bluuebunny/crossref_metadata_2025 huggingface dataset:
Zero Carrier: A Novel Eight Leg-Wheels Hybrid Stair Climbing Mobile Vehicle
Authors: Yuan Jianjun ,   Hirose and Yoneda Lab. - Dept. of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

In this paper, we first introduce the proposal of this leg-wheel hybrid stair climbing mobile vehicle, “Zero Carrier,” which consists of eight independent prismatic-joint legs, four active wheels, and four passive casters. Zero Carrier can perform safe and stable three-dimensional motion. After making a short description of its simplified and unified leg mechanism and its control system, we discuss the control method and its automatic moving sequence on stairs or obstacles using distance sensors, proximity sensors, and electric current sensors, then verify its performance based on some experiments. Its lightweight, compactness, economy, and high stability on stair climbing motion are expected to gain Zero Carrier wide use in complex environment such as hospitals, schools, and stations.
A Study on Autonomous Mobile Robot Behavior Adjustment Using a Cytokine Reaction Model
Authors: Shigeta Yosuke ,   Graduate School of Engineering, Hokkaido University, Kita 13, Nishi 8, Kita-ku, Sapporo 060-8628, Japan, Kakazu Yukinori ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-8628, Japan
Published: April 2016

We propose an Artificial Immune System (AIMS) model using the cytokine reaction to navigate an autonomous mobile robot in a fluctuating environment. AIMS extracts the biological immune system mechanism adjusting macroscopic idiotype network behavior using cytokines. Such behavior for autonomous mobile robots is defined as the topology of a set of selected actions per unit time. Topology adjustment is important, because describing all possible actions for large fluctuating environments may cause a frame problem. To design the AIMS of the action extractor and the macroscopic behavior adjuster, we study influences of environmental parameters. Basic experiments showed that the action extractor must take into account the effect of the number of Relating Strict antibodies (nRS), a feature value of the AIMS antibody and that prior knowledge about the relationship between macroscopic behavior and environmental parameters enables efficient adjustment.
Cooperative Obstacle-Avoidance Pushing Transportation of a Planar Object with One Leader and Two Follower Mobile Robots
Authors: Le Yanqun ,   Department of Mechanical System Engineering, Gunma University, Kiryu, Gunma 376-8515, Japan, Kojima Hiroyuki , Matsuda Kazuhiko ,   Fuji Heavy Industries Ltd., 3-9-6 Ozawa, Mitaka, Tokyo 181-8577, Japan
Published: April 2016

This paper proposes a cooperative obstacle-avoidance pushing transportation system using one leader and two follower mobile robots. Its usefulness and effectiveness are illustrated and confirmed numerically as well as experimentally. The cooperative obstacle-avoidance pushing transportation control consists of the obstacle configuration measurement phase by the leader mobile robot, the trajectory-planning phase and the pushing transfer control phase by the two follower mobile robots. In the obstacle configuration measurement phase, the leader mobile robot moves by use of the obstacle-avoidance vehicle control method constructed with six infrared sensors and the pattern recognition algorithm, and three waypoints for the trajectory planning of the follower mobile robots are extracted. In the trajectory-planning phase, the two follower mobile robots receive the three modified waypoints from the leader mobile robot through wireless communication systems, and the obstacle-avoidance trajectories by use of cubic spiral and straight-line segments are generated. Then, in the pushing transfer control phase, a planar object is transported with the pushing and constraining forces resulting from the passive compliance mechanisms attached to the follower mobile robots, and the shock is effectively reduced by the passive compliance mechanisms. From the numerical simulation and experimental results using autonomous mobile robots (MK-01X developed by Fuji Heavy Industries Ltd.), it is confirmed that the planar object can be successfully transported by pushing from the start configuration to the goal in spite of the existence of the obstacle.
Special Issue on Selected Papers from ROBOMEC'04 (Part 1)
Authors: Komoriya Kiyoshi ,   Co-editor, Dr. Eng., ISRI, AIST, AIST Tsukuba East, 1-2-1 Namiki, Tsukuba 305-8564, Japan, Sano Akihito ,   Program Chair of ROBOMEC'04 and Co-editor, Professor, Dr. Eng., Department of Mechanical Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
Published: April 2016

The 2004 JSME Conference on Robotics and Mechatronics (ROBOMEC'04) was held at Meijo University in Nagoya, Japan, on June 18-20, 2004, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Takeo Oomichi of Meijo University served as general chair and Prof. Sano of the Nagoya Institute of Technology as program chair. The conference, whose theme was ""Super Fabrication for a Safe, Secure Environment,"" was to help establish new industries using advanced robotics and mechatronics technologies. Organized sessions numbered 67 and papers 813 – a record for the conference. The program committee selected 91 outstanding presentations – some 10% of the total – for the special issues. Out of submitted 43 papers Part 1 (Vol.17, No.2) presents 15 papers through the regular review process. Two papers have already been published in Vol.17, No.1. We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Makoto Kaneko of Hiroshima University for organizing this special issue.
Responsive Multithreaded Processor for Distributed Real-Time Systems
Authors: Yamasaki Nobuyuki ,   Department of Information and Computer Science, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama 223-8522, Japan
Published: April 2016

