bluuebunny/crossref_metadata_2025 huggingface dataset:
Sustainable Training-Model Development Based on Analysis of Disaster Medicine Training
Authors: Ohta Shoichi ,   Department of Emergency and Critical Care Medicine, Tokyo Medical University  6-7-1 Nishishinjuku, Shinjuku-ku, Tokyo 160-0023, Japan, Takeda Munekazu , Sasaki Ryo , Uesugi Hirotaka , Kamagata Hironobu , Kawai Kentaro , Kuroshima Satomi , Kawashima Michie , Onishi Masaki , Yoda Ikushi ,   Tokyo Women's Medical University, Tokyo, Japan,   Center Hospital of the National Center for Global Health and Medicine, Tokyo, Japan,   Japan Society for the Promotion of Science / Chiba University, Chiba, Japan,   Kansai Gaidai College, Osaka, Japan,   National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan
Published: April 2016

In the Shinjuku Station West Exit Medical Relief Training, a disaster medical (triage) training that includes ordinary citizens as well as medical professionals has been conducted on a continual basis. However, updating and improving the training contents and maintaining the participants’ interest levels were challenged because there were no baseline evaluations on post-training accomplishments. The purpose of this study is to develop a training model which facilitate updates to the training contents in a sustainable manner and increase the number of participants by raising satisfaction levels. Peer evaluations and self-evaluations were introduced into the training framework to develop a training model that can be sustainably improved using scientific evaluation methods. The term “scientific” refers to introducing scientific methods to analyze training drills to increase the quantitative measurement of the participants’ post-training evaluations. This paper reports on the results of the actual implementation of the training model.
Grasp of Utilization of Social Networking Services in Restoration Process – Interview Survey for N City-Related Citizens of the Great East Japan Earthquake –
Authors: Sato Shosuke ,   International Research Institute of Disaster Science, Tohoku University  468-1 Aoba, Aramaki, Aoba, Sendai 980-0845, Japan, Koumoto Hiroko , Tatsuki Shigeo ,   Graduate School of Environment and Disaster Research, Tokoha University  325 Obuchi, Fuji, Shizuoka 417-0801, Japan,   Department of Sociology, Doshisha University  Kamigyo-ku, Kyoto 602-8580, Japan
Published: April 2016

The present study aims to examine the utilization of social networking services in the restoration period after the Great East Japan Earthquake. Interviews administered to users of social networking services, including both disaster victims and non-victims, were conducted in an affected area. The data showed that all the interviewees started using Facebook after the disaster in order to obtain and share information regarding various restoration activities. Respondents used the services to form a new network, which substituted previous local communities, and to gain an understanding of the realities of the affected area and inhabitants. The results also showed that existing ethical issues on the Internet were present in some cases.
Analysis of Factors Triggering Shallow Failure and Deep-Seated Landslides Induced by Single Rainfall Events
Authors: Yu Teng-To ,   Department of Resources Engineering, National Cheng Kung University 1 University Rd., Tainan, Taiwan, Wang Ting-Shiuan , Cheng Youg-Sin
Published: April 2016

Earthquakes, rainfall, or a combination of both can trigger landslides, which can be classified into shallow and deep-seated types according to scale. Landslide risk potential can be charted according to the spatiotemporal characteristics of a combination of triggering factors that can be collated for similar historical events by various methods. The geographic information system (GIS) and the instability index method are two approaches commonly used to perform such a task; however, the nature of the event and the quality of imported data affect the degree of bias of model predictions against real-time values. To identify the differences between shallow and deep-seated landslides, 324 cases of landslides triggered by single rainfall events in Taiwan are analyzed in this study. It is determined that the principal factor governing shallow failure for rainfall-induced landslides is slope and that deep-seated failure is controlled by the amount of accumulated rainfall. By arranging the weighting, these factors could predict 93% and 75% of the occurrences of shallow and deep-seated landslides, respectively, based on a pre-event digital terrain model.
Climate Change Impact on the Manageability of Floods and Droughts of the Ganges-Brahmaputra-Meghna Basins Using Flood Duration Curves and Drought Duration Curves
Authors: Masood Muhammad ,   National Graduate Institute for Policy Studies (GRIPS) 7-22-1 Roppongi, Minato, Tokyo 106-8677, Japan, Takeuchi Kuniyoshi ,   International Centre for Water Hazard and Risk Management (ICHARM), PWRI 1-6, Minamihara, Tsukuba 305-8516, Japan
Published: April 2016

This study investigates the impact of climate change on the manageability of floods and droughts in the Ganges-Brahmaputra-Meghna basins using Flood Duration Curves (FDCs) and Drought Duration Curves (DDCs). Duration curves are drawn for monthly basin-averaged precipitation over each of the three basins and daily streamflow at their outlets for three periods: the observed (1980–2009), the near-future (2015–2039) and the far-future (2075–2099). Degree of difficulty of managing hydrological extremes is measured in terms of difficulty of smoothing hydrological variations which can be identified from the duration curves. Among three basins the manageability of the Meghna basin is expected to be more difficult due to increases of seasonal and annual variations of streamflow in the future. Significantly distinct persistence characteristics have been identified, which can be utilized for flood control, reservoir design and operation. The information contained in these curves has direct implications on policy making for future water resources development and water resources management both in flood and drought.
Microbes and Crewed Space Habitat
Authors: Yamaguchi Nobuyasu ,   Environmental Science and Microbiology, Graduate School of Pharmaceutical Sciences, Osaka University  1-6 Yamadaoka, Suita, Osaka 565-0871, Japan, Nasu Masao
Published: April 2016

