bluuebunny/crossref_metadata_2025 huggingface dataset:
Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator
Authors: Onodera Takayuki ,   Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan, Suzuki Eiji , Ding Ming , Takemura Hiroshi , Mizoguchi Hiroshi ,   RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, Advanced Science Institute, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan
Published: April 2016

The number of physically disabled people in need of rehabilitation is increasing. Unfortunately, there is a shortage of physical therapists specializing in such rehabilitation. This has increased the demand for rehabilitation assist devices that can lessen the burden of physical therapists. In this study, the authors develop a device that can assist in the rehabilitation of the ankle joint by employing a Stewart-platform (SP)-type parallel-link mechanism. With the SP-type parallel-link mechanism, it is possible to measure and control six degrees-of-freedom (DOFs) of ankle-foot movement during rehabilitation. Because the device enables the measurements of the ankle and foot, it is possible to calculate the instantaneous center of the ankle joint. In previous studies, the authors proposed methods to calculate and control the posture of the ankle and foot by an SP-type parallel-link mechanism and verified their accuracy. In this paper, the authors propose a method for force control using the device and also verify its accuracy. Using this device, the force acting on the ankle-foot can be controlled by six air cylinders. The force produced by a single air cylinder is determined by controlling the pressures in the extension and retraction directions. The accuracy of the force control method is verified for a single air cylinder and for the assist device when all six air cylinders are engaged. Results show that the accuracy of the single air cylinder has a mean square error of 0.24 N or less, while those for force control of the entire device are 4.2 N or less for parallel translation and 3.2 Nm or less for rotation. This demonstrates a satisfactory accuracy. To incorporate rehabilitation assistance by means of stiffness or viscous damping in the future, the authors also propose methods to control the coefficients of stiffness and viscous damping of the air cylinder and verify their accuracy. The mean square errors for the accuracies in controlling the coefficients of stiffness and viscous damping are 3.4 N/m and 1.4 Ns/m, respectively, thus verifying the validity of the proposed methods.
Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators
Authors: Sato Motonobu ,   Faculty of System Engineering, Wakayama University, 930 Sakaedani, Wakayama-shi, Wakayama 640-8510, Japan, Yagi Eiichi , Sano Kazuo ,   Wakayama National College of Technology, 77 Nojima, Nadacho, Gobo-shi, Wakayama 644-0023, Japan
Published: April 2016

This paper describes a method for power assist control that calculates the joint torques necessary to support an assist suit wearer’s walking. We approximate the body using a multijoint rigid link model. Joint support torques are calculated based on this model using the hip, knee and ankle angles of the wearer. Results of experiments show the effectiveness of proposed control method.
A Proposal for a Model of Change of Maximum Isometric Muscle Force in Step-Change Workload
Authors: Ando Shota ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan, Tanaka Takayuki , Nara Hiroyuki , Takizawa Kazuki ,   High Education Promotion Agency High Education Research Section, Hokkaido University, Kita 17, Nishi 8, Kita-ku, Sapporo, Hokkaido 060-0816, Japan
Published: April 2016

In this study, we modeled the change in maximum muscle force when a skeletal muscle is subjected to a periodic workload. The model represents an increase or decrease in the maximum muscle force exerted. It was created to evaluate the effects of our power-assist technologies on skeletal muscle strength, and we think that it can be applied to sports science. The model equation is constituted by a formula of step responses of a first-order delay system. The model input has the following four constants: the target muscle impulse when exerting force during a day in daily life, the force impulse exerted in 1 day during a period in which the target muscle was under study, the target musclemaximal strength, and the subject-specific time constant that represents the ease of change in muscle force. The output is the change in maximal strength. We confirmed the validity of the model by fitting the model to measurements obtained from experimental subjects. For this, we applied a special filter to remove noise from muscle force measurements.
Parallel Bicycles and Their Applications
Authors: Feng Maria Q. ,   Columbia University in the City of New York, 500 West 120th Street, New York, NY 10027, USA, Kawamura Takashi , Tanaka Takayuki ,   Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan,   Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan
Published: April 2016

This paper describes the successful research and development (R&D) of parallel bicycles (PB robots) including six prototypes created by the authors and their applications to personal vehicles. The first, developed in 1986, consists of a pair of coaxial wheels and an inverted pendulum on the wheel axis. Since then, the authors have carried out fundamental and practical studies on static/dynamic posture stabilization control, dynamic movement, and slope and stair ascent/descent. The PB robot control mechanism has recently been applied to educational robots, mobile humanoid robots, and personal vehicles. This paper also discusses personal vehicles commercialized as an application of the PB robots.
Reconstruction of Human Skills by Using PCA and Transferring them to a Robot
Authors: Takeuchi Masahiro ,   Akashi National College of Technology, 679-3 Nishioka, Uozumi-cho, Skashi-shi, Hyogo 674-8501, Japan, Shimodaira Jun , Amaoka Yuki , Hamatani Shinsuke , Hirai Hiroaki , Miyazaki Fumio ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka-shi, Osaka 560-8531, Japan
Published: April 2016