The Responsive MultiThreaded (RMT) Processor is a system LSI that integrates almost all functions for parallel/distributed real-time systems including robots, intelligent rooms/buildings, ubiquitous computing systems, and amusement systems. Concretely, the RMT Processor integrates real-time processing (RMT Processing Unit), real-time communication (Responsive Link II), computer I/O peripherals (DDR SDRAM I/Fs, DMAC, PCI-X, USB2.0, IEEE1394, etc.), and control I/O peripherals (PWM generators, pulse counters, etc.). The RMT Processor, with a design rule of 0.13μm CMOS Cu 1P8M and a die size 10.0mm square, was fabricated by TSMC. The RMT Processing Unit (RMT PU) executes eight prioritized threads simultaneously using fine-grained multithreading based on priority, called the RMT architecture. Priority of real-time systems is introduced into all functional units, including cache, fetch, and execution, so the RMT PU guarantees real-time execution of prioritized threads. If resource conflicts occur at functional units, higher priority threads overtake lower priority threads. Flexible powerful vector operation units for multimedia processing are also designed. System designers use on-chip functions easily by connecting required I/Os to this chip and the designers realize distributed control by connecting several RMT Processors with their own functions via Responsive Link II.
Field Monitoring Using Sensor-Nodes with a Web Server
Authors: Fukatsu Tokihiro ,   National Agricultural Research Center, 3-1-1 Kannondai, Tsukuba, Ibaraki 305-8666, Japan, Hirafuji Masayuki
Published: April 2016

In order to realize field and environment monitoring over long periods, we propose remote monitoring that responds flexibly and dynamically to change. Field Servers are one of the small monitoring sensor-nodes having a Web server accessed via the Internet and using a wireless LAN to provide a high-speed transmission network differing from traditional sensor-nodes. Monitoring with Field Servers enables easy installation, monitoring field information, and remote operation in any field. By providing a Web server for all modules, we can treat them collectively via the Internet. To evaluate this monitoring, we managed numerous Field Servers in different countries using an agent program. Field experiments show the system is safe and effective for remote monitoring applications.
A Wearable Pointing Device Using EMG Signals
Authors: Ogino Hirotaka ,   Department of Artificial Complex Systems Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Arita Jun , Tsuji Toshio
Published: April 2016

We propose a wearable pointing device using EMG signals. By using neural networks, the system adapts to variations in EMG signals caused by individual differences of muscular features and minor shifts in electrode sites. Experimental results show that the system, which frees the operator from having to be in front of a computer, is effective as a pointing device for a wearable computer.
Mechanical Design of VmaxCarrier2: Omnidirectional Mobile Robot with Function of Step-Climbing
Authors: Tadakuma Kenjiro ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Okayama, Meguro-ku, Tokyo 152-8552, Japan, Tadakuma Riichiro , Hirose Shigeo ,   Department of Advanced Interdisciplinary Studies, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

“VmaxCarrier2” is an omnidirectional mobile robot with step-climbing capability, usable as a compact, quiet, durable transport vehicle in cluttered, cramped environments. We have developed several kinds of omnidirectional mobile robots for situations where movement must be possible in any direction, such as “VUTON [1]” and “VmaxCarrier [2, 3].” To construct an omnidirectional mobile robot with a greatly improved capability to climb steps, we developed the Omni-Disc2, a Bent Pneumatic Actuator, and a pneumatic system. These novel components were constructed into a prototype, and through evaluation experiments we have confirmed improved step climbing capability of VmaxCarrier2.
Simple Humanoid Biped Robot with PIC Microcomputer for University Education
Authors: Takahashi Yoshihiko ,   Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Kohda Masayoshi
Published: April 2016

A simple humanoid biped robot has been developed as teaching material for university students who want to fabricate intelligent robots. Affordable key components are used so that students can fabricate the whole robot themselves step by step to understand each level. Evaluation experiments were conducted by undergraduate students. The results of a questionnaire showed that over half of respondents were interested in fabricating the robot. The evaluation confirmed that the robot was suitable as teaching material.
Development of Active Links for Physical Man-Machine Interaction
Authors: Ochi Jumpei ,   Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530, Japan, Suzumori Koichi , Tanaka Junichi , Kanda Takefumi
Published: April 2016

We have been developing active links for physical man-machine interaction, targeting the presentation of 3D continuous surfaces. We developed an active tetrahedron and an active icosahedron. To design prototypes, we geometrically analyzed the active link to clarify restraints. The active tetrahedron consists of four new spherical joints and six pneumatic cylinders combined with a commercially available mechanical simulator to realize realtime man-machine interaction. The active icosahedron consists of 30 intelligent pneumatic cylinders and 12 spherical joints. The intelligent cylinder developed for the active icosahedron has a microoptical encoder. We applied the active icosahedron to virtual clay modeling, demonstrating its potential as a practical haptic interface.
Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet
Authors: Inoue Kenji ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Uesugi Reiko , Sasama Ryouhei , Arai Tatsuo , Mae Yasushi ,   Product Development Laboratories, Fujisawa Pharmaceutical Co.,Ltd.,   Department of Systems Science, School of Engineering Science, Osaka University,   Department of Human and Artificial Intelligence Systems, Faculty of Engineering, University of Fukui
Published: April 2016

