
Published: April 2016

Urea-SCR control system
 Diesel engines effectively reduce automotive CO2emissions. Technologies for reducing NOxemissions are also essential, however, for diesel engine use. The research discussed in this paper focuses on urea-SCR as after-treatment system for converting NOx, and proposes the urea-SCR control based on NH3sensor output. The NH3sensor effectively reduces both NOx, and NH3slip. The control adjusts the amount of urea dosed to the catalyst based on changes in NH3slip timing and NH3concentration in order to compensate for part-to-part variations in the SCR catalyst and catalyst aging. The proposed urea-SCR system using the NH3sensor and applied to a test vehicle increased NOxconversion performance and improved emission robustness over that of conventional control using a NOxsensor. 
Reduction of Distance Drift with Temperature in Uniaxial Laser Rangefinder by Using Multiecho Sensing
Authors: Ito Kouhei ,   Kanazawa Technical College, Ohya Akihisa , Shimaji Naohiro , Aoki Takeshi ,   University of Tsukuba,   Hokuyo Automatic Co., Ltd.
Published: April 2016

Uniaxial laser rangefinder
 To expand the range of activities by unmanned aerial vehicles (UAVs), whose use at disaster sites and other dangerous locations has raised high expectations, UAVs must be capable of several functions, e.g., flight both indoor and outdoor environments. This requires making the airframe and major sensors as compact and light-weight as possible. To do so, we are developing uniaxial laser rangefinders to replace conventional scanning laser rangefinders. One developmental approach to uniaxial laser rangefinders and results regarding their validity are reported in this paper. Using a simulated model -- a modified scanning laser rangefinder -- we discuss the effectiveness of our approach. Specifically, this is to reduce the range drift due to heat, for which we propose using a multiecho to measure two echoes from a reference plate whose distance is known and that is placed outside of the sensor, and the target object, instead using the internal reference plate used in conventional two-dimensional scanning laser rangefinders. We also report the results of experiments verifying its validity. 
Fast Motion of Path Tracking Task with Constant Hand Speed Using Redundant Manipulator
Authors: Okabe Kousuke ,   University of Tsukuba, Aiyama Yasumichi
Published: April 2016

Limits and a motion in state space
 We propose a motion planning method for accelerating path-tracking task with constant hand speed using redundant manipulator. Tracking-speed should be increased to satisfy the joint torque and joint velocity limits. We propose a method using the state space of redundant manipulators to analyze these limits and to operate motion planning. This state space has a position on a trajectory, redundant pose, and redundant velocity axes. These limits are projected on state space. We consider, motion planning is path-finding problem on state space at a constant hand speed. To plan a faster motion, a constant hand speed is examined by finding a path with limits in state space. We use computer simulation to test and evaluate our proposed method on 3-link planar manipulator. Results demonstrated motion faster than a motion minimizing joint acceleration norm and a motion minimizing driving torque norm. We also verified a problem when our method was applied to an actual manipulator. 
LISA — A Mechatronic Wall for Assistance with ADLs
Authors: Georgoulas Christos ,   Chair of Building Realization and Robotics, Technische Universität München, Germany, Güttler Jörg , Linner Thomas , Bock Thomas
Published: April 2016

Assistive mechatronic wall
 The research project LISA (Living Independently in Südtirol Alto-Adige) investigated the possibilities of embedding assistive functions, systems, and services into wall “terminal” components that enable and support autonomy and independence with respect to Activities of Daily Living (ADLs), and which generate structured environments called Robotic micro-Rooms (RmRs). 
Recognition of Center Circles for Encoded Targets in Digital Close-Range Industrial Photogrammetry
Authors: Xuemei Huang ,   College of Mechanical Engineering, Shandong University of Technology, Xinyong Su , Weihong Liu
Published: April 2016