This paper discusses human skills enabling rapid adaptation to a changing environment, e.g., when a human table tennis player hits an incoming ball, and describes how to transfer these skills to a robot. Human skills are classified into motor and cognitive. Motor skills are functions involving precise limb movement with the intent to perform a specific act, i.e., hitting a ball. Cognitive skills are functions involving meaningful responses to external stimuli. We extract these skills from observing human movement using principal component analysis and generalize these skills as a schema for a generalized motor program. We also describe table tennis matches between a human opponent and a robot to which these skills have been transferred.
Myoelectric Prosthetic Hand with High Grasping Force
Authors: Kawasaki Haruhisa ,   Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Mouri Tetsuya
Published: April 2016

This paper presents a novel myoelectric prosthetic hand with a strong grasp that contributes to weight saving. The hand has 2 degrees of freedom (DOF) for wrist motion and 6 DOF for motion by the four fingers and thumb. The hand’s appearance and size are similar to those of a Japanese woman’s hand. The hand weighs less than 300 g and its grasp exceeds 20 N.
A Simple, Natural and Effective Framework of Nonlinear Systems Control and its Application to Aerial Robots
Authors: Tanaka Motoyasu ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Ohtake Hiroshi , Tanaka Kazuo ,   Kyushu Institute of Technology, 680-4 Kawatsu, Izuka, Fukuoka 820-8502, Japan
Published: April 2016

This paper presents a simple, natural and effective framework of nonlinear systems control and its application to aerial robots. First, we present a framework of Takagi-Sugeno fuzzy model-based control and also discuss its feature. Next, a number of design problems for the control framework are formulated as numerically feasibility problems of representing in terms of linear matrix inequalities. Finally, we provide two applications of the control framework to aerial robots. The control results of aerial robots show the utility of the control framework.
Three Tiered Self-Localization of Two Position Estimation Using Three Dimensional Environment Map and Gyro-Odometry
Authors: Okawa Kazuya ,   Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
Published: April 2016

As in the Tsukuba Challenge, any robot that autonomously moves around outdoors must be capable of accurate self-localization. Among many existing methods for robot self-localization, the most widely used is for the robot to estimate its position by comparing it with prior map data actually acquired using its sensor while it moves around. Although we use such a self-localization method in this study, this paper proposes a new method to improve accuracy in robot self-localization. In environments with few detected objects, a lack of acquired data very likely will lead to a failure in map matching and to erroneous robot self-localization. Therefore, a method for robot self-localization that uses three-dimensional environment maps and gyro-odometry depending on the situation is proposed. Moreover, the effectiveness of the proposed method is confirmed by using data from the 2013 Tsukuba Challenge course.
Swimming Humanoid Robot “SWUMANOID” as an Experimental Platform for Research of Human Swimming
Authors: Chung Changhyun ,   Department of Mechanical and Environmental Informatics, Tokyo Institute of Technology, Japan, Nakashima Motomu ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan
Published: April 2016

The objective of this study was to develop a humanoid robot for research about human swimming. In order to replace a swimmer as a subject, a humanoid robot “SWUMANOID” was developed imitating the details of a human, such as appearance and body properties. To reproduce the swimming motion based on that of an actual swimmer, a joint imitating the human’s scapular retraction was installed and the methodology to realize the swimming motion with that joint was established. To validate the performance of the robot, two experiments were conducted. The crawl stroke motion was examined in the fixed state and the swimming performance was validated by a free swimming experiment.
Asparagus Harvesting Robot
Authors: Irie Naoki ,   Industrial Technology Center of Nagasaki, 2-1303-8 Ikeda, Omura, Nagasaki 856-0026, Japan, Taguchi Nobuyoshi
Published: April 2016

To replace manual labor, we developed an automated asparagus harvesting robot consisting of a proposed end effector, a robotic arm, a laser range sensor and a mobile cart for navigating asparagus furrows. The major feature of our robot are that it harvests asparagus speedily and works at whatever hours it is needed.
Development of Power-Assist Machine Using Linkage Mechanism
Authors: Inoue Hiroyuki ,   Department of Mechanical Engineering, Tsuyama National College of Technology, 624-1 Numa, Tsuyama-shi, Okayama 708-8509, Japan
Published: April 2016

Walking assist machine
 As Japan has become an increasingly aging society, various power-assist equipment have been developed, for instance, a robot suit called HAL used to assist the elderly in walking when their muscles have become weakened and a power assisting suit for farmers to reduce their burdens in agricultural work. The main problem in developing such power-assist equipment is light weight and low price. We have developed the power-assist machine that uses only one actuator for assisting the movement of multiple joints. 
Robotic Fish
Authors: Takada Yogo ,   Department of Mechanical and Physical Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi-ku, Osaka 558-8585, Japan, Koyama Keisuke , Usami Takahiro
Published: April 2016