We propose an integrated visual haptic display using translucent flexible sheet such as rubber to enable users to feel that they are seeing and pushing virtual soft objects directly. The display varies sheet compliance in the normal direction by changing bias tension applied to the sheet: tightly stretched sheet feels hard, and loose sheet feels soft. Hence a user can feel compliance of various virtual objects when pushing the sheet. This sheet is also used as a rear projection screen. When the user pushes the sheet with a finger, the position and deformation of the pushed point are measured by stereovision. Deformation of the virtual object is calculated by FEM, and the graphic image of the deformed object is generated. An LCD projector projects the image on the sheet from the back. As a result, the user sees the finger pushing the object image. A display using urethane rubber sheet is developed: it applies bias tension to the sheet by pulling 4 corners with 4 motors. Experiments confirm the developed display generates variable compliance and simulates compliance of a real soft object. Subjects feel that they are seeing and pushing a virtual soft object directly.
Expression of Existence Supporting Sharing Interspatial Distance-“Maai”: Development of Roving Object Integrating Partner’s Shadow and Video Image
Authors: Ishibiki Chikara ,   Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan, Nakajima Yoshiaki , Matsumoto Daisuke , Miwa Yoshiyuki ,   Graduate School of Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan
Published: April 2016

In conventional telecommunications, it is difficult to support sharing of interspatial distance (“maai” in Japanese) because conventional information technology (IT) exchanges explicit information, separated from an individual’s embodiment and unable to express the individual’s existence. To solve this problem, we propose sending a remote partner’s shadow and developed the Waseda Shadow Communication System (WSCS). Experiments using WSCS showed that mutual embodiment is extended by interaction through mutual shadows and there is possibility that co-existing space is created between the participants in remote places. We studied the expression of existence supports sharing of interspatial distance-“maai” considering that a shadow extends one’s embodiment, and propose combining a shadow, a video image, and substance. We constructed the system and made the prototype object. This would be effective as a tool telling the meaning of bodily expression with a video image etc. from the primary experiments by the developed system and the object made as an experiment.
Microfabrication and Laser Manipulation of Functional Microtool Using In-Situ Photofabrication
Authors: Maruyama Hisataka ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Arai Fumihito , Fukuda Toshio
Published: April 2016

Single cell experiments have become very important for investigating unknown cell properties. We developed a novel technique to study individual cell properties on a chip using newly developed cell manipulation by laser tweezers with the photo-crosslinkable resin, using this resin to developed functional colored, fluorescent, cell binding, rotation free, and rope shaped microtools on a chip. Colored and fluorescent microtools are for cell manipulation using inexpensive image processing. Cell binding microtools are for high-speed transport of target cells. Rotation free microtools are for attitude control and precise force measurement of cells and DNA. Rope shaped microtools are for versatile manipulation. Laser tweezers is used to position-control microtools. We used a mercury lamp for UV illumination at the local area for combining microtools and fabricated our functional microtools and manipulated cells on the microchip.
Development of a Piezoelectric Screwdriver for Recessless Screws
Authors: Kawano Hiroshi ,   NTT Corporation, NTT Communication Science Laboratories, 3-1 Wakamiya, Morinosato, Atsugi, Kanagawa 243-0198, Japan, Ando Hideyuki
Published: April 2016

Screw’s are widely used because of their ease of use and very high joint force. Screws can be tightened very easily using plus- or minus screwdrivers. However, the cross- or minus-shaped recess on the screwhead causes a lot of problems. First, screws can be too easily loosened by screwdrivers, which means it becomes very easy to dismantle parts that should not be dismantled. Second, the recess makes a machine less aesthetically pleasing. Third, many screwdrivers of different diameter must be available. Fourth, if the recess is damaged, it becomes difficult or impossible to tighten or loosen the screw. To solve these problems, we propose a recessless screw. Recessless screw provides ultimate tamper-resistance. The proposed screwdriver uses piezoelectric cells to tighten or loosen recessless screws. Piezoelectric cells vibrate ultrasonically, generating rotation and tightening torque. The principle of the proposed screwdriver is examined by experiments whose results show the high potential of the piezoelectric screwdriver.
Structural Analysis of Directional Deflection Beams
Authors: Abe Koyu ,   Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan, Tanida Yusuke , Uchiyama Masaru
Published: April 2016