Microbes exist everywhere, and studies have demonstrated the presence of viable microorganisms in a crewed space habitat. Microorganisms within space habitats pose potential hazards to crew health and potentially damage hardware. Continuing successful long-term space habitation requires fundamental information on microbiological safety for avoiding biohazards in space. We discuss the importance of researching microbes in crewed space habitats and of monitoring microbes on the International Space Station (ISS). We also review environmental microbiology perspectives in crewed space habitats and the microbiology of the space environment (astromicrobiology).
Microbial Observatory Research in the International Space Station and Japanese Experiment Module “Kibo”
Authors: Shirakawa Masaki ,   JEM Utilization Center, Human Spaceflight Technology Directorate, Japan Aerospace Exploration Agency  2-1-1 Sengen, Tsukuba, Ibaraki 305-8505, Japan, Tanigaki Fumiaki , Yamazaki Takashi ,   Laboratory of Space and Environmental Medicine, Graduate School of Medicine, Teikyo University  2-11-1 Kaga, Itabashi, Tokyo 173-8605, Japan
Published: April 2016

The International Space Station (ISS) is a completely closed environment that offers a long-term microgravity environment. It is a unique environment where microbes can fly and attach themselves to devices or humans, especially the exposed parts of the body and head. The ongoing monitoring and analysis of microbes and their movement inside the Japanese Experiment Module (named “Kibo”) of the ISS are intended to study the effects of microbes on humans and prevent health hazards caused by microbes during a long-term space mission. This paper describes the current status and future plan of Japanese microbiological experiments to monitor microbial dynamics in Kibo. It also describes the future prospective and prioritized microbiological research areas based on the “Kibo utilization scenario towards 2020 in the field of life science.” Given the microbial research in space being actively conducted by the USA, NASA and international activities are also reported.
Significance of Changes in the Skin Fungal Microbiomes of Astronauts Staying on the International Space Station
Authors: Sugita Takashi ,   Department of Microbiology, Meiji Pharmaceutical University  2-522-1 Noshio, Kiyose, Tokyo 204-8588, Japan, Cho Otomi
Published: April 2016

A wide variety of microorganisms colonize the human skin and are important to maintaining human health. However, this community is highly sensitive to perturbations, and diseases can develop when the skin microbiome is disrupted by a change in host or environmental conditions. The International Space Station (ISS) is a closed environment, and astronauts on the ISS do not wash their bodies as frequently as when they are on the ground. The maintenance of a balanced skin microbiome is important to overall health, disease prevention, and a high quality of life while on the ISS. The skin fungal microbiome is dominated by Malassezia sp. These lipophilic fungi are ubiquitous across different skin types, whereas changes in the levels of M. globosa and M. restricta are correlated with the formation of seborreich dermatitis/dandruff. The Malassezia microbiome on the skin of astronauts staying on the ISS changed, and there was a reduction in skin fungal microbial diversity. These findings provide useful information about temporal changes in the hygiene of astronauts who are on the ISS for an extended period and indicate that Malassezia microbiome as microbiological markers of skin hygiene.
Modeling of Information Flow for Early Warning in Mount Merapi Area, Indonesia
Authors: Cobar Leslie Jamie ,   Graduate School of Life and Environmental Sciences, University  of Tsukuba  Tennoudai 1-1-1, Tsukuba City, Ibaraki 305-8572, Japan, Legono Djoko , Miyamoto Kuniaki ,   Department of Civil and Environmental Engineering, Universitas  Gadjah Mada Jalan Grafika No. 2, Yogyakarta 55281, Indonesia
Published: April 2016

Indonesia’s Mount Merapi is one of the world’s most active, dangerous volcanoes. Its 2010 eruption – the largest following the 20th century – and succeeding 2011 lahar events killed 389 persons and injured and displaced many more. One way to mitigate a disaster’s impact is the provision of reliable information to the public through a well-established early warning system (EWS). A well-managed information flow network is the key to delivering early warning information, however, there is a lack of understanding on the information transfer down to the citizens. In addition, implementing the 2007 disaster management law may have affected Merapi’s EWS. This study reinvestigates Merapi’s EWS information flow through the construction of an information flow network. A single information flow network was difficult to construct due to the inconsistency of structures per district. Different networks had to be constructed for volcanic eruptions and lahars in each district. Inconsistencies were also found in the roles of the agencies that determine when evacuation orders would be issued. The system also had data transfer gaps and vulnerabilities such as redundancies, mistransfers and bottlenecks. Its use of forecasting information as a basis for decision-making must be reviewed for lahar information flow networks. Improving Merapi’s EWS must involve handling these issues.
Empirical Data Analysis and Simulation Modeling for Evacuation Movement with the Presence of Irregular Non-Continuous Exterior Stairs
Authors: Gironda Hugo H. Poveda ,   Graduate School of Urban Innovation, Yokohama National University 79-7 Tokiwadai, Hodogaya, Yokohama 240-8501, Japan, Sadohara Satoru , Yoshida Satoshi , Inagaki Keiko ,   Faculty of Urban Innovation, Yokohama National University, Japan
Published: April 2016

Studies on evacuation behavior are often based on regular favorable scenarios, but more urban areas are adversely affected by natural disasters, many of them under extreme geographic conditions, and very little is known on how these conditions affect evacuation processes, especially in communities with neither experience nor disaster education.