Structure of BREAM

 Based on our robotic fish studies since 2003, this paper introduces a FPGA offline control underwater searcher (FOCUS) and a bream robot equipped with advanced mechanism (BREAM). The performance of the first FOCUS prototype, built in 2011, is now being improved. FOCUS has 2 cameras and fieldprogrammable gate arrays (FPGAs) with high arithmetic processing capabilities. The appearance of the FOCUS is so cute. The two FOCUS types now available are an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV). BREAM, in contrast, is an entertainment robot prototype designed for Asutamuland Tokushima exhibition. BREAM has four joints based on analytical computational fluid dynamics (CFD) results showing that robotic fish with multiple joints achieve better propulsion performance than that with single joint. Two of the four joints are used for propulsion and two are used for turning the prototype. RC-FOCUS is also exhibited at Asutamuland Tokushima, together with BREAM. 
Development of Energy Management of Hybrid Electric Vehicle for Improving Fuel Consumption via Sequential Approximate Optimization
Authors: Hagura Ryuhei ,   Suzuki Motor Corporation, 300 Takatsuka-cho, Minami-ku, Hamamatsu City 432-8611, Japan, Kitayama Satoshi ,   Kanazawa University, Kakuma-machi, Kanazawa 920-1192, Japan
Published: April 2016

Overview of benchmark model
 This paper proposes a practical method for improving fuel consumption of hybrid electric vehicle (HEV) using a sequential approximate optimization. In particular, a new energy management is developed with four design variables. The numerical simulation of HEV is so expensive that a sequential approximate optimization using the radial basis function network is adopted. Numerical result showed that the proposed energy management significantly improves the fuel consumption of HEV. 
Fluid-Structure Interaction Analysis of a Soft Robotic Fish Using Piezoelectric Fiber Composite
Authors: Zhao Wenjing ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Ming Aiguo , Shimojo Makoto , Inoue Yohei , Maekawa Hiroshi
Published: April 2016

Model of soft robotic fish
 Designing a high-performance soft robotic fish requires considering the interaction between the flexible robot structure and surrounding fluid. This paper introduces fluid-structure interaction (FSI) analysis used to enhance the hydrodynamic performance of soft robotic fish using piezoelectric fiber composite (PFC) as the propulsion actuator. The basic FSI analysis scheme for soft robotic fish is presented, then the numerical model of the actuator, robot structure, and surrounding fluid are described based on the FSI analysis scheme. The FSI analysis of the soft robotic fish is performed through these numerical models. To evaluate the effectiveness of FSI analysis, coupling simulation and experimental results are compared. We found that the calculated results of propulsive force and deformation displacement were similar to those for experiments. These results suggest that FSI analysis is useful and is applicable to evaluating propulsion characteristics of the soft robotic fish to improve performance. 
Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion
Authors: Omori Hayato ,   Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Kitamoto Hiroyuki , Mizushina Asuka , Nakamura Taro , Kubota Takashi ,   Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara-shi, Kanagawa 252-5210, Japan
Published: April 2016

Subsurface explorer robot
 We have developed a small, unmanned explorer robot to investigate the undergrounds of satellites and planets. This paper describes the developed excavation robot, which is based on earthworm locomotion. The robot demonstrates excavation activity at 1/6 of its own weight, mimicking the light gravity conditions of the Moon. We conclude that the robot is suitable for future excavation missions. 
Manzai Robots: Entertainment Robots Based on Auto-Created Manzai Scripts from Web News Articles
Authors: Umetani Tomohiro ,   Department of Intelligence and Informatics, Konan University, 8-9-1 Okamoto, Higashinada, Kobe 658-8501, Japan, Mashimo Ryo , Nadamoto Akiyo , Kitamura Tatsuya , Nakayama Hirotaka
Published: April 2016

Manzai robots
 This paper introduces manzai robots – entertainment robots that automatically create manzai scripts from Internet articles based on keywords given by the audiences and perform manzai based on created manzai scripts. The robot consists two robots connected to the Internet that automatically create manzai scripts from Web news articles in response to a user’s keywords using data mining and manzai techniques. After manzai scripts are created, the two robots perform manzai using these scripts. This paper reviews the robot system configuration, manzai script creation, and robot-based management. 
Communication Method of Time Synchronization and Strength Using Haptic Interface
Authors: Asakawa Takashi ,   Kinki University Technical College, 7-1 Kasugaoka, Nabari, Mie 518-0459, Japan, Kawarazaki Noriyuki ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi-Shi, Kanagawa 243-0292, Japan
Published: April 2016