Parallel leaf springs are often used for precise linear motion because of their simplicity and freedom from static friction in cases where elasticity and high deformation are required. Using a parallel beam in force sensing requires minimum deflection and limited stress concentration. We previously proposed a unidirectional force sensor based on the H-slit parallel beam structure – an extension of conventional parallel beam. In this paper, we use finite element analysis (FEA) to investigate parallel beam structures that deflect easily in one direction, and evaluate the optimum profile for the notch in the H-slit beam and applications of the parallel beam structure.
A Pixel-Parallel Algorithm for Detecting and Tracking Fast-Moving Modulated Light Signals
Authors: Kagami Shingo ,   Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Shinmeimae Masatsugu , Komuro Takashi , Watanabe Yoshihiro , Ishikawa Masatoshi
Published: April 2016

We developed a pixel-parallel image processing algorithm for detecting and tracking temporally modulated light signals for use as optical ID tags. The proposed algorithm requires no wavelength filters and obtains position information on signals at a high frame rate while decoding transmitted data. We implemented the proposed algorithm in a digital vision chip, a pixel-parallel processor embedded in a CMOS image sensor, and proved it to be operationally feasible.
Realtime FPGA-Based Vision System
Authors: Hirai Shinichi ,   Department of Robotics, Ritsumeikan University, Kusatsu, Shiga 525-8577, Japan, Zakoji Masakazu , Masubuchi Akihiro , Tsuboi Tatsuhiko ,   Seiko Epson Corp.,   Sony Corp.,   Toray Engineering Co., Ltd.
Published: April 2016

This article describes a realtime FPGA-based vision system and its experimental evaluation. We detail the developed system, implementing three vision algorithms on it – image gravity center computation, object orientation detection using radial projection, and Hough transform computation. We then execute these algorithms on the FPGA-based vision system.
Real-Time Shape Recognition Using a Pixel-Parallel Processor
Authors: Komuro Takashi ,   Department of Information Physics and Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Senjo Yoshiki , Sogen Kiyohiro , Kagami Shingo , Ishikawa Masatoshi
Published: April 2016

We propose a method to realize robust real-time shape recognition against noise and occlusion by using information of an entire image, and by performing image processing in a pixel parallel manner. The evaluation by simulation showed that the proposed method was effective for images with noise or partially occluded images. We implemented the algorithm to a vision chip which performs pixel-parallel processing and confirmed real-time operation. We also estimated the performance of the method on an ideal processor.
VLSI Architecture for Robust Speech Recognition Systems and its Implementation on a Verification Platform
Authors: Yoshizawa Shingo ,   Graduate School of Information Science and Technology, Hokkaido University, N-14 W-9 Kita-Ku, Sapporo 060-0814, Japan, Hayasaka Noboru , Wada Naoya , Miyanaga Yoshikazu
Published: April 2016

This paper presents a VLSI architecture for a robust speech recognition system that enables high-speed, low-power operation. The proposed architecture improves recognition accuracy in noisy environments and realizes short-time response by implementing parallel and pipeline processing. We demonstrate improved processing time and power consumption by evaluating circuit performance in 0.25-μm CMOS technology. We also detail a verification platform that helps users implement our hardware-based robust speech recognition system. The verification platform facilitates software conversion to hardware and promptly provides testing environments on field-programmable gate arrays.
A 2.7 Gcps and 7-Multiplexing CDMA Serial Communication Chip for Real-Time Robot Control with Multiprocessors
Authors: Shiozaki Mitsuru ,   Hiroshima University, 1-3-1 Kagamiyama, Higashihiroshima-shi, Hiroshima 739-8530, Japan, Mukai Toru , Ono Masahiro , Sasaki Mamoru , Iwata Atsushi
Published: April 2016

Intelligent robot control using multiprocessors, sensors, and actuators requires real-time flexible networks for communicating various types of real-time data, e.g., sensing data and interrupt signals. Furthermore, serial data transfer is required for implementing the network using a few wiring lines. To meet these requirements, we propose a CDMA serial communication interface utilizing novel two-step synchronization. The transmitter and receiver chip fabricated with 0.25μm digital CMOS technology achieved 2.7Gcps (chips per second) and 7-multiplex communication. The experimental interface board was developed for demonstrating flexible transfer of multiimage data by installing CDMA chips in addition to an FPGA.
Angle Detection Methods for a CMOS Smart Rotary Encoder
Authors: Nakano Kazuhiro ,   Graduate School of Electronic Science and Technology, Shizuoka University, 3-5-1 Johoku, Hamamatsu, Shizuoka 432-8011, Japan, Takahashi Toru , Kawahito Shoji ,   Research Institute of Electronics, Shizuoka University, 3-5-1 Johoku, Hamamatsu, Shizuoka 432-8011, Japan,   R&D Center, NTN Corporation, 1578 Higashi-Kaizuka, Iwata, Shizuoka 438-8510, Japan
Published: April 2016