We collected empirical data during announced evacuation practices in a landslide-prone urban area from La Paz, Bolivia. Based on this experiment, we measured time, velocity and participants’ behavior, then process results and input them as parameters to a 3-dimensional (3D) agent-based evacuation simulation model of the evacuation practice location to simulate real scenario evacuations focused on community residents walking on stairs and steep streets.

Our objective is to explain procedures for simulating two evacuation cases with different premises and to compare results from the two.

Results show that one case is more effective simply by following a simple rule of evacuation path selection. Our ultimate purpose is to create a compelling graphic tool for teaching persons about early short-term evacuation, including the importance of early planned evacuation. It also provides persons with opportunities participate in virtual drills.
User Participatory Sensing for Disaster Detection and Mitigation
Authors: Sezaki Kaoru ,   Center for Spatial Information Science, the University of Tokyo 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan, Konomi Shin'ichi , Ito Masaki ,   Institute of Industrial Science, the University of Tokyo 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan
Published: April 2016

Rapid growth in communication bandwidth has enabled novel uses of mobile wireless technologies in areas such as smartphone-based user participatory sensing for disaster detection and mitigation. In this manuscript, we discuss novel approaches to resolve fundamental problems that currently hamper the effective utilization of user participatory sensing in this critical application domain. Our approaches to address major challenges related to energy efficiency, collaboration, privacy, ease of deployment, and robustness of communication can be integrated with external systems in a complementary manner to overcome the limitations of current disaster detection and mitigation systems that rely on expensive stationary devices.
Real-Time Simulation of Dynamic Traffic Flow with Traffic Data Assimilation Approach
Authors: Kawasaki Yosuke ,   Graduate School of Information Sciences, Tohoku University 6-6-06 Aramaki aza aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Hara Yusuke , Mitani Takuma , Kuwahara Masao
Published: April 2016

The real-time traffic state estimation we propose uses a state-space model considering the variability of the fundamental diagram (FD) and sensing data. Serious congestion was caused by vehicle evacuation in many Sanriku coast cities following the great East Japan earthquake on March 11, 2011. Many of the vehicles in these congested queues were caught in the enormous tsunami after the earthquake [1]. Safe, efficient evacuation and rescue and restoration require that dynamic traffic states be monitored in real time especially in natural disasters. Variational theory (VT) based on kinematic wave theory is used for the system model, with probe vehicle and traffic detector data used to for measurement data. Our proposal agrees better with simulated benchmark traffic states than deterministic VT results do.
Simulation Data Warehouse for Integration and Analysis of Disaster Information
Authors: Zhao Jing ,   Graduate School of Information Science, Nagoya University  Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan, Sugiura Kento , Wang Yuanyuan , Ishikawa Yoshiharu
Published: April 2016

Studies on disaster countermeasures utilize extensive simulations of earthquake, tsunami, people evacuation, and other targets, generating enormous amounts of data. The continuing development of computational capability has facilitated the increase of the simulation data size and the utilization of such “big data” has become a serious problem. With this background, the present study proposes, from the viewpoint of information science, the simulation data warehouse approach for the interactive analysis of large simulation data and describes a method of realizing a data warehouse. An objective of this study is to integrate different simulation data sets and enable exploratory analysis of multiple accumulated simulation data with high-speed response by data preprocessing. Further, the developed prototype system architecture and a case example of its use are explained.
Natural Disaster Measures on Tokyo Metro
Authors: Kogure Toshiaki ,   Safety Affairs Department, Railway Headquarters, Tokyo Metro Co.,Ltd.  3-19-6 Higashi-ueno, Taito-ku, Tokyo 110-8614, Japan
Published: April 2016

This article includes the natural disaster measures taken by Tokyo Metro. In addition to those taken by the former Teito Rapid Transit Authority, Tokyo Metro has been taking new measures -- based on experiences from the Great East Japan Earthquake and a large-scale flood damage simulation recently released by the government -- in preparation for the inland earthquake expected in the capital and flooding from the Arakawa River.
Vulnerability to Underground Inundation and Evacuation in Densely Urbanized Area
Authors: Ishigaki Taisuke ,   Department of Civil, Environmental and Applied Systems Engineering, Kansai University 3-3-35, Yamate-cho, Suita-shi, Osaka 564-8680, Japan, Kawanaka Ryuji , Ozaki Taira , Toda Keiichi ,   Graduate School of Management and Graduate School of Engineering, Kyoto University Kyoto-Daigaku-Katsura, Nishikyo-ku, Kyoto 615-8540, Japan
Published: April 2016

Cities often have numerous underground spaces such as subways and shopping malls. These hold the possibility of being inundated in a disaster. The reasons of these disasters are urbanization and global warming. The vulnerability of underground spaces to extreme flood and evacuation from there are treated in this paper by using the results obtained by numerical methods in densely urbanized area, Osaka, Japan. It is found that up to 60% of water would flood underground spaces if no counter measures were taken. It was also confirmed such areas should be evacuated before inundation.
Panic and Crowd Disaster in Underground Space
Authors: Sekiya Naoya ,   The Center for Integrated Disaster Information Research (CIDIR), The Interfaculty Initiative in Information Studies (III), the University of Tokyo 7-3-1 Hongo, Bunyo-ku, Tokyo 113-0033, Japan
Published: April 2016

In this paper panic and crowd disaster are discussed. In order to prevent heavy casualties in an underground space, it is crucial to determine whether panic escape behavior as a collective phenomenon would occur at the time of an earthquake, flood, and fire, etc. in such a space.

