bluuebunny/crossref_metadata_2025 huggingface dataset:
Design and Experiments of In-pipe Inspection Vehicles for ø25, ø50, ø150 Pipes
Authors: Hirose Shigeo ,   Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Ohno Hidetaka , Mitsui Takeo , Suyama Kiichi ,   Department of Television Engineering, SONY Corporation, 2-10-14 Osaki, Shinagawa-ku, Tokyo 141-0032, Japan,   Pipeline Engineering and Development Center, Tokyo Gas Co., Ltd. 1-1-7 Suehiro-cho, Tsurumi-ku, Yokohama 230-0045, Japan
Published: April 2016

In this paper we outline the design of in-pipe inspection vehicle for pipes with ø25, ø50, ø150mm in diameter, ""Theseuse"" series. First we introduce the concept ""Whole Stem Drive"". This concept is very effective to allow an in-pipe vehicle to travel long distance in the pipeline. Based on this concept, we have made three in-pipe vehicles, Theseus-I∼III. First, for the pipe with 50mm in diameter, we propose two mechanisms, in-pipe vehicle with spiral motion (Theseus-I) and in-pipe vehicle for the practical gas pipe (Theseus-II). Next, for the pipe with 150mm in diameter, we propose the in-pipe vehicle based on the idea of Control Configured Vehicle (CCV), Theseus-III. Last, for the pipe with 25mm in diameter, we propose the in-pipe vehicle, which has an actuator outside of the pipe (Theseus-IV).
Space Robot Dynamics and Control: a Historical Perspective
Authors: Yoshida Kazuya ,   Department of Aeronautics and Space Engineering, Tohoku University, Aoba 01, Sendai 980-8579, Japan
Published: April 2016

The Engineering Test Satellite VII (ETS-VII), developed and launched by National Space Development Agency of Japan (NASDA) on November 1997, has been successfully flown and carried out a lot of interesting orbital robotics experiments with a 2 meter-long, 6 DOF manipulator arm mounted on this un-manned spacecraft. The ETS-VII should be noted as one of remarkable outcomes of research effort on space robots, particularly characterized as an orbital free-flying robot which concept was brought in early 80s. This paper provides a historical overview and a summary of the ideas around dynamics and control proposed for free-flying space robots, then highlights key control technologies recently tested and verified on ETS-VII. The ETS-VII flight mission is an important milestone, but not a goal. The goal will be robotic service to satellites in orbits, including an emerging number ofcommunication satellites spreading out to the low-earth orbital networks or constellations. In a mission sequence of autonomous satellite capture, what part is now verified and what is left over for future researchxare also discussed.
Summary of NASDA's ETS-VII robot satellite mission
Authors: Oda Mitsushige ,   National Space Development Agency of Japan (NASDA), 2-1-1 Sengen, Tsukuba-shi, Ibaraki-ken, Japan
Published: April 2016

The National Space Development Agency of Japan launched ETS-VII (Engineering Test Satellite No.7) on November 28, 1997, to conduct rendezvous docking and space robot technology experiments. ETS-VII is the world's first satellite that used a robot arm on a satellite. The robot arm was 2m long and was teleoperated from a ground control station. Mission of ETS-VII lasted for two years and yielded much experience and many results. This paper summarizes experiences and results of the ETS-VII robot satellite.
Design Concept and System Architecture of Reconfigurable Brachiating Space Robot
Authors: Hayashi Ryoichi ,   Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Matunaga Saburo , Ohkami Yoshiaki ,   Tsukuba Space Center R & D Division, National Space Development Agency of Japan, 2-1-1 Sengen, Tsukuba-shi,lbaraki-ken 305-8505, Japan
Published: April 2016

This paper presents a summary of the system of ""Reconfigurable Brachiating Space Robot (RBR)"". The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also capable of arm reconfiguration according to the various task requirements. This paper explains the system architecture of RBR, mainly, the arm components, which are modularized joints, multi-function end-effector, pivot and the docking element in detail, and also focuses on the cable reduction technique with the hierarchical distributed controller system and the communications system.
Semi-Autonomous Telescience System for Planetary Exploration Rover
Authors: Yoshimitsu Tetsuo ,   The Institute of Space and Astronautical Science, Ootsuka Miharu , Kubota Takashi , Nakatani Ichiro ,   Toho University, 3-1-1 Yoshinodai, Sagamihara, Kanagawa 229-8510, Japan
Published: April 2016

In recent years, many researchers have extensively studied and developed unmanned mobile robots for surface exploration of the moon or planets. A planetary rover is required to travel safely over a long distance for many days in unfamiliar terrain and to collect samples such as sands, stones, rocks, etc. This paper describes a telescience method by a rover-equipped manipulator for lunar or planetary rover missions. The investigated telescience strategy of capturing scientific samples is to control the on-board manipulator as automatically as possible. An experimental rover system has been developed to demonstrate the strategy, which derives the required autonomous functions in unknown natural environments and the desirable man-machine interface.
Mission-Task Support Aspects of Planetary Rover for Surface Analysis
Authors: Yoshioka Nobuto ,   Office of Research and Development, National Space Development Agency of Japan (NASDA), 2-1-1 Sengen, Tsukuba-city, Ibaraki 305-8505, Japan
Published: April 2016