  Final position of center circles
 Recognition of encoded targets on the industrial backgrounds are hot topics in digital close-rang industrial photogrammetry. To recognize the encoded targets, the center circles of targets need to be detected above all. A method was proposed to spot the center circles accurately based on some criteria put forward by authors and was realized by the program developed in MatlabR2010a. Firstly, according to the image that was preprocessed by image-binary threshold and Canny edge detection, straight lines in image were deleted and dimension criteria was applied to obtain possible contours of center circles. Then all these contours were fitted to ellipses based on the Least Square Algorithm and the candidate ellipses were remained except those that did not meet the shape criteria. Finally because of shooting error, all candidate ellipses were modified to obtain the positions of encoded targets' center circles precisely. In laboratory, an experiment was conducted to test and verify the theory mentioned above and the result showed the robust of the method in this paper. 
Parameter Tuning in the Application of Stochastic Resonance to Redundant Sensor Systems
Authors: Koyama Nagisa ,   Graduate School of Engineering Science, Osaka University, Ikemoto Shuhei , Hosoda Koh
Published: April 2016

Basic concept of proposed method
 Stochastic resonance (SR) is a phenomenon by which the addition of random noise improves the detection of weak signals. Thus far, this phenomenon has been extensively studied with the aim of improving sensor sensitivity in various fields of engineering research. However, the possibility of actual application of SR has not been explored because the target signal has to be known in order to confirm the occurrence of SR. In this paper, we propose an optimization method for making SR usable in engineering applications. The underlying mechanism of the proposed method is investigated using information theory and numerical simulation. We developed a tactile sensing system based on the simulation results. The proposed method is applied to this system in order to optimize its parameters for exploiting SR. Results of the experiment show that the developed tactile sensing system successfully achieved higher sensitivity than a conventional system.
Impact Piezo-Driven Micro Dispenser and Precise MiniatureXYStage
Authors: Irie Yuuka ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Hirata Shinnosuke , Kanamori Chisato , Aoyama Hisayuki ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology
Published: April 2016

Micro dispense mechanism
 Recently, micro-droplet dispensation has been required in printed-electronics (PE) technology. Devices with micro dispensing mechanism are of key importance in achieving a higher performance with these products. In fact, it is very difficult for the conventional dispenser to squeeze highly viscous liquid with picoliter resolution. This paper describes the development of a dispensing mechanism comprising a dispensing device andXYstage, both driven by the piezo impulsive force. The dispensing device is mainly composed of a pipette and a taper needle that is driven by a piezoelectric element. When the needle passes through the pipette, a droplet of the liquid adheres to the needle-tip end. A micro droplet can be transcribed to a target surface by bringing the droplet at the needle-tip end in contact with the target surface. On the contrary, in theXYstage, the small tables on the V-shaped grooves can be driven by the impulsive force generated by the mass connected to the piezoelectric element. TheXstage is stacked on theYstage, which allows fine positioning in the plane. In the experiment, an array of a small amount of 0.2-picoliter droplets was successfully developed on the glass plate.
Super Multi-Joint Manipulator by Using Creased Plate and Pneumatic Actuators Arranged Antagonistically
Authors: Kikuchi Shunon ,   Keio University, Yamada Yasuyuki , Higashi Ryoichi , Morita Toshio ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology
Published: April 2016

The manipulator when air flowed in
 The new super multi-joint manipulator mechanism we introduce in this paper is constructed from a long flexible resinous plate in the center of the manipulator and a pneumatic actuator the same length as the arm arranged antagonistically. The number of power transmission mechanism is fewer than that of joints. Specialized in a winding grip, the mechanism is light and simple. From the effect of this property, the manipulator could be easily extended in the length. The experimental mechanism mode was developed and several experiments were conducted, such as driving on the vertical plane, grasping some objects and moving with flow rate adjustment. As a result, the manipulator could drive on the vertical plane, winds cylinders of 50–200 mm in diameter and controls winding behavior.
Behavior Acquisition in Partially Observable Environments by Autonomous Segmentation of the Observation Space
Authors: Inoue Kousuke ,   Department of Intelligent Systems Engineering, Faculty of Engineering, Ibaraki University, Arai Tamio , Ota Jun ,   Shibaura Institute of Technology,   Research into Artifacts, Center for Engineering (RACE), The University of Tokyo
Published: April 2016