Electric music baton system
 We are developing an electronic baton system as an alternative haptic interface to facilitate music lessons for the visually impaired. This system incorporates an acceleration sensor in the baton, transmits data to a player via radio signals, and acts as a haptic interface by generating vibrations. In this paper, we experimentally evaluate responses to the stimulus of the visual and the tactile senses in order to verify that a haptic interface can substitute for vision in scenarios that involve real-time tasks, such as music lessons. In the first experiment, we verify that clue motions are important for both the visual and a tactile senses. Next, we test the new method of communicating strength. Thismethod uses not vibration strength but oscillating time for vibrations of the haptic device. The results of the experiment confirm that the technique is effective. 
Real-Time Image Mosaicing System Using a High-Frame-Rate Video Sequence
Authors: Gu Qingyi ,   Department of System Cybernetics, Hiroshima University, Raut Sushil , Okumura Ken-ichi , Aoyama Tadayoshi , Takaki Takeshi , Ishii Idaku
Published: April 2016

Synthesized panoramic images
 In this paper, we propose a real-time image mosaicing system that uses a high-frame-rate video sequence. Our proposed system can mosaic 512 × 512 color images captured at 500 fps as a single synthesized panoramic image in real time by stitching the images based on their estimated frame-to-frame changes in displacement and orientation. In the system, feature point extraction is accelerated by implementing a parallel processing circuit module for Harris corner detection, and hundreds of selected feature points in the current frame can be simultaneously corresponded with those in their neighbor ranges in the previous frame, assuming that frame-to-frame image displacement becomes smaller in high-speed vision. The efficacy of our system for improved feature-based real-time image mosaicing at 500 fps was verified by implementing it on a field-programmable gate array (FPGA)-based high-speed vision platform and conducting several experiments: (1) capturing an indoor scene using a camera mounted on a fast-moving two-degrees-of-freedom active vision, (2) capturing an outdoor scene using a hand-held camera that was rapidly moved in a periodic fashion by hand. 
Self-Generation of Reward by Moderate-Based Index for Senor Inputsvspace
Authors: Kurashige Kentarou ,   Department of Information and Electronic Engineering, Muroran Institute of Technology, Nikaido Kaoru
Published: April 2016

Moderate-based reward generator
 In conventional reinforcement learning, a reward function influences the learning results, and therefore, the reward function is very important. To design this function considering a task, knowledge of reinforcement learning is required. In addition to this, a reward function must be designed for each task. These requirements make the design of a reward function unfeasible. We focus on this problem and aim at realizing a method to generate a reward without the design of a special reward function. In this paper, we propose a universal evaluation for sensor inputs, which is independent of a task and is modeled on the basis of the indicator of pleasure and pain in biological organisms. This evaluation estimates the trend of sensor inputs based on the ease of input prediction. Instead of the design of a reward function, our approach assists a human being in learning how to interact with an agent and teaching it his/her demand. We recruited a research participant and attempted to solve the path planning problem. The results show that a participant can teach an agent his/her demand by interacting with the agent and the agent can generate an adaptive route by interacting with the participant and the environment. 
Unobtrusive Tremor Detection While Gesture Controlling a Robotic Arm
Authors: Güttler Jörg ,   Chair of Building Realization and Robotics, Technische Universität München, Germany, Bassily Dany , Georgoulas Christos , Linner Thomas , Bock Thomas
Published: April 2016

Gesture based validation
 A light weight robotic arm (Jaco) has been interfaced with a novel gesture detection sensor (Leap Motion Controller), substituting complicated conventional input devices, i.e., joysticks and pads. Due to the enhanced precision and high throughput capabilities of the Leap Motion Controller, the unobtrusive measurement of physiological tremor can be extracted. An algorithm was developed to constantly detect and indicate potential user hand tremor patterns in real-time. Additionally a calibration algorithm was developed to allow an optimum mapping between the user hand movement, tracked by the Leap Motion Controller, and the Jaco arm, by filtering unwanted oscillations, allowing for a more natural human-computer interaction. 
Link Type Arm Support Equipment
Authors: Miyawaki Kazuto ,   Department of Mechanical Engineering, National Institute of Technology, Akita College
Published: April 2016

Link type arm support equipment
 In anticipation of the aging of society, support equipment is taking an important role in promoting the independence of elderly and disabled citizens, and welfare and other assist devices have been developed to enhance their quality of life (QOL). This development has proceeded based on trial and error, however, dependent on the experiences and attitudes of designer engineers rather than on users. This is because of a lack of information, e.g., on the requirements of the elderly and indices for better evaluating their physical needs. Few such devices currently incorporate operational mechanisms suitable to the physical functions of the elderly and disabled or that consider using their remaining capabilities. An important element in developing support equipment is the concept of power assist – letting users exploit their remaining capabilities while using mechanical means to supplement abilities they may lack. The effects of different kinds of support also are not precisely known. To clarify this, the author developed a link arm to support lacking functions based on data on the movements of unimpaired persons. 
Rehabilitation Systems Based on Visualization Techniques: A Review
Authors: Tsuji Toshiaki ,   Saitama University, Ogata Kunihiro
Published: April 2016