As an extension to space robotics technology, the National Space Development Agency of Japan (NASDA) has been examining possible scenarios for unmanned planetary explorations. The paper discusses the roles of planetary rovers in terms of mission support aspects during presumed lunar-surface robotics tasks, and then describes a Compact Payload-Interface-Device (CPID) that acts as a common gateway for detachable instruments. A surface excavation tool is also designed and evaluated for its ""mechanics-soil interaction"" as one example of system design.
Design of Three-wheeled Planetary Rover Tri-StarII
Authors: Hirose Shigeo ,   Department of Aero Space Engineering, Tokyo Institute of Technology, 2-12-2 Oookayama Meguro-ku, Tokyo, Japan, Kuwabara Hiroyuki ,   Department of Control Engineering, Tokyo Institute of Technology, 2-12-2 Oookayama Meguro-ku, Tokyo, Japan
Published: April 2016

Many studies have been made concerning the planetary Rover, the essential element in the planet exploration mission, and some have already been put into practical use in exploration missions. In this paper, we propose an expandable three-wheeled rover, Tri-StarII, as a planetary rover having a new mechanism. Tri-StarII has three drive wheels and does not need suspension mechanism, so the drive mechanism is simplified and lightened. By use of this feature, the body is designed to be an expandable type with the wheels attached to a slide arm. By folding it up in the lander carrying it to the surfaces of the moon or Mars, and expanding to large size when running, it can achieve running stability equivalent to larger rovers. The wheels are attached to the body with an offset wheel steering mechanism. For the expansion and steering mechanisms, latches having very small actuators are used and the increase in weight is minimized by introduction of these mechanisms. Further, the running wheel uses a spring wheel usable in space environments. By using the expansion mechanism for the spring wheel, the energy loss in running is decreased and performance is improved. We confirmed the feasibility of an experimental unit.
An Evolutionary Algorithm for CT Image Reconstruction
Authors: Ali Fathelalem F. ,   Department of Management & Information Systems, Meio University, Nago-shi, Okinawa 905-8585, Japan, Matsuo Kazunori , Nakao Zensho , Chen Yen-Wei ,   Department of EEE, University of the Ryukyus, Okinawa 903-0213, Japan
Published: April 2016

Presented in this paper is an evolutionary approach to the problem of CT image reconstruction: an evolutionary algorithm (EA) is used to reconstruct CT images from a limited number of projection data, where conventional methods (e.g. Algebraic Reconstruction Techniques ART) solution tends to be unsatisfactory. We use traditional as well as adapted genetic operators in our evolutionary approach to the CT image reconstruction problem. The evolutionary algorithm yielded good results that challenge the conventional ART.
A CMOS Image Sensor with Non-Destructive High-Speed Imaging Mode and Its Applications
Authors: Handoko Dwi ,   Graduate School of Electronic Science and Technology, Shizuoka University, Kawahito Shoji , Kumahara Minoru , Kawai Nobuhiro , Tadokoro Yoshiaki , Matsuzawa Akira ,   Research Institute of Electronics, Shizuoka University,   Department of Information and Computer Sciences, Toyohashi University of Technology,   Advanced LSI Technology Development Center, Matsushita Electric Co. Ltd.
Published: April 2016

This paper describes a CMOS image sensor with non-destructive high-speed imaging mode. The proposed sensor reads out high-speed intermediate images without destroying accumulated signal charge and captures video-rate (30 frame/s) images with high SNR. The application of the sensor to a low power motion vector estimation for video compression and high-fidelity imaging of moving object with tracking are also presented. Motion vector estimation using the proposed sensor is possible to reduce computational power by a factor of 1/10 compared to the full search algorithm. The simulation results show that the proposed image sensor with nondestructive high-speed imaging mode is useful for moving object imaging with less shape distortion.
Tracking of Moving Object by Phase-only Correlation
Authors: Sasaki Hiroshi ,   POC Project, New Business Development Office, Yamatake Corporation, Nomura Kazumasa , Nakajima Hiroshi , Kobayashi Koji ,   Product Development Department, Building System Development & Manufacturing Group, Yamatake Corporation
Published: April 2016

A real-time tracking system that measures four-dimensional displacement of a moving object and that traces the object by directing a pair of cameras on three-axis robot is implemented and tested. In this system, the distance, rotation, and parallel displacement values of the object are measured by Phase-Only Correlation and Rotation-Invariant Phase-Only Correlation image processing techniques. It controls the pitch, roll, and yaw angles of the camera to locate the target in the stable position on the image, as well as keeps the size of the target on the image by magnifying or reducing the image, based on the measured distance using triangular surveying.
Planning Strategy for Task of Unfolding Clothes (Classification of Clothes)
Authors: Hamajima Kyoko ,   Faculty of Engineering, Tokyo Denki University, 2-2 Nishiki-cho, Kanda, Chiyoda-ku, Tokyo, 101-8457 Japan, Kakikura Masayoshi
Published: April 2016