A CMOS smart magnetic rotary encoder is useful for compact equipment such as personal robots. In the proposed encoder, the geometrical angle of a magnet is detected with digital signal processing. The output signal of our proposed system is susceptible to sensor offsets caused by sensors mismatch and misalignment between sensor chip and magnet. The accuracy of angle detection method and the robustness to rotation axis misalignment depend greatly on the angle detection algorithm. This paper presents three types of angle detection and their performance in precision and compares rotation angle misalignment tolerance. Simulation results show that detecting two zero-crossing points in the signal profile, ZC method, is the most adequate for this system.
Polynomial Linear Quadratic Gaussian and Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle
Authors: Mokhtari Abdellah ,   University of Science and Technology Oran, BP 1505 El M’naouer, 31000 Oran, Algeria, Benallegue Abdelaziz , Belaidi Abdelkader ,   Laboratoire de Robotique de Versailles, 10-12 av de l’Europe, 78140 Velizy, France,   E.N.S.E.T Oran, Algérie
Published: April 2016

A polynomial Linear quadratic Gaussian method is used to compute a controller which is mixed with feedback linearization to control altogether a non linear Quadrotor UAV. A dual criterion involving the minimization of the error and control signal variances is analyzed. The introduction of the feedback linearization is seen to be useful to transform the MIMO system into a non interacting one. This will facilitate the computation of spectral factorization where the behavior is like SISO system. An algorithm is developed in this context. A sliding mode observer is added to feedback loop to estimate the unmeasured states necessary to the inner loop controller. The convergence of output state vector is obtained despite the non-robustness exact linearization when uncertainties on system parameters and disturbances occur. However the sensitivity and complementary sensitivity are presented to confirm the performance and robustness theory and validate the efficiency of results. The weighting functions choice is analyzed through frequency domain. The whole observer-estimator-control constitutes an original suggestion of control system with minimum sensors used. The robustness study has been realized on simulation taking into account uncertainties, disturbances, with a corrupted measured state by noise, and the actuator saturation. The results obtained show the convergence in finite time of estimated values and a satisfying tracking error of desired trajectories.
Motion Design for Indoor Blimp Robot with PID Controller
Authors: Kawamura Hidenori ,   Graduate School of Information Science and Technology, Hokkaido University, Nishi 9, Kita 14, Kita-ku, Sapporo, Hokkaido 060-0814, Japan, Kadota Hisao , Yamamoto Masahito , Takaya Toshihiko , Ohuchi Azuma ,   Fujitsu Limited, Shiodome City Center, 1-5-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-7123, Japan,   Ricoh Software Inc., Nishi 4, Kita 7, Kita-ku, Sapporo, Hokkaido 060-0807, Japan
Published: April 2016

We report on motion design for indoor applications. Blimp robots have potential applications in monitoring, surveillance, overhead advertising, and entertainment. Since blimps are greatly influenced by airstreams and inertia during movement, researchers are widely studying control design focusing on basic motions such as hovering, rotation, and straight-line motion. We focused on motions attained by combining basic motions in motion design because different motions derived for applications are achievable by continuously combining basic motions. The results of experiments demonstrated that different motions are expressed as required.
Basic Design Guide Proposal on Nanometer Flying-Height Slider for Small Magnetic Disk Drives
Authors: Takeuchi Yoshinori ,   Slider Engineering Department, Hitachi Global Storage Technologies, 2880 Kozu, Odawara-shi, Kanagawa 256-8510, Japan, Tanaka Katsuyuki ,   Department of Mechanical System Engineering, School of Engineering, University of Shiga Prefecture, 2500 Hassaka-cho, Hikone-shi, Shiga 522-8533, Japan
Published: April 2016

We propose a basic design guide to design a very low spacing slider for small magnetic disk drives. The design features; (1) A multipad or side-step slider to avoid a sudden decrease in flying height due to the yaw angle of the swing actuator. (2) The slider must be as small as possible to be stable because the very low flying height makes the slider tend to vibrate unstably. (3) High spacing mode must be avoided to stabilize the negative-pressure slider used in constant density recording (CDR) suitable for high-density magnetic media.
Development of Nanometer Flying-Height Slider for Small Magnetic Disk Drives
Authors: Takeuchi Yoshinori ,   Slider Engineering Department, Hitachi Global Storage Technologies, 2880 Kozu, Odawara-shi, Kanagawa 256-8510, Japan, Tanaka Katsuyuki ,   Department of Mechanical System Engineering, School of Engineering, University of Shiga Prefecture, 2500 Hassaka-cho, Hikone-shi, Shiga 522-8533, Japan
Published: April 2016

The 90nm and 15nm flying-height sliders we designed for small magnetic disk drives are based on a basic design guide we previously proposed that covers (1) a very small slider, (2) a multipad slider or side-step slider, and (3) a negative-pressure slider use in low spacing mode alone. These experimentally prototyped sliders were confirmed to fly stably on the disk at the prescribed 90nm and 15nm heights, and have been commercialized for 3.5-inch and 2.5-inch hard disk drives. These practical results demonstrate the feasibility of the proposed basic design guide.
Damping and Transfer Control of Liquid in a Cylindrical Container Using a Wheeled Mobile Robot
Authors: Hamaguchi Masafumi ,   Department of Electronic and Control Systems Engineering, Shimane University, 1060 Nishikawatsu, Matsue, Shimane 690-8504, Japan, Taniguchi Takao
Published: April 2016