There has yet to be an occurrence of collective panic in an underground space. Panic escape behavior and crowd disaster have the characteristic that despite the low rate of incidence they may cause many casualties, once they happen. Therefore, it is crucial that the measures are taken against panic and crowd surge in the underground in the urban area, although they never occurred in the past.
Study About the Effect of the Signposting for Evacuation in the Underground Space
Authors: Hiroi U ,   Nagoya University Furo-Cho, Chikusa-ku, Nagoya 464-8603, Japan, Aoyama Jyunya
Published: April 2016

In this study, the characteristics of evacuation activities from underground areas, under normal conditions and during an earthquake, were investigated in areas around Nagoya station, to calculate the time required to evacuate. An evacuation experiment (along with a questionnaire survey) and evacuation simulation were used, and the effects of signposting were quantitatively evaluated by accurately recording the experiment results and inputting obtained data under a simulation. As a result, basic data related to evacuation from underground areas were obtained, including walking speeds in horizontal and vertical directions, and it was shown that signposting is especially effective when there are a large number of visitors who are not familiar with the area.
Experimental Study Characterizing Retrofitting Method for Shear Walls at Nuclear Plant
Authors: Takezaki Shin-ichi ,   Technology Center, Taisei Corporation  344-1 Nase-cho, Totsuka-ku, Yokohama, Kanagawa 245-0051, Japan, Ono Hideo , Yasutomi Yoko , Katayama Seiya ,   Design Division, Taisei Corporation   1-25-1 Nishi-Shinjuku, Shinjuku-ku, Tokyo 163-0606, Japan,   Nuclear Power Division, Kansai Electric Power Co., Inc., Fukui, Japan
Published: April 2016

One method of improving the earthquake resistance of shear walls protecting existing nuclear power plants is to retrofit the wall by installing additional rebars with concrete to produce a monolithic structure. We conducted a static loading test to confirm the structural performance of the walls when in-plane and out-of-plane shear forces act on the concrete joint faces produced by this retrofitting method. The test specimens consisted of those in which the concrete joint face was treated differently and a monolithically cast specimen for comparative purposes. The test results showed that the different treatments of the concrete joint face had very little effect on the strength or deformation performance, which were confirmed to be the same as those of the monolithically cast specimen.
Development of a Human-Type Manipulator Using a High-Performance Control Cable for Robots
Authors: Wada Mitsuo ,   Industrial Products Research Institute, AIST, MITI, 1-1-4 Higashi, Tsukuba, Ibaraki 305, Japan, Kuba Yasuyoshi , Tuchiko Takeo , Hari Hideaki , Mitsuoka Sei ,   Nippon Flex Controls, Corp., 3-64 Higashiarioka, Itami, Hyogo 664, Japan
Published: April 2016

Recently, it is increasing in the necessity of well functioned artificial mainpulator's arms and hands for the industry and/or the welfare robots. For the use of the force transmitting mechanism as the robot's arm, hand and finger, we have developed a high-performance control cable. The control cable contains an inner cable for transmitting driving power to the robot joints, and an outer cable for supporting the load and allowing good flexibility. The most outstanding characteristic of this newly developed control cable is its unique twin conduit-type construction which design inhibits any change in the cable's core length even when the cable is bent into various shapes. The characteristic makes it ideal for use as a driving force transmittance component for robot joints and/or hands. So, it was applied to the human-type manipulator with 3 joint, 2 ringers and 9 degrees of motion freedom which was developed at IPRI. Assembling the new control cables which have a diameter of 4 and 5mm with the capabilities of transmitting 130 and 180kg respectively, we made sure of the transmittance of force at a high efficiency of 80% even when the cable is bent into a U-shape and the rotational speed of 90deg/sec of the joint with the moment 400kg·cm of load.
Synchronous Steering Control of a Parallel Bicycle
Authors: Yamafuji Kazuo ,   Dept. of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182 Japan, Miyakawa Yasushi , Kawamura Takashi ,   Matsushita Electric Industry Co., Ltd., Kunimo, Kofu, Yamanashi 400, Japan,   Graduate Student, The University of Electro-Communications
Published: April 2016

This paper describes the methods and experiments on synchronous steering control of a parallel bicycle which has twin wheels on the outside of the parallel driving axes and an inverted-pendulum-type upper structure. The bicycle can be steered by controlling rotation of each wheel driven by each DC servo-motor. In order to drive the vehicle along an arbitrary path, both wheels must be steered and synchronously controlled. Both synchronous control methods are proposed. A gain changing method and a servo-reference method are each applied for the servo-control. The steering and driving control of the vehicle has been attained by using synchronous servo-control methods through a microcomputer. Experiments show that the control methods proposed here are available for steering and servocontrol without losing stability of the vehicle.
An Approach to Human-Like Grasping Control
Authors: Endo Hiroshi ,   Industrial Products Research Institute, AIST, MITI, 1-1-4 Higashi, Tsukuba-shi, Ibaraki 305, Japan, Wada Mitsuo
Published: April 2016