Research on housework labor saving and automation for housework robots is growing as the population grays and improved electronics are becoming available to the home. Special problems for housework robots include the enormous recognition complexity needed if such robots are to be highly housework objects. We studies the technology by which a robot handles nonsolid objects, focusing on putting clothing to order at a specified site. Concrete subtasks this involves include removing one type of clothing from a wash and spreading out, classifying, folding , and putting it in a specified place. This paper propose a ""unfolding"" planning strategy.
A Control-Theoretic View of Intelligent Control
Authors: Kawaji Shigeyasu ,   Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan
Published: April 2016

The term ""intelligent"" heralds new developments in many established fields with traditional assumptions in research and development. In the case of intelligent control, an attempt was first made to utilize methodologies such as model-based control theory, artificial intelligence and operations research, and recently to draw inspiration from nature, biology, and artificial life. Common methodology in both eras is promoted that is more accepting of heuristics and approximations than is the case with most research in control engineering. However, the methodology is less insistent on theoretical rigor and completeness. There is an inherent difficulty in succinct characterization of intelligent control. Many people have a common intellectual understanding of intelligent control, but some significant questions about common understanding have been yet to be unsolved such what is as the definition of intelligent control, and why intelligent control systems are generally structured in a hierarchical way. These questions should be solved before entering the second stage of an intelligent control framework. In this paper, we present the controltheoretic view of intelligent control technology. First, the need of a new approach is introduced based on the concept of control, and secondly typical intelligent control techniques are provided with example of inverted pendulum. Finally the definition and fundamental architecture of intelligent control are discussed and an example from a biped locomotion robot helps clarify the effectiveness of hierarchical architectures.
Human-Integrated Supervisory Control of Uninhabited Combat Aerial Vehicles
Authors: Narayanan S. ,   Department of Biomedical, Industrial & Human Factors Engineering, Wright State University, 207 Russ Engimeering Center, 3640 Colonel Glenn Hwy. Dayton, OH 45435-0001, USA, Ruff Heath A. , Edala Narasimha Rao , Geist Jonathan A. , Patchigolla Kiran Kumar , Draper Mark , Haass Mike ,   US Air Force Research Laboratory Human Effectiveness Directorate/Crew System Interface Division, WPAFB, OH 45433, USA
Published: April 2016

Uninhabited aerial vehicles are aircraft without the onboard presence of pilot or aircrew. Even though the human is removed from the direct control of the aircraft, the human is typically involved in the process as a supervisor in a multiple task telerobotics control system. The supervisor must receive the appropriate information for efficient decision making and input the information required to augment the autonomous control of the vehicle as necessary. This article presents an approach that applies human operator modeling methods to perform semiotic analysis and identifies the content and form of the information required for effective supervisory control. This paper also outlines a computational modeling and simulation architecture that supports concurrent multi-user connectivity and reconfigurable user interfaces. The potential utilization of this architecture to systematically evaluate interface concepts and the role of automation in these systems is also described. Finally, an empirical evaluation is described that benchmarks the effectiveness of the architecture.Human-Integrated Supervisory Control of Uninhabited Combat Aerial Vehicles.
Semiotic Approach to Perceptual State Construction for Behavior-Based Robot through Recursive and Progressive Deepening Utilization of Memory
Authors: Sawaragi Tetsuo ,   Department of Precision Engineering, Graduate School of Engineering, Kyoto University, Yoshida Honmachi, Sakyo, Kyoto 606-8501, Japan, Iwatsu Satoshi ,   Industrial Electronics and Systems Lab., Mitsubishi Electric Corp., Tsukaguchi-Honmachi, Amagasaki, Hyogo 661-8661, Japan
Published: April 2016

The sources of intelligence for primitively facilitated robotic agents exist in their reconceptualizing capability of what they physically sense from the environment. To implement this capability, we adopt an inductive learning method of conceptual formation for adaptively organizing a state space and develop a new algorithm for a robot to construct its task-relevant state space efficiently through matching encountering states with the similar situations in the past and through generalizing them. We propose a methodology to dynamically increase the resolution of state spaces both adaptively and selectively by applying a concept formation technique from machine learning recursively to a record of a sensorimotor history of a learning agent. By connecting this with conventional reinforcement learning, we showed our algorithm can perform tasks without suffering from hidden state problems in an artificial maze environment, and also present its robustness even for a robot whose perceptual resources are quite restricted and/or bounded.
Flexible Intelligence Machine Control and its Application to Jacket Tank Temperature Control
Authors: Arao Masaki ,   Information Technology Research Center, Research and Development H.Q., OMRON Corporation, Shimo-Kaiinji, Nagaokakyou-shi, Kyoto 617-0845, Japan, Tashima Toshihiro , Kawaji Shigeyasu ,   Department of System Engineering and Information Science, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555 Japan
Published: April 2016

In this paper, we propose a generic concept of flexible intelligence machine control (FIMC) which has a hierarchical structure and two functions: knowledge acquisition and adaptive learning. We show a practical example of FIMC applied to temperature control on an actual Jacket tank in polymerization process.
Building up Embodiment in Learning Agents Using A Gaussian Radial Basis Function Neural Network
Authors: Murao Hajime ,   Department of Computer and Systems Engineering, Faculty of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657-8501, Japan, Kitamura Shinzo
Published: April 2016