State representation
 In this paper, we propose a method by which an agent can autonomously construct a state-representation to achieve state-identification with a sufficient Markovian property. Furthermore, the agent does this using continuous and multi-dimensional observationspace in partially observable environments. In order to deal with the non-Markovian property of the environment, a state-representation of a decision tree structure based on past observations and actions is used. This representation is gradually segmented to achieve appropriate state-distinction. Because the observation-space of the agent is not segmented in advance, the agent has to determine the cause of its state-representation insufficiency: (1) insufficient observation-space segmentation, or (2) perceptual aliasing. In the proposed method, the cause is determined using a statistical analysis of past experiences, and the method of state-segmentation is decided based on this cause. Results of simulations in two-dimensional grid-environments and experiments with real mobile robot navigating in two-dimensional continuous workspace show that an agent can successfully acquire navigation behaviors with many hidden states.
Development of Autonomous Mobile Robot Based on Accurate Map in the Tsukuba Challenge 2014
Authors: Eguchi Junji ,   Utsunomiya University, Ozaki Koichi
Published: April 2016

  Navigation method for mobile robots
 We describe a navigation method for autonomous mobile robots and detail knowledge obtained through Tsukuba Challenge 2014 trial runs. The challenge requires robots to navigate autonomously 1.4 km in an urban area and to search for five persons in three areas. Accurate maps are important tools in localization on complex courses in autonomous outdoor navigation. We constructed an occupancy grid map using laser scanners, gyro-assisted odometry and a differential global positioning system (DGPS). In this study, we use maps as a graphical interface. Namely, by using maps, we give environmental information, untravelable low objects such as curb stones, and areas in nonsearches for “target” persons. For the purpose of increasing the map reusability, we developed a waypoint editor, which can modify waypoints on maps to fit a course to a situation. We also developed a velocity control method that the robot uses to follow pedestrians and other robot by keeping safety distance on the course. As a result, our robot took part five of seven official trial runs to get to the goal. This indicates that the autonomous navigation method was stable in the Tsukuba Challenge 2014 urban environment. 
Color Extraction Using Multiple Photographs Taken with Different Exposure Time in RWRC
Authors: Yamauchi Kenji ,   Graduate School of Engineering, Utsunomiya University, Akai Naoki , Ozaki Koichi
Published: April 2016

Color extraction rsult in RWRC
 Extracting the color of a target object from images in environments with different illumination conditions, such as outdoors, is difficult because color performance changes easily. The novel color extraction we propose enables the exact color of a target object to be extracted using multiple photographs taken with different exposure times. The object’s color performance transits due to changes in exposure time. This transition is the same as when environmental light sources do not change significantly. In outdoor environment, most situations are regarded as that situation. We first indicate this in an experimental analysis, then detail our proposal. Our method evaluates transition and realizes precise color extraction of target objects in outdoors. We apply this method to an orange cap in the Tsukuba Real-World Robot Challenge. Through experiments, we show that the cap is detected accurately in different environments and discuss the method’s effectiveness and usefulness in the real world. 
A Person Detection Method Using 3D Laser Scanner – Proposal of Efficient Grouping Method of Point Cloud Data –
Authors: Hosaka Kento ,   The University of Electro-Communications, Tomizawa Tetsuo
Published: April 2016

  Our proposed method
 The purpose of this study is to develop a system for detecting target persons using a 3D laser scanner. The system consists of two parts -- one for grouping and one for determining targets. The grouping part effectively segments individual objects by using two-step grouping. The target part determines target persons for grouping results using shape features. Experimental results showed that our proposed system detects targets as well as existing methods do and that our proposed method performs more quickly than existing methods do. 
3D Dynamic Biped Walker with Flat Feet and Ankle Springs: Passive Gait Analysis and Extension to Active Walking
Authors: Kinugasa Tetsuya ,   Okayama University of Science, Ito Takashi , Kitamura Hiroaki , Ando Kazuhiro , Fujimoto Shinsaku , Yoshida Koji , Iribe Masatsugu ,   Chiba Machine Industry Corporation,   Osaka Electro-Communication University
Published: April 2016