Many efforts are being undertaken in rehabilitation care to improve functions by introducing assist devices. Many such devices make learning more effective by providing the user with augmented feedback on sensor information. Of the several modalities used to achieve this effect, this paper focuses on technological trends in rehabilitation assist devices that use visual feedback. Specifically, the paper deals mainly with devices that use visualization technology to process and display sensor device information.
A Robust Appearance Model and Similarity Measure for Image Matching
Authors: Liang Dong ,   College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Kaneko Shun’	ichi , Satoh Yutaka ,   Graduate School of Information Science and Technology, Hokkaido University,   National Institute of Advanced Industrial Science and Technology (AIST)
Published: April 2016

CP3 histogram
 An ideal similarity measure for matching image should be discriminative, producing a conspicuous correlation peak and suppressing false local maxima. Image matching tasks in practice, however, often involves complex conditions, such as blurring and fluctuating illumination. These may cause the similarity measure to not be discriminative enough. We utilized a robust scene modeling method to model the appearance of an image and propose an associated similarity measure for image matching. The proposed method utilizes a spatio-temporal learning stage to select a group of supporting pixels for each target pixel, then builds a differential statistic model of them to describe the uniqueness of the spatial structure and to provide illumination invariance for robust matching. We utilized this method for image matching in several challenging environments. Experimental results show that the proposed similarity measure produces explicit correlation peaks to achieve robust image matching. 
Development of Automatic Steering System by Modeling Human Behavior Based on Optical Flow
Authors: Okafuji Yuki ,   Department of Mechanical Engineering, Kobe University, Fukao Takanori , Inou Hiroshi ,   Denso Corporation
Published: April 2016

  Manipulated optical flow field
 Recently, various driving support systems have been developed to improve safety. However, because drivers occasionally feel that something is wrong, systems need to be designed based on information that drivers perceive. Therefore, we focused on optical flow, which is one of the visual information used by humans to improve driving feel. Humans are said to perceive the direction of self-motion from optical flow and also utilize it during driving. Applying the optical flow model to automatic steering systems, a human-oriented system might be able to be developed. In this paper, we derive the focus of expansion (FOE) in the frame of a camera that is the direction of self-motion in optical flow and propose a nonlinear control method based on the FOE. The effectiveness of the proposed method was verified through a vehicle simulation, and the results showed that the proposed method simulates human behavior. Based on these results, this approach may serve as a foundation of human-oriented system designs. 
Stable Position and Pose Estimation of Industrial Parts Using Evaluation of Observability of 3D Vector Pairs
Authors: Akizuki Shuichi ,   Graduate School of Information Science and Technology, Chukyo University, Hashimoto Manabu
Published: April 2016

  Recognition results
 This paper introduces a stable 3D object detection method that can be applied to complicated scenes consisting of randomly stacked industrial parts. The proposed method uses a 3D vector pair that consists of paired 3D vectors with a shared starting point. By considering the observability of vector pairs, the proposed method has achieved high recognition performance. The observability factor of the vector pair is calculated by simulating the visible state of the vector pair from various viewpoints. By integrating the observability factor and the distinctiveness factor proposed in our previous work, a few vector pairs that are effective for recognition are automatically extracted from an object model, and then used for the matching process. Experiments have confirmed that the proposed method improves the 88.5% recognition success rate of previous state-of-the-art methods to 93.1%. The processing time of the proposed method is fast enough for robotic bin-picking. 
Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot
Authors: Ueno Kentaro ,   Graduate School of Science and Engineering, Hosei University, Kinoshita Tetsuo , Kobayashi Kazuyuki , Watanabe Kajiro
Published: April 2016

Proposed path-planning result
 In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.
Special Issue on Real World Robot Challenge in Tsukuba – Autonomous Technology for Useful Mobile Robot –
Authors: Takita Yoshihiro , Yuta Shin’ichi , Tsubouchi Takashi , Ozaki Koichi
Published: April 2016

The first Tsukuba Challenge started in 2007 as a technological challenge for autonomous mobile robots moving around on city walkways. A task was then added involving the search for certain persons. In these and other ways, the challenge provides a test field for developing positive relationships between mobile robots and human beings. To make progress an autonomous robotic research, this special issue details and clarifies technological problems and solutions found by participants in the challenge. We sincerely thank the authors and reviewers for this chance to work with them in these important areas.
Visual Navigation of a Wheeled Mobile Robot Using Front Image in Semi-Structured Environment
Authors: Kurashiki Keita ,   Graduate School of Engineering, Osaka University, Aguilar Mareus , Soontornvanichkit Sakon
Published: April 2016