In this paper, we propose actor-critic learning with adaptive state space construction. The gaussian radial basis function neural network is employed for both the actor and the critic modules, where each hidden neuron covers a subspace of the sensor space and so the hidden layer corresponds to the state space. In the proposed algorithm, a robot starts without any states and a new state is generated incrementally by adding a new hidden neuron. One clear advantage of the proposed algorithm to others is the performance improvement by the minimal training after adding a new state, i.e. the adjustment of the connective strength between the new neuron and others is only required after adding a new hidden neuron. This provides an efficient method to construct the state space during the learning in the real world. Resulting state space represents aspects of the environment in which the robot works and the characteristic of the robot itself. In this sense, the obtained state space is said to represent the embodiment of the robot.
Control of a Mobile Service Robot Using Human Evaluations of Task-related Movement Patterns
Authors: Butler John Travis ,   Management & Data Systems Lockheed Martin Corporation, Litchfield Park, Arizona 85340 U.S.A., Agah Arvin ,   Department of Electrical Engineering and Computer Science, The University of Kansas, Lawrence, Kansas 66045 U.S.A.
Published: April 2016

An important future application of robotics will be the utilization of mobile service robots in homes and offices, assisting people with their daily chores. Above all, these robots must be safe to use. In addition, service robots must be designed to be effective, productive, and user-friendly. In order for people to accept and use these robots, the robots must behave in a manner acceptable to humans. The intelligent control of service robots must take into. account the effects of robot behaviors on people. This paper focuses on the interactions between humans and mobile service robots, studying how people respond to a variety of robot behaviors as the robot performs certain tasks. Since different people could react differently to service robots, this paper reports on the effects of users' gender, age, technical background, and robot body preference on the responses to robot behaviors. The robot behaviors include the robot approaching a human, the robot avoiding a human while passing, and the robot performing non-interactive behaviors. The level of comfort the robot caused human subjects was analyzed according to the effects of robot speed, robot distance, and robot body design. It is hoped that information gained from human factor studies can be used to obtain a better understanding of acceptability of service robots by different people, resulting in the design and development of more effective intelligent controllers for service robots in the coming new generation.
Bolt Tightening Using Impact Wrench Based on Neural Networks
Authors: Fujinaka Toru ,   Division of Computer and Systems Science, Graduate School of Engineering Osaka Prefecture University, 1-1 Gakuen-cho, sakai, Osaka 599-8531, Japan, Nakano Hirofumi , Yoshioka Michifumi , Omatu Sigeru
Published: April 2016

A method for controlling the tightening operation of bolts using an impact wrench is proposed, where the neural network is employed for achieving proper clamping force. The characteristics of the clamping force depend on the kind of work to which bolts are tightened, thus a neural network is used for classification of the work. The clamping force, which can only be measured during the test run, is estimated online, using another neural network. Then appropriate input to the actuator of the impact wrench is determined, based on the estimated value of the clamping force.
A Co-operative Transferring Task by Mobile Manipulators
Authors: Yasui Kazuya ,   Department of Science and Technology, Faculty of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-Ku, Yokohama 223-8522, Japan, Murakami Toshiyuki , Ohnishi Kouhei
Published: April 2016

In this paper, a method of grasping and transferring a large object by cooperative motion of multiple manipulators is introduced. To implement the task with mobile manipulators, the compliance of the grasping system between the object and end-effectors is needed. It enables us to avoid excessive internal force due to mutual positioning errors. However, the simple way of trajectory planning of the system is also required. Because the trajectory planning used to be given to each manipulator, it has been very complicated task to design the desired trajectories for each mobile manipulator. Thus this paper adopt the control algorithm with respect to objects to reduce the amount of planning tasks. The static relation between the object and end-effectors is introduced to solve the issues above. It combines the force reference of end-effectors and that of an object with static analysis of force. With this algorithm, the motion of an object is distributed to each end-effector. Then the grasping is projected to the null space of this static force relation. For confirmation of the proposed method, computational analyses are implemented and shown.
Measurement of Chaotic Behavior of Operator Stabilizing an Inverted Pendulum and Its Fuzzy Identification from Time Series Data
Authors: Kawazoe Yoshihiko ,   Department of Mechanical Engineering, Saitama Institute of Technology, Fusaiji 1690, Okabe, Saitama 3690293, Japan
Published: April 2016