  A ZMP pattern of passive walker RW03
 In the last two decades, passive dynamic walking (PDW) has attracted considerable research attention. The assumption that biped walking is based on PDW is now widely accepted. PDW bipeds change their gait to adapt to changes in body configuration and environment, and their efficiency is extremely high. PDW is generally difficult to realize because it lacks robustness. This means, for one thing, that biped walkers capable of PDW must be designed carefully. Once realized, however, the PDW bipeds are expected to have a suitable configuration for biped walking. This study then aims to analyze the fundamental properties of 3D PDW with flat soles and ankle springs and to use these properties to extend it to a horizontal surface. First, we develop a stable and relatively robust 3D PDW biped that has flat soles and ankle springs. Some sensors are implemented in order to measure the posture and the ZMP trajectory. Next, we investigate the relationship between its gait and the CoM position of each leg. We then attach a ballast to the leg to change the CoM, which effectively results in walking stability. Finally, a 3D active biped, whose knees consist of telescopic joints, is developed based on the 3D PDW biped. 
Visual Measurement for On-Orbit Reflector Assembly
Authors: Nishida Shin-ichiro ,   Tottori University, Kamimura Heihachiro ,   1-6-9 Inokashira, Mitaka 181-0001, Japan
Published: April 2016

  Artist concept of in-orbit assembly
In Earth orbit, a space telescope is free from any absorption or disturbances from the Earth's atmosphere. Therefore, a large space telescope is planned for the future. We discuss the assembly of a large telescope reflector performed by a robot arm. For the assembly work, positioning of the arm using visual servo control to colored markers is proposed. A ground test-bed is used to test the characteristics of the new image processing method for colored markers. The results of the tests are also given.
Improvement of EMC in MPPT Control of Photovoltaic System Using Auto-Tuning Adaptive Velocity Estimator
Authors: Ohba Tsuyoshi ,   Department of Architecture and Mechatronics, Oita University, Matsuda Risa , Suemitsu Haruo , Matsuo Takami
Published: April 2016

  Proposed modified-IC method
 Output by a photovoltaic array is nonlinear and changes with solar irradiation and cell temperature. Maximum Power Point Tracking (MPPT) is needed to maximize the energy produced. Most MPPT techniques include the time derivative of current and voltage. These electrical signals are disturbed by high-frequency noise such as from the power device switching. Lowpass filters are used to reduce circuit noise, but estimation error occurs when the maximum power point is calculated. We therefore apply an adaptive observer to estimate the time derivative of noisy signals. Specifically, we propose an auto-tuning velocity estimator with a forgetting factor based on the adaptive observer. We also improve the incremental conductance method by using an auto-tuning velocity estimator. 
Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism
Authors: Telegenov Kuat ,   Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University, Tlegenov Yedige , Hussain Shahid , Shintemirov Almas ,   School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong
Published: April 2016

  A robotic end effector prototype
 Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design. 
Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators
Authors: Jiang Changan ,   RIKEN-SRK Collaboration Center for Human-Interactive Robot Research, RIKEN, Takagi Kentaro , Hirano Shinya , Suzuki Tatsuya , Hosoe Shigeyuki , Hashimoto Kazunobu , Nozawa Akitoshi ,   Department of Mechanical Science and Engineering, Nagoya University,   Sumitomo Riko Company Limited,   Department of Mechanical Engineering, Ritsumeikan University
Published: April 2016

Tube-type DEA based mechanism
 In this research, tube-type dielectric elastomer actuators (DEAs) are employed to develop a 3-DOF flexible parallel link mechanism instead of traditional actuators such as linear motors and pneumatic cylinders. As an application case, the developed mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets on a plane. According to the prototype of this mechanism, kinematics and inverse kinematics problems are considered. Based on the kinematics and inverse kinematics equations, the numerical simulations are done for searching the reachable area of the tip of the marker pen and checking the lengths of DEAs during drawing. Finally, experiment results show the practicability of the developed mechanism. 
Motion Generation for a Sword-Fighting Robot Based on Quick Detection of Opposite Player’s Initial Motions
Authors: Namiki Akio ,   Graduate School of Engineering, Chiba University, Takahashi Fumiyasu
Published: April 2016