We constructed a spherical pendulum model to represent liquid sloshing in a cylindrical container due to the motions of a wheeled mobile robot (WMR). The model is used to design paths and acceleration patterns for the WMR based on the damping of sloshing. The path curvature radius and WMR acceleration pattern are determined using input shaping. A PD controller enables the WMR to trace the designed path. Maximum sloshing displacement is a constraint condition in control transfer. Simulations and experiments clarified the effectiveness of our method.
Local Clustering Organization (LCO) Solving a Large-Scale TSP
Authors: Furukawa Masashi ,   Department of Information Technology Integration, Asahikawa National College of Technology, 2-2 Shunkodai, Asahikawa 071-8142, Japan, Watanabe Michiko , Matsumura Yusuke ,   Technical Official with Ministry of Education and Science IT Promoting Room, Asahikawa National College of Technology, 2-2 Shunkodai, Asahikawa 071-8142, Japan,   Advanced Course of Production System Engineering, Asahikawa National College of Technology, 2-2 Shunkodai, Asahikawa 071-8142, Japan
Published: April 2016

The traveling salesman problem (TSP) is one of the most difficult problems that occur in different types of industrial scheduling situations. We propose a solution, involving local clustering organization (LCO), for a large-scale TSP based on the principle of the self-organizing map (SOM). Although the SOM can solve TSPs, it is not applicable to practical TSPs because the SOM references city coordinates and assigns synapses to coordinates. LCO indirectly uses the SOM principle and, instead of city coordinates, references costs between two cities, to determine the sequence of cities. We apply LCO to a large-scale TSP to determine its efficiency in numerical experiments. Results demonstrate that LCO obtains the desired solutions.
Artificial Whiskers: Structural Characterization and Implications for Adaptive Robots
Authors: Yokoi Hiroshi ,   Department of Precision Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Lungarella Max , Fend Miriam , Pfeifer Rolf ,   Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Department of Information Technology, University of Zurich, 8006 Zurich, Switzerland
Published: April 2016

Whisking is an active exploratory process during which rodents sweep their macro vibrissae (whiskers) across surfaces to detect prominent environmental features (object location, surface textures, friction, and shapes). The resulting sensory stimulation is typically rich in both spatial and temporal structure, and is used to guide a host of adaptive behaviors. This article explores whisker systems as a sensory modality in rodents and robots with respect to their potential for adaptive behavior. To further our understanding of the role played by the morphology (shape and material properties) of whiskers, we present and discuss the results of simulations of conical and cylindrical whiskers. Our results show that for a given mass a conical whisker is (a) stiffer, (b) more selective for particular modes of vibration, and (c) more robust against fractures. We also describe the design and implementation of a bio-inspired active sensing system built with whiskers from real rats glued to capacitor microphones. Each whisker is capable of detecting very weak mechanical forces applied to its tip. Different resonance frequencies are induced in the whisker according to the object the whisker touches or is touched by. Our experimental results show that the interval of elicited frequencies ranges from approximately 230Hz to 3kHz. We suggest that this range of frequencies is particularly useful for discriminating textures with different spatial frequencies and other environmental features.
Spinal Information Processing and its Application to Motor Learning Support
Authors: Otake Mihoko ,   Division of Project Coordination, University of Tokyo, 5-1-5 Kashiwa-no-ha, Kashiwa, Chiba 277-8568, Japan, Nakamura Yoshihiko ,   PRESTO program, Japan Science and Technology Agency,   Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

We designed motor learning support for acquiring motor skills involving neural mechanisms. We should be able to acquire neural information by analyzing whole-body muscle data, because the nervous system controls the musculoskeletal system and lengths and forces information is fed back to the nervous system. Motor information is calculated by mapping motion-capture data on to a musculoskeletal human model. Neural information represents the set of motor information on the muscles innervated by the arbitrary spinal cord segment. Neural information processing is proposed which calculates correlation among the neural information. We demonstrate the effectiveness of our proposal by experimental results of “kesagiri.”
Human-Like Daily Action Recognition Model
Authors: Mori Taketoshi ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Tsujioka Kousuke
Published: April 2016

This paper proposes a human-like action recognition model. When the model is implemented as a system, the system recognizes human actions similarly to human beings recognize. The recognition algorithm is constructed taking account of the following characteristics of human action recognition: simultaneous recognition, priority between actions, judgement fuzziness, multiple judge conditions for one action, and recognition ability from partial view of the body. The experiments based on a comparison with completed questionnaires demonstrated that the system recognizes human action the way like a human being does. Results ensure natural understanding of human action by a system, which leads to smooth communication between computer systems and human beings.
Modeling and Fabrication of a Mobile Inspection Microrobot Driven by a Pneumatic Bellows Actuator for Long Pipes
Authors: Ono Manabu ,   Tokyo Metropolitan College of Technology, 1-10-40 Higashi-Oi, Shinagawa-ku, Tokyo 140-0011, Japan, Hamano Toshiaki , Kato Shigeo ,   Nippon Institute of Technology, 4-1 Gakuendai, Miyashiro, Saitama 340-8501, Japan
Published: April 2016