This paper investigates the identification of the chaotic characteristics of human operation with individual difference and the skill difference from the experimental time series data by utilizing fuzzy inference. It shows how to construct rules automatically for a fuzzy controller from experimental time series data of each trial of each operator to identify a controller from human-generated decision-making data. The characteristics of each operator trial were identified fairly well from experimental time series data by utilizing fuzzy reasoning. It was shown that the estimated maximum Lyapunov exponents of simulated time series data using an identified fuzzy controller were positive against embedding dimensions, which means a chaotic phenomenon. It was also recognized that the simulated human behavior have a large amount of disorder according to the result of estimated entropy from the simulated time, series data.
Mechatronics Technology Which Assists Human Life from Nursing to Amusement
Authors: Fujisawa Shoichiro ,   Department of Electro-Mechanical Systems Engineering, Takamatsu National College of Technology, 355 Chokushi-cho, Takamatsu, Kagawa 761-8058, Japan, Kaneda Tadahiro , Nishi Takashi , Satonaka Naoki , Umemoto Toshitaka , Doi Tomoharu , Yoshida Takeo , Kurozumi Ryota , Suita Yoshikazu ,   Department of Systems and Control Engineering, Osaka Prefectural College of Technology, 26-12 Saiwai-cho, Neyagawa, Osaka 572-8572, Japan
Published: April 2016

Mechatronics technology will be utilized in increasingly more areas of human life in the 21st century. The authors have conducted research into developing medical support devices that utilize mechatronics technology. We have also manufactured performance robots to participate in various robot contests. Mechatronics technology is becoming in for human activities in both production and nonproduction areas. In this paper, we report on the utilization of mechatronics technology through concrete examples of research performed by the authors. We are also engaged in developing nursing devices that utilize advanced technology and have been conducting welding experiments in space, which are necessary for the development of space stations. These research activities help us to predict the direction of technology in the 21st century.
Development of a Robot for Evaluating Tennis Rackets
Authors: Furusho Junji ,   Dept. of Computer-Controlled Mechanical Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Sakaguchi Masamichi , Takesue Naoyuki , Sato Fuminobu , Naruo Takeshi , Nagao Hiroshi ,   Product Development Division, Mizuno Corporation, 1-12-35 Nanko Kita, Suminoe-ku, Osaka 559-0034, Japan
Published: April 2016

The development and simulation of robots that have athletic skill close to human beings is very much useful for testing and developing sport goods. This paper discusses the development and simulation of a tennis robot. The developed tennis robot has two joints controlled by a servolike human muscle, and its characteristics are satisfying and similar to a human. The simulation for the whole system including racket, ball and tennis robot is set up. The simulation results agree well with experimental results.
Embodiment-Based Object Recognition for Vision-Based Mobile Agents
Authors: Terada Kazunori ,   Dept. of Information Systems, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara 630-0101, Japan, Nakamura Takayuki , Takeda Hideaki , Ogasawara Tsukasa
Published: April 2016

In this paper, we propose a new architecture for object recognition based on the concept of ""embodiment"" as a primitive function for a cognitive robot. We define the term ""embodiment"" as the extent of the agent itself, locomotive ability, and its sensor. Based on this concept, an object is represented by reaching action paths, which correspond to a set of sequences of movement by the agent for reaching the object. Such behavior is acquired by trial-and-error based on visual and tactile information. Visual information is used to obtain sensorimotor mapping, which represents the relationship between the change of an object's appearance and the movement of the agent. Tactile information is used to evaluate the change of physical condition of the object caused by such movement. By such means, the agent can recognize an object regardless of its position and orientation in the environment. To demonstrate the feasibility of our method, we detail experimental results of computer simulation.
Rights to Intellectual Property on R&D Results Conducted at University
Authors: Yamafuji Kazuo ,   Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, Tanaka Takayuki
Published: April 2016

The Japanese Diet passed the Technology Transfer Act from university to industry in 1998. Cooperative R&D between university and industry is expected to accelerate High-Technology and create new business. However the authors point out the importance of the legal protection of rights to intellectual property on R&D conducted at university, showing their infringing examples.
Intelligent Control for Autonomous Mobile Robot based on Information Criterion on Virtual Environmental
Authors: Doki Kae ,   Electrical Engineering, Grad. School of Nagoya University, Hayakawa Soichiro , Suzuki Tatsuya , Okuma Shigeru , Aoki Takeshi ,   Electrical Engineering, Toyota Institute of Technology,   Nagoya Municipal Industrial Research Institute
Published: April 2016

This paper proposes a new intelligent control method for autonomous mobile robots to acquire appropriate actions based on a real-time action search. In the proposed method, information criterion on the virtual environment is defined based on Kullback-Leibler divergence, which measures quality of the environmental information used for the action search. The robot searches suitable actions based on the environmental information whose quality is improved step by step. By applying the proposed method, the trade-off between calculation amount and information quality is taken into account, and the search process converges faster. The proposed method is applied to the moving obstacles avoidance problem, and its usefulness is verified through some simulation results.
Autonomous Knowledge Acquisition and Revision by Intelligent Data Carriers in a Dynamic Environment
Authors: Kurabayashi Daisuke ,   Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, 152-8550 Japan, Asama Hajime ,   The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, Wako-shi, Saitama, 351-0198 Japan
Published: April 2016