In order to grasp softly and stably with multi joint arm, the motion control of adapting along an object and pinching it are very important. Then the adapting motion is done by operating the active of winding and lateral suppression to change its formation, and the pinching one is done by controlling arms' root joints co-operatively. From the experiment with 6-joint 7-link arm, the control method simulating those motions was found.
High Precision Automatic Alignment and its Computer Vision Technology
Authors: Tanigawa Tohru ,   Production Technology Development Center, Engineering Center, Sharp Corp., 2613-1 Ichinomoto-cho, Tenri, Nara 632, Japan, Sawai Toshitsugu , Nakao Tadashi
Published: April 2016

Recently, industrial robotics and computer vision technology has become very important in flexible manufacturing systems and automated factories. Especially high precision automatic alignment technology beyond human ability is essential to some manufactures, and its application fields are extending rapidly. This paper describes the high precision automatic alignment system of large-sized LCD panels. The features of the system are (1) high precision and high speed detection of position using the special alignment mark, (2) high contrast image obtained by the use of ultraviolet rays, (3) new image-processing algorithms for improvement of system reliability.
Fuzzy Control System and Its Application
Authors: Sakaguchi Akihiro ,   ELNIS Group, Nissin Electric Co., Ltd., 47 Umezu-Takase-cho, Ukyo-ku, Kyoto 615, Japan
Published: April 2016

There are many processes which have been automatically controlled by PID control or by the present control theory, but there are still many which are dependent on an operator's manipulations for control. Skilled operators, by their perceptions or experiences, can exercise controls even of such processes which have peculiar characteristics and for which it is difficult to provide automatic controls. The fuzzy control system was created to allow computers to apply the same controls as skilled operators do, by taking the operator's techniques into the computer. We shall describe below an outline of fuzzy control and the fuzzy control system we have developed.
Coordination Control in Artificial Fingers
Authors: Fukuda Toshio ,   Dept. of Mechanical Engineering, School of Engineering, Nagoya University 1 Furocho, Chikusa-ku, Nagoya 464, Japan, Hosokai H. , Shimonaka Ken ,   Dept. of Mechanical Engineering Science, University of Tokyo,   Digital Switching System Enhancement Project, Software Engineering Center, Nippon Telegraph and Telephone Corp., NTT Shinagawa TWINS, 1-9-1 Konan, Minato-ku, Tokyo 108, Japan
Published: April 2016

This paper deals with the coordination force distribution at the finger joints of an articulated hand, under the assumption that the articulated hand with multiple degrees of freedom and a multiple articulated joint structure grasps some objects. In this study, four algorithms for this force distribution problem in grasping objects are derived from the static equilibrium conditions. Furthermore, a method for changing contact and noncontact fingers in grasping is derived and some simulations are shown, where changing fingers implies that some non-contacting fingers begin to make contact with the object, while the other contacting fingers cease to contact it, keeping the stable grasping condition of the hand as a whole. Finally, based on the proposed five control algorithms, a control flow of stable grasping methods for the force distribution at each joint is made for an overall control of the finger system by determining grasping forces to changing grasping fingers.
DD-type Linear Motor Systems and Their Applications
Authors: Suzuki Tamotsu ,   Electronics Application Products Div., Nippon Seiko K.K. Shoja cho, 1-8-1, Maebashi City, Gumma Pref. 371, Japan
Published: April 2016

Carrying and positioning systems for linear movement in factory automation are typically a combination of a motor and motion-translating mechanisms, such as ball screws, belts, and racks and pinions. Such mechanical motion-translating mechanisms, however, have the disadvantages of limited accuracy, speed, and durability. As a solution to this problem, direct-drive linear motors, which drive an object directly mounted on the drive section, have attracted considerable interest, and various types of linear motors have been actually used. The recent trend in linear motor development has been such that the functions of the motor alone have been expanded into higher functions of the linear drive system. The ""Megathrust Motor"" is a direct drive linear actuator system developed by Nippon Seiko K.K. It has some components, such as a detector and drive unit, which are different from those of other drive systems, and therefore provide high performance and added value. Nippon Seiko K.K. has also developed and marketed a direct drive ""Megatorque Motor."" This motor has achieved high speed and highly accurate rotational drive of industrial robots and general industrial machines, and has been widely used as a rotary actuator in factory automation. The Megathrust Motor is a linear drive system developed as an application of the technology of the Megatorque Motor. This paper describes the features, performance, and applications of the Megathrust Motor.
Thin and Flexible Position Sensor
Authors: Shimojo Makoto ,   Industrial Products Research Institute, AIST, MITI, 1-1-4 Higashi, Tsukuba-shi, Ibaraki 305, Japan, Ishikawa Masatoshi
Published: April 2016