  Mobile robot with a stereo camera
 Autonomous mobile robots has been an active research recently. In Japan, the Tsukuba Challenge is held annually since 2007 in order to realize autonomous mobile robots that coexist with human beings safely in society. Through technological incentives of such effort, laser range finder (LRF) based navigation has rapidly improved. A technical issue of these techniques is the reduction of the prior information because most of them require precise 3D model of the environment, that is poor in both maintainability and scalability. On the other hand, in spite of intensive studies on vision based navigation using cameras, no robot in the Challenge could achieve full camera navigation. In this paper, an image based control law to follow the road boundary is proposed. This method is a part of the topological navigation to reduce prior information and enhance scalability of the map. As the controller is designed based on the interaction model of the robot motion and image feature in the front image, the method is robust to the camera calibration error. The proposed controller is tested through several simulations and indoor/outdoor experiments to verify its performance and robustness. Finally, our results in Tsukuba Challenge 2014 using the proposed controller is presented. 
Accurate Localization for Making Maps to Mobile Robots Using Odometry and GPS Without Scan-Matching
Authors: Yokozuka Masashi ,   National Institute of Advanced Industrial Science and Technology (AIST), Matsumoto Osamu
Published: April 2016

  Comparison of mapping results
 This paper studies an accurate localization method to make maps for mobile robots using odometry and a global positioning system (GPS) without scan matching. We investigate requirements for GPS accuracy in map-making. To generate accurate maps, SLAM techniques such as scan matching are used to obtain accurate positions. Scan matching is unstable, however, in complex environments and has a high computation cost. To avoid these problems, we studied accurate localization without scan matching. Loop closing is an important property in generating consistent maps. Inconsistencies in maps prevent correct routes to destinations from being generated. Basically, our method adds scan data to a map along a trajectory given by odometry. Odometry accumulates errors due, e.g., to wheel slippage or wheel diameter variations. To remove this accumulated error, we used bundle adjustment, introducing two types of processing. The first is a simple manual input moving a robot to a same position at start and end. This is equal that a robot returns to a start position at end. The second process uses a GPS device to improve map accuracy. Results of experiments showed that an accurate map is generated by using wheel-encoder odometry and a low-cost GPS device. Results were evaluated using a real-time kinematic (RTK) GPS device whose accuracy is within a few centimeters. 
Blink-Spot Projection Method for Fast Three-Dimensional Shape Measurement
Authors: Chen Jun ,   Hiroshima University, Gu Qingyi , Aoyama Tadayoshi , Takaki Takeshi , Ishii Idaku
Published: April 2016

  Blink-spot projection method
 We present a blink-spot projection method for observing moving three-dimensional (3D) scenes. The proposed method can reduce the synchronization errors of the sequential structured light illumination, which are caused by multiple light patterns projected with different timings when fast-moving objects are observed. In our method, a series of spot array patterns, whose spot sizes change at different timings corresponding to their identification (ID) number, is projected onto scenes to be measured by a high-speed projector. Based on simultaneous and robust frame-to-frame tracking of the projected spots using their ID numbers, the 3D shape of the measuring scene can be obtained without misalignments, even when there are fast movements in the camera view. We implemented our method with a high-frame-rate projector-camera system that can process 512 × 512 pixel images in real-time at 500 fps to track and recognize 16 × 16 spots in the images. Its effectiveness was demonstrated through several 3D shape measurements when the 3D module was mounted on a fast-moving six-degrees-of-freedom manipulator. 
Fictitious Target-Trajectory Forming Control for Redundant Manipulator	and Active Regulation of Impulsive Forces
Authors: Inoue Takahiro ,   Okayama Prefectural University, Miyata Ryuichi , Hirai Shinichi ,   Ritsumeikan University
Published: April 2016

  Task-space control by FTTF method
 This paper describes a new control method for stable robot positioning by means of a three degree-of-freedom robotic manipulator that consists of six wire-driven actuators located at each rotational joint. The actuator contains a direct-current (DC) motor capable of pulling a wire to which a high-stiffness spring is connected in series. We demonstrate that the positioning control method used by the redundant robot, which is based on task-space control given in Cartesian coordinates, works well in the vertical plane under gravity. With the use of the reliable positioning controller, we propose a simple algorithm to absorb impulsive forces exerted on the tip position of the robot. In addition, we reveal that the control method presented in this study enables the redundant robot to change its stable posture while maintaining the tip position on which a heavy load is placed. We finally verify that a simple algorithm, based on positioning control, which involves suspending and restarting the switching of the integral controller forming a fictitious target-trajectory of joint angles, realizes recovery motion towards a former posture attained before the impulsive force. 
FPGA-Based Stereo Vision System Using Gradient Feature Correspondence
Authors: Hagiwara Hayato ,   Department of Applied Science for Integrated System Engineering, Kyushu Institute of Technology, Touma Yasufumi , Asami Kenichi , Komori Mochimitsu
Published: April 2016

 Mobile robot with a stereo vision
This paper describes an autonomous mobile robot stereo vision system that uses gradient feature correspondence and local image feature computation on a field programmable gate array (FPGA). Among several studies on interest point detectors and descriptors for having a mobile robot navigate are the Harris operator and scale-invariant feature transform (SIFT). Most of these require heavy computation, however, and using them may burden some computers. Our purpose here is to present an interest point detector and a descriptor suitable for FPGA implementation. Results show that a detector using gradient variance inspection performs faster than SIFT or speeded-up robust features (SURF), and is more robust against illumination changes than any other method compared in this study. A descriptor with a hierarchical gradient structure has a simpler algorithm than SIFT and SURF descriptors, and the result of stereo matching achieves better performance than SIFT or SURF.
Seating System with Adjustable Sheet and Body Surface Measurement
Authors: Kikuchi Takehito ,   Faculty of Engineering, Oita University, Abe Isao
Published: April 2016