In this paper, we built a device and algorithm for implementation in autonomous robots that can enhance efficiency through autonomous knowledge acquisition and sharing. We also propose an algorithm to adapt our robotic system to dynamic environments. In this robotic system, the ""Intelligent Data Carrier"" provides navigational knowledge for autonomous mobile robots. An IDC summarizes fragmyents of knowledge from individual robots and tells the best direction toward a destination at which a robot wants to arrive. We make models of dynamic environments, and investigate the behaviors of autonomous robots that navigate using an intelligent data carrier system. We also create an algorithm that estimates the validity of knowledge in an IDC and allows the IDC to renew the knowledge autonomously. We verify effectiveness of the proposed algorithm by means of simulations.
A Virtual Sports System for Skill Training
Authors: Tsuji Toshio ,   Graduate School of Engineering, Hiroshima University, 4-1 Kagamiyama 1-chome, Higashi Hiroshima, Hiroshima, Japan, Sumida Yasuteru , Kaneko Makoto , Kawamura Sadao ,   Faculty of Science and Engineering, Ritsumeikan University, 1-1 Noji Higashi 1-chome, Kusatsu, Shiga, Japan
Published: April 2016

Dynamic characteristics of human upper extremities are usually modeled with mechanical impedance. Although many studies have been reported on the human impedance characteristics, there is no such a report in which the human impedance is utilized for skill training and rehabilitation. As the first step to develop a training method based on human impedance characteristics, this paper proposes a virtual sports training system using a virtual reality technique in order to measure human movements during sports. From experiments, differences of movements between skilled and unskilled subjects are analyzed.
"""Active Hose"": an Artificial Elephant's Trunk for Rescue Operations"
Authors: Kitagawa Ato ,   Mechanical and Control Eng., Tokyo Institute of Technology, 2-12-1 Ohokayama Meguro-ku Tokyo 152-8552, Japan, Tsukagoshi Hideyuki , Segawa Mitsuru , Takeda Toshiya
Published: April 2016

We propose a design concept and operation of a flexible robot with multiple degrees of freedom to dive into debris. Pneumatic robots with flexibility previously developed did not have multiple degrees of freedom with high bending moment. We propose a new type of robot, called ""Active Hose,"" which has multiple degrees of freedom by connecting units of 2 degrees of freedom in a series and has high bending moment thanks to a spine structure and deformation by spiral tubes. ""Active Hose"" can thus be applied to rescue operations such as searching for victims under debris after earthquakes, supplying. fresh air and drinking water to victims, and carrying air jacks to make room for victims to escape.
Configuration and Optimal Control of Hydraulic/Pneumatic Hybrid Actuator with 2-DOF
Authors: Ohtomo Atsushi ,   Applied Electronics Research Center, Katsumoto Technopolis Foundation Toshiba Machine Co., Ltd. 2081-10 Tabaru, Mashiki-machi, Kamimashiki-gun, Kumamoto 861-2202, Japan, Sasaki Yasuharu
Published: April 2016

A pneumatic actuator outputs large power in proportion to weight and can be installed in an inexpensive, light and compact configuration. From the standpoint of controllability, however, it is weak due to nonlinearity by compression and delayed transfer of air, it has a problem of poor accuracy in position control. To solve such problem, we propose a hydraulic/pneumatic hybrid actuator that has a pneumatic cylinder and hydraulic cylinder in parallel and uses the hydraulic cylinder as damper. We demonstrate that it can be used in practice and structurally applying it to a manipulator with 2-DOF. It also demonstrates that high-speed and stable control can be achieved by applying optimal control method.
Design and Experimental Validation of a Microgripper
Authors: Carbone Giuseppe ,   Laboratory of Robotics and Mechatronics - DiMSAT, Università degli Studi di Cassino, Via Di Biasio 43 - 03043 Cassino (Fr), Italy, Ceccarelli Marco , Kerle Hanfried , Raatz Annika ,   Institute of Machine Tools and Production Technology, Technical University of Braunschweig, Langer Kamp 19b - 38106 Braunschweig, Germany
Published: April 2016

In this paper we present the mechanical design of a microgripper performing microassembly tasks with objects whose dimensions are less than 1mm with a maximum grasping action of 0.9N and fingers displacement of 0.6mm. The efficiency of the microgripper has been experimentally tested by using a proper test-bed and laboratory experiences. The results are illustrated and discussed to validate the microgripper that has been built using flexural joints structure.
Obstacle Recognition and Position Measurement for Night Driving by Image Processing
Authors: Wakamiya Atsushi ,   Faculty of Engineering, Kanazawa University, 2-40-20 Kodatsuno, Kanazawa, Ishikawa 920-8667, Japan, Suganuma Naoki , Kweon In Soo , Fujiwara Naofumi
Published: April 2016

The reduced driving visibility at night makes it important in driver support to improve recognize obstacle recognition. We propose detecting vehicle tail lights by us bright color information issued at night and measuring the relative distance to the vehicle from its image position using stereo vision. We conducted experiments to determine the effectiveness of our proposed technique.
Traffic Flow Simulator by Multiagent
Authors: Tsunashima Hitoshi ,   College of Industrial Technology, Nihon University, 1-2-1 Izumicho, Narashino-shi, Chiba 275-8575, Japan, Nishi Yasukazu , Honjyo Takashi , Kaku Hiroyuki , Sakai Takuji
Published: April 2016