An artificial sensitive skin will be necessary for an intelligent robot in the near future. The sensor we propose is one step toward realizing such a sensitive skin for a robot. The sensor outputs an area of contact and its center and has the following features. (1) The area of contact and the center output are direct and do not require any computational effort. (2) As the sensor is pliable and has sheetlike form, it can be mounted on a curved surface. (3) The sensor needs only four wires. (4) The sensor is resistant to electrical noise. (5) Pressure sensitivity can be changed by modifying the pressure-conductive structure. In this paper, the working principle and the basic experiments are shown.
Optical Displacement Sensor Utilizing Contrast Variation of Projected Patterns
Authors: Yoshizawa Toru ,   Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology, 2-24-16, Nakamachi, Koganei, Tokyo, Tochigi Akiyoshi
Published: April 2016

A system has been developed and tested for the optical noncontact measurement of displacement which consists of a light source, an objective lens, a quadrant pattern and a quadrant photodiode. The principle is based on the detection of contrast variation of a projected pattern. This system uses an one-axis method and shows good characteristics, in particular that it is not influenced by the color and inclination of the surface. The dynamic range in the measurement is 150μm with vertical resolution of 1μm. The principle of the method is verified with experimental tests.
Dynamic Finite Element Analysis of the Position Control System of a Two-Link Horizontal Flexible Robot
Authors: Kojima Hiroyuki ,   Faculty of Engineering Gunma University, 1-5-1, Tenjin-cho, Kiryu-shi 376, Japan
Published: April 2016

In this paper, a finite element formulation method for a horizontal flexible robot arm with two links is first presented. In the analysis, the kinetic energy of the flexible arm is represented in brief compared with previous methods, and the matrix equation of motion in consideration of the nonlinear forces, such as the Coriolis force, is derived by the finite element method and the variational theorem. Then, the state equation of the mechatronics system consisting of the flexible arm and the position control system is obtained. Secondly, numerical simulations in the case of applying path control based on the trapezoidal velocity curve are carried out by use of the Wilson-θ method, and the effects of the bending rigidity and the shape of the trapezoidal velocity curve on the dynamic characteristics of the mechatronics system are demonstrated.
Load Estimation and Compensation Control of a Vertical Two-Link Robot
Authors: Kobayashi Yoshitake ,   Equipment Engineering Division, Seiko Epson Inc., 1010 Fujimi-cho, Suwagun, Nagano 399-02 Japan, Yamafuji Kazuo ,   Professor, Department of Mechanical and Control engineering, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182 Japan
Published: April 2016

It is widely recognized that the industrial robots used in production lines or in other engineering fields are installed with comparatively higher rated actuators and have higher rigidity than required, whereas they have too small payload capacity. To achieve high speed drive and accurate positioning under a high payload is indispensable for an advanced industrial robot. In order to increase payload/deadweight ratio without losing high speed driving and accurate control of robots, the nonlinear terms in the equations of motion relating to their load and attitude must be well compensated. The authors have developed and examined two kinds of load estimation and compensation control methods for a vertical-type manipulating robot, which are based on gravity estimation-compensation and fuzzy-set theory. It is confirmed experimentally that although both compensating methods are useful, the fuzzy theory is much better than the gravity compensation method.
Piezo Driven 3 D.O.F. Actuator for Robot Hands
Authors: Kawasaki Haruhisa ,   Kanazawa Institute of Technology, 7-1 Ohgi-ga-oka Nonoichi, Ishikawa 921,Japan, Yashima Masahito ,   University of Tohoku, Aramaki-Aza-Aoba, Sendai, Miyagi 980, Japan
Published: April 2016

Robot arms such as those used for assembling optical parts or semiconductors require high positioning accuracy. However, the most accurate robot arms at present can be positioned to an accuracy of 10μm at best. In order to realize accurate arm positioning, robots should be equipped with precise positioning actuators. This paper describes an accurate, lightweight piezo-driven actuator. The actuator functions using an inchworm movement and is driven by six piezoelectric elements. It moves precisely along the X, Y, and θ axes. A step translation of 4.2μm, step rotation of 0.52mrad, and closed-loop positional accuracy of ±0.05μm are achieved. Also discussed is the mechanical relationship between the piezoelectric elements holding the actuator and the plate.
A Proximity-Tactile Sensor to Detect Obstacles for a Cylindrical Arm
Authors: Yamada Yoji ,   Control and Information Engineering Department, Toyota Technological Institute, 2-12-1 Hisakata, Tempaku, Nagoya 468, Japan, Tsuchida Nuio , Ueda Minoru
Published: April 2016

A new-type sensor has been developed which possesses the functions of proximity and tactile sensing. The sensor is attached to the cylindrical arm surface of a manipulator in order to carry out both obstacle detection and interference checking in real time for collision avoidance control. This paper first introduces the structure of the detector part of the sensor. The means by which it detects obstacles is then discussed: change of capacitance is used for proximity sensing, while change of resistance of a pressure sensitive conductive rubber sheet is used for tactile sensing. The changes on which the characteristics of the sensor is dependent are analyzed theoretically to show, with experimental values, that they are affected by the kinds and shapes of obstacles. Finally, the detection circuit of the sensor, which is composed mainly of an LC Hartley oscillator, and the resultant characteristics of the sensor, are shown. The sensor has characteristics of having a high credibility in detecting the existence of any near-by and adjacent obstacle and making a quick response to their contacts. Furthermore, the detector part is elastic but yet sturdy and simple.
Composition of Multiple D.O.F. Robot Control System Using a Parallel Processing Microcomputer
Authors: Sugano Shigeki ,   Department of Mechanical Engineering, School of Science & Engineering Waseda University, 3-4-1, Ookubo, Shinjyu-ku Tokyo 169, Japan
Published: April 2016