  Defensive motion against attack
 In this paper, we discuss how to generate defensive motions for a sword-fighting robot based on quick detection of the opposite player’s initial motions. Our sword-fighting robot system, which has a stereo high-speed vision system, recognizes both the position of a human player and that of the sword grasped by the robot’s hand. Further, it detects the moment when the human player initiates a move using ChangeFinder, which is a method of detecting change points. Next, using least squares method, it predicts the possible trajectories of the sword of the human player from the moment when the attack starts. Finally, it judges the type of the attack and generates an appropriate defensive motion. The effectiveness of the proposed algorithm is verified by experimental results. 
The Global Shortest Path Visualization Approach with Obstructions
Authors: Dong Guan-Qiang ,   Institute of Systems Science and Engineering, Henan Engineering Laboratory of Wind Power Systems,, Yang Zong-Xiao , Song Lei , Ye Kun , Li Gen-Sheng
Published: April 2016

Shortest path experiment device
 The avoidance obstacle path planning problem is stated in an obstacle environment. The minimum Steiner tree theory is the basis of the global shortest path. It is one of the classic NP-hard problem in nonlinear combinatorial optimization. A visualization experiment approach has been used to find Steiner point and system’s shortest path is called Steiner minimum tree. However, obstacles must be considered in some problems. An Obstacle Avoiding Steiner Minimal Tree (OASMT) connects some points and avoids running through any obstacle when constructing a tree with a minimal total length. We used a geometry experiment approach (GEA) to solve OASMT by using the visualization experiment device discussed below. A GEA for some systems with obstacles is used to receive approximate optimizing results. We proved the validity of the GEA for the OASMT by solving problems in which the global shortest path is obtained successfully by using the GEA. 
Mechanism and Control of Parallel-Wire Driven System
Authors: Kino Hitoshi ,   Fukuoka Institute of Technology, Kawamura Sadao ,   Ritsumeikan University
Published: April 2016

 A parallel-wire driven system
Many of the conventional robot manipulators have a serial-link mechanism to imitate a human arm. In recent years, however, industries have been aggressive in putting parallel-link mechanisms into practical use to cope with various problems that no conventional serial-link mechanisms have ever been able to solve. Under the circumstances, this paper describes a parallel-wire driven system, one of the parallel mechanisms. It is a system to drive a controlled object with flexible and light wires instead of rigid links. It has many advantages over conventional serial-link mechanisms or other ordinary parallel-link mechanisms. This paper first overviews previous studies on parallel-wire driven robots, and then details the mechanism and control of these systems, as well as examples of their application.
Optimal Tracking Control of a Micro Ground Vehicle
Authors: Watanabe Soichiro ,   National Defense Academy of Japan, Harada Masanori
Published: April 2016

 Coordinate system of MGV
This paper investigates the application of optimal micro ground vehicle (MGV) control involving overall tracking by model-predictive control (MPC) during a minimum-time maneuver. The MPC’s reference trajectory is obtained beforehand by numerically calculating an optimal control problem described as a minimum-time maneuver. Results provide nominal tracking performance and confirm the feasibility of our approach.
Human Detection and Face Recognition Using 3D Structure of Head and Face Surfaces Detected by RGB-D Sensor
Authors: Tanaka Michio ,   Kyushu Institute of Technology, Matsubara Hiroki , Morie Takashi
Published: April 2016

 Summary of proposed method
Home service robots must possess the ability to communicate with humans, for which human detection and recognition methods are particularly important. This paper proposes methods for human detection and face recognition that are based on image processing, and are suitable for home service robots. For the human detection method, we combine the method proposed by Xia et al. based on the use of head shape with the results of region segmentation based on depth information, and use the positional relations of the detected points. We obtained a detection rate of 98.1% when the method was evaluated for various postures and facing directions. We demonstrate the robustness of the proposed method against postural changes such as stretching the arms, resting the chin on one’s hands, and drinking beverages. For the human recognition method, we combine the elastic bunch graph matching method proposed by Wiskott et al. with Face Tracking SDK to extract facial feature points, and use the 3D information in the deformation computation; we obtained a recognition rate of 93.6% during evaluation.
Research and Development of Functional Fluid Mechatronics, Rehabilitation Systems, and Mechatronics of Flexible Drive Systems
Authors: Furusho Junji ,   Osaka Electro-Communication University, Takesue Naoyuki ,   Tokyo Metropolitan University
Published: April 2016