This paper details the modeling and fabrication of an in-pipe mobile inspection microrobot able to move long distances on small diameter pipes using pneumatic and vacuum pressure switched by an electromagnetic valve for driving the microrobot. We propose that the electromagnetic valve be used near the pneumatic actuator to move the distance. A pneumatic pressure of +300kPa and vacuum pressure of -80kPa are supplied to the electromagnetic valve by two air tubes 140m long. The microrobot with four friction rings at both ends of the actuator moves 20m in 15 minutes on vinyl chloride pipe with an inner diameter of 44mm.
User-Friendly Acceleration/Deceleration Control of Electric-Powered Wheelchair
Authors: Oshima Toru ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, 5180 Kurogawa, Imizu, Toyama 939-0398, Japan, Momose Noboru
Published: April 2016

Even slight differences in the movement of an electric-powered wheelchair may greatly affect riding comfort for wheelchair users. We focused on upper body tilt during acceleration and deceleration, a factor determining riding comfort and propose controlling tilt to control a user-friendly electric-powered wheelchair. We modeled the wheelchair and designed state variable feedback control with the upper body tilt angle and angular velocity of the upper body used as a state variable and an observer and an optimal regulator using Kalman filter for the presumption of the state variable. We assumed the state variable by the observer and state variable feedback control validated by the optimal regulator through computer simulation. We applied this control to the electric-powered wheelchair designed on a trial basis and indicated that upper body tilt could be suppressed by state variable feedback control.
Omnidirectional Static Walking of a Quadruped Robot on a Slope
Authors: Zhang Lei ,   Department of Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi-Shi 316-8511, Japan, Ma Shugen , Honda Yoshinori , Inoue Kousuke ,   COE Research Institute, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu-Shi 525-8577, Japan,   Computron Corporation, 1-11-2 Tonnya-Cho, Maebashi-Shi 371-0855, Japan
Published: April 2016

We propose successive gait transition with arbitrary body posture to enable a quadruped robot to walk statically and omnidirectionally on a slope. Body posture is determined by rotation around 3 axes, roll, pitch, and yaw. Successive gait transition with a minimum number of steps on a slope is realizable using common foot position before and after gait transition. The time required to transit between gaits is reduced by carefully designing foot position in crawling and rotating while limiting foot reachable region on a slope. The robot thus walks into any direction with arbitrary body postures. In this study, we also verify a tradeoff relation between motion speed and body posture. Computer simulation and experiments verified the feasibility of our proposed method and the stability of gait transition based on static stability margin.
Identification and State Evaluation Based on Frontal Views of Walkers
Authors: Nozawa Akio ,   Department of Electronics and Electric Engineering, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Mizuno Tota , Uchida Masafumi , Tanaka Hisaya , Ide Hideto ,   Department of Electronic Engineering, The University of Electro-communications, 1-5-1 Chofu-Ga-Oka, Chofu, Tokyo 182-8585, Japan,   Kogakuin University, 1-24-2 Nishi-shinjuku, Shinjuku-ku, Tokyo 163-8677, Japan
Published: April 2016

Walking, a basic human movement, is said to reflect an individual’s mental and physical state as well as individual characteristics. We discuss identifying walking gaits and evaluating mental and physical states using lower-limb trajectories extracted from frontal videos of walkers. We studied 3 mental and physical states - “normal,” “hurried,” and “tired” - using neural networks (NNs) were used for individual identification and state evaluation. From trajectories of the toes sampled from videos, we extracted static features (quantization) and dynamic features (displacement per unit time) and used these for teaching NNs. Experiments showed that trajectories showed features typical of individual walkers and their mental and physical states, with individual identification averaging 73% and evaluation 86.3%.
Feed Rate Control Using Fuzzy Reasoning for a Mold Polishing Robot
Authors: Nagata Fusaomi ,   Fukuoka Industrial Technology Center, 3-6-1 Norimatsu, Yahatanishi, Kitakyushu, Fukuoka 807-0831, Japan, Watanabe Keigo ,   Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan
Published: April 2016

Reducing time cost of polishing process is a major issue in metallic mold manufacturing. The feed rate, i.e., tangential velocity, of a polishing robot is generally limited to maintain stable contact with workpieces having a large curvature. We propose a feed rate generator using fuzzy reasoning for polishing robots that regulates the feed rate along free-formed surfaces appropriately. The smaller the curvature of the model designed by a 3D CAD, the larger the distance between two adjacent cutter location data (CL data) steps generated by the main processor of CAM. Therefore, given curvature results in acquiring the distance between two adjacent steps of CL data. We also propose a hybrid position/force controller with the feed rate generator enabling the robot to conduct polishing efficiently. Experiments show promising results.
A Sensitivity Variable Tactile Sensor with Self-Tuner
Authors: Kouno Susumu ,   Hiroshima R&D Center, Mitsubishi Heavy Industries, ltd., 4-6-22 Kanon-shimmachi, Nishi-ku, Hiroshima 733-8553, Japan
Published: April 2016