In this paper, a method of composition for a multimicroprocessor robotic systems and a concrete example of a mobile anthropomorphic manipulator are discussed. There are many methods to compose multimicroprocessor systems for robots and complex mechatronic units. It is most advantageous for multiple degrees of freedom robots to introduce a concurrent system employing microcomputers designed on the premise of parallel connection, as it is easy to realize high speed and efficiency. In addition, hardware and software design as well as related debugging is very easy. A mobile anthropomorphic manipulator (WAM-9) with 7 d.o.f. in the arm, 16 d.o.f. in the hand and 3 d.o.f. in the body has been developed aimed at improving the robot dexterity. The control system of WAM-9 employs a 32-bit ""Transputer"" parallel processing microcomputer. This system includes about 20 transputers and is modeled after the human central nervous system.
Trajectory Generation of a Biped Locomotive Robot
Authors: Kurematsu Yasuo ,   Dept. of Instrumentation Engineering, Kobe University, Rokkodai 1-1, Nada, Kobe-City 657, Japan, Kitamura Shinzo
Published: April 2016

This paper studies the trajectory planning of a biped locomotive robot from the following standpoints. * Only the position and velocity of the center of gravity of robot in the forward direction for each step are given a priori. * It is supposed that the center of gravity of the robot moves like an inverted pendulum. * The neural network of Hopfield's type solves the inverse kinematics so as to obtain the joint positions in the world coordinate from the positions of the supporting toes and of the center of gravity calculated from the equation of inverted pendulum. * The method was examined by simulation studies. They showed satisfactory results in stationary walking and also the robustness for impulsive disturbances. The proposed method therefore provides a simplified version for the autonomous trajectory planning.
Fundamental Study on Hand Waving Sensors
Authors: Nishihara Kazue ,   Industrial Products Research Institute, 1-1-4, Higashi, Tsukuba-shi, Ibaraki-ken, Japan
Published: April 2016

In order to develop a dynamic man-machine interface which measures angular motions of multi-link mechanisms, a uniaxial hand wave sensor is experimented with and triaxial hand wave sensors are simulated numerically. It was confirmed that a uniaxial hand wave sensor composed of a pair of uniaxially located accelerometers directly obtains exact angular acceleration by subtracting each acceleration signal. A triaxial hand wave sensor by a six (i.e. three pairs) accelerometer method, however, contains duplex angular velocities influenced by other axes in addition to the exact angular acceleration, so it is necessary to separate those physical values by a software algorithm. Adams-Moulton's method for solving differential equations was best suited to solve this nonlinear problem. A nine accelerometer method obtains linear equations for angular accelerations readily after arithmetic calculations of the nine signals.
An Automated Control System-Designing System Assisted by Hypothetical Reasoning
Authors: Kawata Seiichi ,   Tokyo Metropolitan University, Facultechnology, Minami Ohsawa 1-1, Hachioji-shi, Tokyo, Watanabe Atsushi , Kubo Yasumaru ,   Rico, Co., Ltd., 1005 Shimo-Ogino Atsugi, Kanagawa
Published: April 2016

Most studies of the so-called CACSD (Computer-Aided Control System Design) have aimed at the development of computer systems which will assist control engineers to design effectively, making better use of sophisticated machine interfaces and the graphic environment, and do not aim at automated control design beyond assisting the user in designing control systems. The present study has developed a system, which is aimed at the automation of classical control system design, by describing the dialogue between man and computer as a computer program through techniques of knowledge engineering. In particular, hypothetical reasoning systems supported by TMS (Truth Maintenance System) are used in order to automate trial and error procedures which are problems in classical design methods. In other words, a hierarchical system has been constructed where a control system-designing expert system based on hypothetical reasoning is placed at the meta-rule layer above the procedure and tool layers. This paper illustrates the basic structure of this expert system and the utilization forms of hypothetical reasoning in control system design, and shows the actual operation of the system as seen through a design example.
A Method of Recognition-Process Classification by Thermo Distribution and EEG Frequency (P300) Analysis
Authors: Ide Hideto ,   Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan, Takahashi Shizuaki , Ohtsuka Masao ,   Kogakuin University, 1-24-1 Nishi-Shinjuku, Shinjuku-ku, Tokyo 163, Japan,   Tokyo Institute of Polytechnics University, 1583, Iiyama Aza Nishitozan Atsugi 243-02, Japan
Published: April 2016

The organizational substrate of brain activity depends upon numerous anatomical connection and pathway. Evoked brain potential called ""P300"" was discovered while monitoring brain activities of a patient counting the number of sound stimulation. However, there are some problems; it is difficult to EEG the region beyond bones. Then, we propose a new method for EEG and local regions of the brain. To determine the temperature distribution more accurately it would be required to introduce the more complicated model of heat removal effect by blood flow and the experimental results. These problem are left for the future investigation.
Application of Ultrasonic Light Modulator to Estimation of Blood Characteristics
Authors: Ohtsuka Masao ,   Tokyo Institute of Polytechnics University, 1583, Iiyama Aza Nishitozan Atsugi 243-02, Japan, Ide Hideto ,   Aoyama Gakuin University, 6-16-1 Chitosedai Setagaya-ku, Tokyo 157, Japan
Published: April 2016