Several methods have been proposed for investigating complex traffic flows. However, the dynamics of vehicles and their drivers' characteristics, which are important factors for any traffic flow analysis, have not been considered sufficiently enough in the past. This paper describes a new concept for simulating complex traffic flows by multiple agents. The agents are considered as a kind of artificial life (A-Life), and their behaviors are independently based on their own knowledge. Drivers, vehicles, roads, and the traffic environment, which are essential elements in our simulation, are defined as the agents. The combination of the driver agent and the vehicle agent work based on the drivers' fields of vision and their unique individual characteristics. The road agent communicates with the vehicle agent in regard to its velocity and position. The effectiveness of our new method for modeling a traffic flow is shown by a simulation study.
Image-based Visual Servoing for Optimal Grasping
Authors: Fujimoto Hideo ,   Department of Systems Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan, Zhu Liu-Cun , Abdel-Malek Karim ,   Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, U.S.A.
Published: April 2016

One of the most common tasks in robotics is grasping. Although the formulation of optimal grasping has been addressed using a variety of approaches, there are only a few grasping systems that can operate in uncertain dynamic environments. In this paper, we present an image-based visual servoing method and system for optimal object grasping by introducing the method of visual vectors. A CCD camera mounted on a robot end-effector constructs the visually guided servo control system and the control scheme lends itself to task-level specification of manipulation goals. The proposed approach integrates vision, grasp planning, and vision=guided control to accomplish the optimal grasping task. The grasping task is to control the robot so the vectors of the end-effector's landmark (e.g., finger vector) and a target object's grasp coincide. These vectors can be used to perform the work of a stable grasping of an object that is presented in an unstructured manner. Visual vectors in image frame are obtained by analyzing the object's image and projection. Our objective in implementing vector processing is to estimate the vector error between the finger and grasp vectors, and to control the robot to eliminate kinematic errors. The proposed model is illustrated through examples and its effectiveness is validated using computer simulation.
A Control for Multi-Fingered Robotic Hand with Distributed Touch Sensor
Authors: Sugiuchi Hajime ,   Mechanical Engineeriong Department, Yokohama National University, 79-5 Tokiwadai, Hodogaya, Yokohama 240-8501, Japan, Hasegawa Yuki , Watanabe Shinichiro , Nomoto Masashi ,   Yamatake Techno-System Co., Ltd. Information Services Dept. Information Systems Technology Group, Oak Yokohama Building, 2-15-10, KitaSaiwai Nishi-ku Yokohama, 220-0004, Japan,   NetWork System Engineer, Alpha Systems Inc. 2-17-5, Shibuya, Shibuya-ku, Tokyo, 150-0002, Japan,   Graduate School of Information Science and Technology, The University of Tokyo, Hongo 3-chome Bunkyou-ku Tokyo, 113-8654, Japan
Published: April 2016

A robotic hand and its control system are developed. This hand has five fingers and 22 D.O.F. (16 for fingers and 6 for arm). The surface of the hand is covered with distributed touch sensor that has more than 600 measuring points. This system can control the position, orientation, velocity and force of multiple points on the hand simultaneously. The effectiveness of this system is shown by the experiment in which our robotic hand holds scissors and achieves a paper-cutting task. The event-driven task execution is also developed and used for the experiment. This system watches the event that signals the change of the constrained state of the hand and switches control points and behavior of the hand dynamically according to the detected event.
Realization of Fast and Dexterous Tasks by a DD Parallel Robot Using Motor Back-drivability
Authors: Kim Doohyung ,   Department of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai, 980-8579, Japan, Uchiyama Masaru
Published: April 2016

This paper presents the execution of very fast, complicated tasks with a high-speed accurate parallel robot we named HEXA. First, unified motion, force and compliance control scheme comprising several control algorithms are given. A key distinguishing feature of our model is control scheme, which does not use any force/torque sensors but uses the actuator backdrivability for this purpose. Hence we can ignore the weight and cost of the force/torque sensor. The motivation for this work is to show the usefulness of the versatile HEXA mechanism for applications in industry. Several experiments for complex, fast tasks, for example, the sequential peg-in-hole task on an inclined table, crank-turning, deburring and composite tasks, have been conducted using this control system to show its effectiveness.
Rotational Dynamic Illusion Related to Physiological Influence in Virtual Environments
Authors: Fujita Toyomi ,   Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu-shi, Tokyo 182-8585, Japan, Idesawa Masanori
Published: April 2016

As virtual environment (VE) technology has become more disseminated, harmful physiological influences on users of VE have been reported such as simulator sickness and motion sickness – collectively called VE sickness. For VE safety and comfort, we note a new dynamic visual illusion, called ""rotational dynamic illusion"". Several psychophysical experiments measuring head movement in illusion observation suggest that perceptive features of rotational dynamic illusion are closely related to balance, which causes VE sickness. These features will be effective in realizing VE safety and comfort and trigger advances in VE technology development.
Role of Visual Feedback in Upright Posture Control
Authors: Nagata Takanobu ,   Department of Applied Physics and Physico-informatics, Keio University, 3-14-1 Hiyoshi, kouhoku-ku, Yokohama, Kanagawa 223-8522, Japan, Ishida Akimasa , Fukuoka Yutaka , Minamitani Haruyuki ,   Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University, 1-5-45 Yushima, Bunkyou-ku, Tokyo 113-8510, Japan
Published: April 2016