[abstFig src='/00280001/08.jpg' width=""220"" text='Wheel chair with adjustable sheets' ]The seat is an important interface between many types of machines and their users, able-bodied and disabled users alike. In this work, new seating system with adjustable sheets and body surface measurement is developed to improve the sitting postures and pressure distributions for patients with deformed backbones. A basic structure and adjustment method for the adjustable sheet is proposed. In addition, a way of using a Microsoft Kinect sensor to measure lengths is also developed and utilized to adjust the seating system. Evaluation tests are conducted on a healthy subject with different mock spinal deformations, and pressure distributions and postures of the subject are evaluated. The proposed method successfully averages pressure on the model and also adjusts his posture, simultaneously reducing pressure and increasing the contact area of the back.
Autonomous Underwater Vehicle “BOSS-A” for Acoustic and Visual Survey of Manganese Crusts
Authors: Nishida Yuya ,   Kyushu Institute of Technology, Nagahashi Kenji , Sato Takumi , Bodenmann Adrian , Thornton Blair , Asada Akira , Ura Tamaki ,   The University of Tokyo
Published: April 2016

[abstFig src='/00280001/10.jpg' width=""300"" text='Autonomous underwater vehicle BOSS-A' ]In order to effectively investigate the distribution and amount of cobalt-rich manganese crust (CRC), an autonomous underwater vehicle BOSS-A equipped with visual and acoustic instruments were developed. BOSS-A observes the seafloor along preset waypoints at a constant speed and altitude. Detailed 3D seafloor images can be obtained from the visual instrument, which employs a sheet laser and a camera. In addition, an acoustic instrument measures the CRC thickness beneath BOSS-A. The CRC at Katayama seamount was surveyed in February. The results visually presented the state and distribution of the CRC in this site and clarified the amount of the CRC. In the future, the authors will develop a more reliable thickness measurement method.
Effects of Food Label Use on Diet Quality and Glycemic Control Among Latinos With Type 2 Diabetes in a Community Health Worker–Supported Intervention
Authors: Kollannoor-Samuel Grace , Shebl Fatma M. , Segura-Pérez Sofia , Chhabra Jyoti , Vega-López Sonia , Pérez-Escamilla Rafael
Published: April 2016

Objectives. To determine the impact of an intervention led by community health workers (CHWs) on food label use and to assess whether food label use and diet quality mediate the intervention’s impact on glycemic control.

Methods. From 2006 to 2010, 203 Latinos (intervention group, n = 100; control group, n = 103) in Hartford County, Connecticut, with type 2 diabetes were randomized to an intervention that included 17 CHW-led home-based sessions over a 12-month period in addition to the standard of care available in both study arms. Data on food label use, diet quality, covariates, and glycated hemoglobin (HbA1c) were collected at baseline and at 3, 6, 12, and 18 months. Data were analyzed via mixed effects and multilevel structural equation modeling.

Results. Food label use in the intervention (vs control) group was significantly higher at 3, 12, and 18 months (odds ratio = 2.99; 95% confidence interval = 1.69, 5.29). Food label use and diet quality were positive mediators of improved HbA1c levels.

Conclusions. Culturally tailored interventions led by CHWs could increase food label use. Also, CHW-delivered food label education may lead to better diet quality and improve glycemic control among Latinos with type 2 diabetes.
Decompressive Laminectomy Complicated by Postoperative Mycoplasma hominis Epidural Abscess and Meningitis in a Young Woman
Authors: Chew Rusheng , Woods Marion L.
Published: April 2016

Case:

A twenty-eight-year-old woman underwent decompressive laminectomy and placement of an interlaminar stabilizer due to L4/L5 disc herniation. Thirteen days later she developed a fever unresponsive to meropenem and vancomycin, along with signs of meningitis. A Mycoplasma hominis epidural abscess was identified. She had no preoperative risk factors for extragenital M. hominis infection, but had had a urinary catheter inserted intraoperatively.

Conclusion:

M. hominis postoperative surgical site infection is a rarely identified complication of spinal surgery. Seeding from the genitourinary tract is the most likely source.
Acid Fracturing in Shales: Effect of Dilute Acid on Properties and Pore Structure of Shale
Authors: Wu Weiwei , Sharma Mukul M.
Published: April 2016

Many of the microfractures created during hydraulic fracturing are too small to be filled with proppants and are likely closed during production. However, for some shales that are rich in calcite (calcareous mudstones), such as the Bakken and Eagle Ford shale, dilute acids can be used while fracturing to maintain the conductivity of these microfractures under closure stress by nonuniformly etching the fracture surfaces. The mineralogy and pore structure of the shale and their evolution during acid fracturing are critical factors on the surface-etching profile and the fluid leakoff. Therefore, understanding how acid dissolution changes the microstructure, petrophysical properties, and pore structures of shale is essential in the design and application of acid fracturing in shales.