We have designed an electronic correlation operator using the ULM (Ultrasonic Light Modulator). Three procedures; signal shifting, multiplications, and integration, are performed optically. The developed system was successfully used to measure plasma viscosity.
Dynamically Reconfigurable Robotic Systems - Optimal Knowledge Allocation for Cellular Robotic System (CEBOT) -
Authors: Fukuda Toshio ,   Nagoya University, Dept or Mechanical Engineering, 1, Furo-cho Chikusa-ku Nagoya 464-01, Japan, Kawauchi Yoshio , Asama Hajime ,   Toyo Engineering Corporation, 2-8-1 Akanehama, Narashino-shi, Chiba 275, Japan,   The Institute of Physical and Chemical Research, 2-1, Hirosawa, Wako 351-01, Japan
Published: April 2016

Cellular robotics (CEBOT) has been previously reported by the authors as one realization of a dynamically reconfigurable robotic system (DRRS). CEBOT is considered a very flexible system and will be applicable to a robotic system which works in various environments. When CEBOT is required to perform tasks, many cells, which can be knowledge sources, communicate with each other and then carry out the tasks automatically. So CEBOT is also a decentralized coordinated reasoning system and a distributed intelligent system. In designing a distributed intelligence system, the distribution of the communication volume among the cells becomes a central issue. For the case of CEBOT, it is best that reasoning can be carried out among each knowledge source with as little communication as possible. Therefore, each cell must have the ability to reallocate their knowledge automatically in order to reduce the amount of communication; this is called intelligent communication in this paper. In this paper, we propose a communication evaluation method based on the amount of communication information, and also describe an optimal knowledge allocation method on CEBOT (as one realization of a distributed coordinated reasoning system) by introducing a sensitivity function for knowledge allocation.
Investigation for Practical Use of Wobble Motor
Authors: Sakata Minoru ,   Omron Corporation Wadai, Tsukuba-City, Ibaraki, Japan, Hosoya Katsumi , Ohba Masatoshi
Published: April 2016

Many kinds of electrostatic motor using semiconductor process technique have been investigated recently. they succeeded in obtaining fairly ideal rotation. Since these motors are very small, it is very difficult to extract power out of them. Accordingly, we tried to fabricate the millorder wobble motor, considering the merits of electrostatic force compared to the other driving force, and investigate for practical use of wobble motor. In this paper, the results of torque-frequency characteristics tests are mainly described.
Measurement of Microscopic Displacement and Vibration of Tympanic membranes by Means of Fiber Optics
Authors: Toba Eiji ,   Faculty of Textile Science and Technology, Shinshu University, Ueda, Riku Kenchiu , Ito Kazuya , Taguchi Kiichiro ,   Faculty of Medicine, Shinshu University, Matsumoto
Published: April 2016

A sensor by means of optical fiber bundle was developed for detecting microscopic displacement and vibration in tympanic membrance. Illuminating a planer object and detecting the reflected light with the bundle, we experimentally investigated the received optical intensity against the distance from the object. As a practical application to clinical examinations, we then measured the displacements and vibrations of tympanic membranes of a dog. The main results of the experiments are as follows. 1) The reflected intensity increases rapidly with the distance in the front slope region at a small distance, then it reaches the maximum at a certain distance. As the distance increases further into the back slope region, it decreases linearly. The straight portions of such an intensity-distance characteristics enable us to obtain displacements and vibration inversely from the intensity measured. 2) The displacement resolution is 0.05μm. The sensitivity is 9.85mV/μm for the region with L=0.1-0.5mm (front slope region) and 7.97mV/μm for L=1.0-1.7mm (back slope region). 3) The frequency response of a dog tympanic membrane was successfully measured for frequency range with 1008,000Hz. We conclude that the fiber optics bundle well detects the microscopic displacements and vibrations in tympanic membranes and its application to clinical examinations are expected.
Automatic Fringe Analysis of Moiré Interferometry
Authors: Arai Yasuhiko ,   Department of Mechanical Engineering, Faculty of Engineering, Kansai University, 3-3-35, Yamate-cho, Suita, Oosaka 564, Japan, Kurata Tadao , Yokozeki Shunsuke ,   Department of Mechanical System Engineering, Faculty of Computer Science and System Engineering, Kyushu Institute of Technology, 680-4, Kawazu, lizuka, Fukuoka 820, Japan
Published: April 2016

The phase analysis of fringes by applying moiré techniques to the interferometer is well-known. Since this method is based on 2-D subtraction method in the incoherent optics, the distortion of the optical system is easily removed and a large aperture interferometer can be constructed. In this paper, a novel automatic method to detect phase of fringes was proposed by combining the conception of moiré-interferometer with a microcomputer system. The validity of the method is shown by experimental results in the phase analysis of fringes of slide-glasses. Furthermore, this system was applied to the measurement of pressure distributions in a Laval nozzle, and the measured results approximately coincided with the theoretical values. These results suggest that the system is well applicable to the fields of fluid mechanics.