We studied the role of visual feedback in upright posture control on the sagittal plane. In posture control, each sensory system has the following roles: initial detection of sway, suppression of short-term sway around the equilibrium point, and suppression of longterm sway induced by a slow shift in equilibrium. Experiments were conducted to examine features of each sensor and then visual contribution was studied. Based on measured sensory thresholds for the perception of sway during standing, it was suggested that visual input provided sensitive means of perceiving postural sway. Body sway of a subject was measured under several conditions in which the subject controlled upright posture utilizing the definite number of sensors. By analyzing and comparing measured sway waveforms under each condition, it was clear that the visual system suppressed short-term sway. Spectral analysis showed that the visual system suppressed body sway in a low frequency range around 0.2 Hz. Though visual feedback contains a large time delay, the influence of the delay is small in the low frequency range. It is rational that vision is efficient at suppressing body sway in the low frequency range.
Self-Partitioning State Space for Behavior Acquisition of Vision-Based Mobile Robots
Authors: Nakamura Takayuki ,   Nara Institute of Science and Technology, Graduate School of Information Sciences, Takayama-cho 8916-5, Ikoma, Nara 630-0101, Japan, Ogasawara Tsukasa
Published: April 2016

An input generalization problem is one of the most important in applying reinforcement learning to real robot tasks. To cope with this problem, we propose a self-partitioning state space algorithm, which can make nonuniform quantization of state space. To show that our algorithm has generalization capability, we apply our method to two tasks in which a soccer robot shoots a ball into a goal and prevent a ball from entering a goal. To show the validity of this method, the experimental results for computer simulation and a real robot are shown.
A Study on a New Type of Stereogram Using Binocularly Unpaired Wedge-Shaped Surfaces
Authors: Sudoh Kouji ,   Canon lac.,  3-30-Z Shimomaruko, Ohta-ku, Tokyo 146-8501, Japan, Idesawa Masanori ,   Graduate Schoo1 of Information Systerns University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu-shi, Tokyo 182-8585, Japan
Published: April 2016

A new type of free fusing stereogram was devised based on the binocularly unpaired wedge shaped surfaces. By arranging wedge shaped surfaces adjacently in horizontal direction, whole visual field could be covered with binocularly unpaired surfaces. Right eye and left eye image are shown on right and left side wedge surfaces adjacently as stripes; then they are seen only for the corresponding eye. Producing method of stereoimage from a 3-D computer model was developed and the new type of stereogram has been realized and investigated the perceptual features.
Studies on Uncertainty Evaluation in Straightness Measurement
Authors: Yadav Sanjay ,   Dimensional Standard Section, Division of Lengths and Dimensions, National Metrology Institute of Japan (NMIJ) and National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 3 Tsukuba, Ibaraki, 305-8563, Japan, Matsuda Jiro , Chitarage Lalith Prasantha Liyanawadu ,   Pressure and Vacuum Standards, National Physical Laboratory (NPL), Dr. K.S.Krishanan Road, New Delhi-110012, India,   Standard/Testing Officer, Division of Metrology, Sri Lanka Standards Instruction (SLSI), 17, Victoria Place, Elwitigala Mawatha, Colombo 8, Sri Lanka
Published: April 2016

The evaluation of uncertainty associated with measurements of geometrical forms is a subject of considerable interest these days in machine design. In the present study, a straightness measuring machine that was developed at National Research Laboratory of Metrology (NRLM), Japan is investigated to evaluate various uncertainty components associated with measurements over a length of 500mm of a datum cylinder. Investigations on the heating effect of the measuring machine due to heat generated by an electric motor, the effect of the stability and shape of the probe head, the effect of bending of the carriage bed and the effect of angular movement of the carriage i.e., yawing and pitching, are carried out, with consideration of the magnitudes of the uncertainty components. The studies have broken the 200mm limit in straightness measurement range imposed by the non-availability of good reference standards beyond this range and would lead to manufacturing of reliable, accurate and precise commercial straightness measuring machine.
Stitching of 3-D Image Position Measurement System with 1-D Direction-sensitive Devices
Authors: Mohamed Saied ,   Graduate School of Information Systems, the University of Electro-communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182-8585 Japan, Fujita Toyomi , Idesawa Masanori
Published: April 2016

We previously proposed practical calibration of 3-D bright spot position measurement system using 3 1-D direction-sensitive devices. The proposed calibration enables easy setup of 1-D direction-sensitive devices to construct 3-D position sensing system; then the applicable fields and circumstances are extended extremely. The method is based on mathematical techniques which the situation of each 1-D mark direction sensitive device is determined automatically by referencing coordinates with 7 referential points. Here, we are proposing the stitching of measurement space of high-precision 3-D position sensing with 1-D mark direction-sensitive devices to expand measured space further. Our proposed method is essentially iterative application of calibration: reference coordinates are translated and rotated to include both adjacent measurement spaces step by step, calibration is executed, and the position and situation of each 1-D direction-sensitive device are found systematically.