In this paper, in-situ changes of microstructure and pore structure in shale before and after acid fracturing were demonstrated and visually compared for the first time, with a carefully designed microscopy work flow. Acidized sections of a shale core sample were meticulously isolated, and its microstructure, pore structure, and petrophysical properties were systematically studied and compared with nonacidized sections of the core. Evolution of mechanical properties of shale during acid treatment was also investigated.

Microstructure changes were found to be strongly dependent on mineral distribution, and several patterns were identified: channels developed in carbonate-rich regions; cavities or grooves formed in carbonate-rich islands or carbonate rings; and surface roughness created in mixed zones of scattered carbonate and inert minerals. Inert minerals such as clay and organic matter (OM) stay relatively undisturbed in the structure, while some mineral grains can be dislodged from their original locations by dissolution of the surrounding carbonates. Many macropores with sizes up to 120 µm were created, and mesopores mostly associated with clay gained more accessibility. Significantly increased permeability and porosity were measured in an acidized shale matrix. Indentation hardness measurements show that, as expected, the hardness of the shale was reduced by acidizing. This means that for acidizing to work effectively, it is important not to etch the fracture surfaces uniformly. Doing so will result in a reduction in the fracture conductivity under stress. The microstructure changes introduced by acid fracturing demonstrated in this study will result in the formation of surface asperities, which is likely to improve the fracture conductivity of induced unpropped fractures. The acidized shale matrix close to the fracture surface with increased abundance of macropores and accessibility to mesopores may serve as a preferred pathway for fluid flow, as well.
Use of COD, TOC, and Fluorescence Spectroscopy to Estimate BOD in Wastewater
Authors: Christian Evelyn , Batista Jacimaria R. , Gerrity Daniel
Published: April 2016

Common to all National Pollutant Discharge Elimination System (NPDES) permits in the United States is a limit on biochemical oxygen demand (BOD). Chemical oxygen demand (COD), total organic carbon (TOC), and fluorescence spectroscopy are also capable of quantifying organic content, although the mechanisms of quantification and the organic fractions targeted differ for each test. This study explores correlations between BOD5 and these alternate test procedures using facility influent, primary effluent, and facility effluent samples from a full‐scale water resource recovery facility. Relative reductions of the water quality parameters proved to be strong indicators of their suitability as surrogates for BOD5. Suitable correlations were generally limited to the combined datasets for the three sampling locations or the facility effluent alone. COD exhibited relatively strong linear correlations with BOD5 when considering the three sample points (r = 0.985) and the facility effluent alone (r = 0.914), while TOC exhibited a suitable linear correlation with BOD5 in the facility effluent (r = 0.902). Exponential regressions proved to be useful for estimating BOD5 based on TOC or fluorescence (r > 0.95).
Transmitting Memory Between and Beyond Generations
Authors: Hogervorst Susan
Published: April 2016

This article analyses three local educational projects about the Nazi
bombing of Rotterdam in May 1940, all of which took place from 1980 to the
present day in the context of the dynamic memory culture of the bombardment.
These three contexts testify to a process by which memory, increasingly derived
from authentic locations and objects instead of individual memories, is put to use
in education. Moreover, increased awareness of the disappearance of eyewitness
generations means that young people are becoming key consumers and auxiliary
producers of memory.
Women’s Views on Handling and Managing Their Breast Cancer in Pakistan: A Qualitative Study
Authors: Naz Najma , Khanum Sabiha , Dal Sasso Grace , De Souza Maria
Published: April 2016

In this study, we examine and analyze the experiences of women and their perceptions on handling and managing their breast cancer. Seven women from Peshawar, Pakistan who had breast cancer and have been cured, were interviewed. Qualitative content analysis of their life stories was performed using a computerized software Atlas.ti. In the coding process, 128 codes were initially developed. These codes were then grouped into 12 categories, which were then further refined into 8 theoretically grounded categories: awareness and education about breast cancer, cultural barriers, early detection, quality of care and treatment, support, side effects, courage and learned to face challenges. The early views of participant’s feelings about breast cancer are mostly similar to the general population in Pakistan. Before starting treatment, all participant were unaware of the treatment process and had fear in their mind. They were hesitant in starting their treatment and were worried. However, when they were cured, their attitudes toward breast cancer and even to their whole lives were changed. Comprehensive awareness programs in a culturally acceptable language and facilities for routine breast examinations should be easily accessible to all women in Pakistan in order to promote early detection. In order to eradicate cultural barriers, female staff who are trained to perform routine breast examinations, should be available in all facilities and treatment centers.