[abstFig src='/00280001/01.jpg' width=""260"" text='PLEMO-P3 Developed by Furusho Lab at Osaka Univ.' ]We conducted many research and development activities on functional fluid mechatronics, rehabilitation systems, and servo drive systems. In this review, studies on the development of magnetorheological fluid devices, electrorheological effects of liquid crystalline polymers on one-sided pattern electrodes, and vibration control using control theory and liquid crystalline polymer are introduced. In addition, applications of rehabilitation systems for upper and lower extremities employing functional fluids for individuals suffering from stroke, cerebellar ataxia, and Guillain-Barre syndrome are also introduced.
Collision Avoidance Using Contact Information with Multiple Objects by Multi-Leg Robot
Authors: Takubo Tomohito ,   Graduate School of Engineering, Osaka City University, Kominami Keishi , Ohara Kenichi , Mae Yasushi , Arai Tatsuo ,   Graduate School of Engineering Science, Osaka University,   Faculty of Science and Technology, Meijo University
Published: April 2016

[abstFig src='/00280001/02.jpg' width=""300"" text='Optimized multi-point contacting walking' ]In robotics, a walking through motion is complex because of the presence of multipoint contact objects in the working environment of a robot. To simplify the walking through motion of a robot, a virtual impedance field is implemented to the contact points of the robot and an object so that the robot avoids the object passively. The traveling direction of the robot is altered by a virtual repulsive force obtained from the position of the estimated obstacle and the virtual impedance field. The resulting action depends on the parameter of virtual impedance coefficients. Because a combination of parameters includes many things, reinforcement learning is employed to obtain an optimal motion. The optimization of the multipoint contact walking through motion of a robot is finally achieved by evaluating the walking motion while encountering complex obstacles in a dynamic simulator. The motion is implemented on a hexapod robot, and the results demonstrate the effectiveness of the proposed method.
Toward Understanding Pedagogical Relationship in Human-Robot Interaction
Authors: Okazaki Hirofumi ,   Keio University, Kanai Yusuke , Ogata Masa , Hasegawa Komei , Ishii Kentaro , Imai Michita ,   Osaka Institute of Technology,   CREST, Japan Science and Technology Agency
Published: April 2016

[abstFig src='/00280001/07.jpg' width=""300"" text='Investigating pedagogical relationship' ]This study aims to investigate the behavior of a person who teaches a robot, and the behavior required for the robot to learn from such a person. A robot used for education needs to have a pedagogical relationship, namely, to understand the roles of teacher and learner, and recognize user behavior. In order for a robot to establish a pedagogical relationship with people, it has to understand the characteristic behavior of the person teaching it. Moreover, the robot needs to demonstrate to its “teacher” the characteristic behavior learned from this person. For this purpose, we observe and analyze through case studies the characteristic behavior of a human teacher and the effectiveness of the behavior designed for the robot. The results of the observation and analysis of a situation where a person teaches a robot a game on a tablet device show that, as the robot attempted through trial-and-error to perform the actions learned from the human teacher, the latter became more careful when teaching, and attempted to verify what the robot expressed to show its human teacher how much it understood.
A Desktop-Sized Communication Robot: “robovie-mR2”
Authors: Matsumura Reo ,   ATR-IRC, 2-2-2 Hikaridai, Seika-cho, Kyoto 619-0288, Japan, Shiomi Masahiro , Nakagawa Kayako , Shinozawa Kazuhiko , Miyashita Takahiro ,   Tokyo University, 4-6-1 Komaba Meguro-Ku, Tokyo 153-8505, Japan,   Osaka Kyoiku University, 4-698-1 Asahigaoka, Kashiwara, Osaka 582-8582, Japan
Published: April 2016

[abstFig src='/00280001/13.jpg' width=""230"" text='Appearance of robovie-mR2' ]We developed robovie-mR2, a desktop-sized communication robot, in which we incorporated a “Kawaii” design to create a familiar appearance because it is an important acceptance factor for both researchers and users. It can interact with people using multiple sensors, including a camera and microphones, expressive gestures, and an information display. We believe that robovie-mR2 will become a useful robot platform to advance the research of human-robot interaction. We also give examples of human-robot interaction research works that use robovie-mR2.