We propose an approach for changing tactile sensor gain based on how much force is imparted to the sensor, so the sensor maintains a wide dynamic range. Assuming a strain-gauge-based tactile sensor, we propose a DC current approach with stability guaranteed. We provide two theorems - saturation condition giving gain leading to saturation, and stability condition giving gain leading to instability. We demonstrate experimental results and simulation results.
Evolutionary Learning Acquisition of Optimal Joint Angle Trajectories of Flexible Robot Arm
Authors: Kojima Hiroyuki ,   Department of Mechanical System Engineering, Gunma University, 1-5-1 Tenjincho, Kiryu, Gunma 376-8515, Japan, Hiruma Takahiro
Published: April 2016

This paper proposes the evolutionary learning acquisition method of the optimal joint angle trajectories of a flexible robot arm using the genetic algorithm is proposed, and the effects of the optimal joint angle trajectories obtained by the present evolutionary learning acquisition method on the residual vibration reduction are ascertained numerically and experimentally. In the construction of the evolutionary learning acquisition algorithm of the optimal joint angle trajectories, the joint angular velocity curves are depicted with fifth-order polynomials, and, by considering the boundary and constraint conditions, they are expressed by four parameters. Then, the residual vibrations of the flexible robot arm are expressed as a function of the chromosome consisting of four parameters, namely, four genes, and a fitness function of the genetic algorithm for the residual vibration reduction is defined. Furthermore, the numerical calculations have been carried out, and it is confirmed that the residual vibrations almost disappear. Moreover, the experimental results are demonstrated, and the usefulness of the present evolutionary learning acquisition method of the optimal joint angle trajectories of the flexible robot arm using the genetic algorithm is ascertained experimentally.
Special Issue on Selected Papers from ROBOMEC’05 (Part 1)
Authors: Komoriya Kiyoshi ,   Co-editor, Dr. Eng., Intelligent Systems Research Institute, AIST, Tsukuba East, 1-2-1 Namiki, Tsukuba, Ibaraki 305-8564, Japan, Tsubouchi Takashi ,   Program Chair of ROBOMEC’05 and Co-editor, Professor, Dr. Eng., Dept. of Information Interaction Technologies, Graduate School of System and Information Engineering, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 305-8573, Japan
Published: April 2016

The 2005 JSME Conference on Robotics and Mechatronics (ROBOMEC’05) was held at Kobe International Exhibition Hall, Kobe, Japan, on June 9-11, 2005, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Tadokoro of Kobe University at that time served as general chair and Prof. Tsubouchi of Tsukuba University as program chair. The conference, whose theme was “Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives,” was to help establish new industries using advanced robotics and mechatronics technologies. Organized sessions numbered 64 and papers 880, again a record for the conference. This special issue presents 13 papers from the conference culled from 110 outstanding presentations – some 12% of the total – which were further narrowed to 47 before final selection for Part 1 (Vol.18, No.2). We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Makoto Kaneko of Hiroshima University for organizing this special issue.
Development of a Tendon-Driven System Using a Pneumatic Balloon
Authors: Saga Norihiko ,   Dept. of Machine Intelligence and System Engineering, Akita Prefectural University, 84-4 Tsuchiya, Yurihonjo, Akita 015-0055, Japan, Nagase Jun-ya , Kondo Yasumasa
Published: April 2016

Due to the dwindling birthrate and population aging and the resulting shortage in the labor pool of young workers in Japan today, there are increased demands for the use of robots in nursing care and welfare services. Safety is an absolute requirement in robot hands for use in environments in which they coexist with humans. Targeting a light-weight robot hand soft as a human hand, we developed a tendon-driven system similar to the human hand using a pneumatic balloon as a soft actuator. We report on the design, basic configuration, and characteristics of the actuator, and study its biomechanical characteristics for comparison with the muscles, thus demonstrating its effectiveness as an actuator for robot hands for use in welfare services and nursing care.
Atomization and Stirring of Droplets Using Surface Acoustic Wave for Integrated Droplet Manipulation
Authors: Yamamoto Akio ,   University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113-8656, Japan, Nishimura Masahiro , Ooishi Yutaka , Tsukada Nobuhiro , Higuchi Toshiro ,   Hitachi, ltd., 1070 Ichige, Hitachinaka, Ibaraki 312-8506, Japan
Published: April 2016

New droplet manipulation, including droplet atomization, stirring, and emulsification, using a surface acoustic wave device is done directly on an interdigital transducer for surface acoustic wave excitation. Using standing waves excited on the transducer, this manipulation directly atomizes, stirs, or even emulsifies droplets, making it suitable for droplet-based micro total analysis systems (μTAS). We studied the features of droplet atomization and emulsification using a prototype surface acoustic wave device, and integrated manipulation on a single wafer together with transport technology to demonstrate integrated droplet manipulation. The demonstration using the integrated device demonstrates three droplet operations on one device, conveyance, merging, and atomization.