bluuebunny/crossref_metadata_2025 huggingface dataset:
A Middleware Framework for Loose Robot Communication over the Internet
Authors: Oya Makoto ,   Hokkaido University, N14, W9, Kita-ku, Sapporo 060-0814, Japan, Okuno Taku
Published: April 2016

Paralleling with the expansion of robot technology to social activities such as home use, community work, and entertainment, robot communication technology must expand from closed networks to the Internet. Unlike closed networks, robot communication over the Internet must be based on loose process coupling between robots. Web Services technology fits this requirement, but requires middleware supporting Web Services for robot communication to implement robot application software in this environment. Most existing middleware does not fully conform to this requirement because it mainly targets enterprise systems rather than robot applications. We propose a middleware framework for loose robot communication over Web Services based on OpenSOAP, an open-source middleware for Web Services. The framework realizes several essential features for loose robot communication, including bidirectional communication, a new concept called task service, asynchronous messaging, and task forwarding. The results of this study, while based on OpenSOAP, are applicable to other middleware technologies.
Behavior and Personal Adaptation of Robotic Lamp
Authors: Sato Tomomasa ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Hosseinbor Mehrab , Kuroiwa Takeru , Fukui Rui , Tamura Jun , Mori Taketoshi
Published: April 2016

Based on the concept of “behavior adaptation,” this paper presents an intelligent desk lamp called “Robotic Lamp” that supports users by illuminating desired areas in desired way according to user’s behavior. The user defines desired scenario using a GUI. A high resolution pressure sensor distributed floor is used to recognize user behavior. The system utilizes a five degree-of-freedom robotic lamp not only as an illumination tool but also as an input device in case the user moves it by physical contact. Experiments showed that the system can adapt to user behavior and can receive commands in case it has been moved by user. The adaptation process for the robotic lamp is proved to realize an automatic system that illuminates user-defined areas based on user behavior.
Special Issue on Selected Papers from ROBOMEC'04 (Part 2)
Authors: Komoriya Kiyoshi ,   Co-editor, Dr. Eng. ISRI, AIST Tsukuba East, 1-2-1 Namiki Tsukuba 305-8564, Japan, Sano Akihito ,   Program Chair of ROBOMEC'04 and Co-editor, Professor, Dr. Eng., Department of Mechanical Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
Published: April 2016

The 2004 JSME Conference on Robotics and Mechatronics (ROBOMEC'04) was held at Meijo University in Nagoya, Japan, on June 18-20, 2004, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. Prof. Takeo Oomichi of Meijo University served as general chair and Prof. Sano of the Nagoya Institute of Technology as program chair. The conference, whose theme was ""Super Fabrication for a Safe, Secure Environment,"" was to help establish new industries using advanced robotics and mechatronics technologies. Organized sessions numbered 67 and papers 813 – a record for the conference. The program committee selected 91 outstanding presentations – some 10% of the total – for the special issues. Out of submitted 43 papers Part 2 (Vol.17, No.3) presents 16 papers through the regular review process. Two papers have already been published in Vol.17, No.1, and 15 papers in Vol.17, No.2. We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Makoto Kaneko of Hiroshima University for organizing this special issue.
A Study of an In-Pipe Microrobot Having Bulging Friction Brakes
Authors: Ono Manabu ,   Tokyo Metropolitan College of Technology, 1-10-40 Higashi-Oi, Shinagawa, Tokyo 140-0011, Japan, Otsuki Manabu , Kato Shigeo ,   Nippon Institute of Technology, 4-1 Gakuendai, Miyashiro, Saitama 340-8501, Japan
Published: April 2016

We discuss fabrication of a new microrobot consisting of two outer stabilizers structured by a rubber bellows having four or six rubber bulging rubber friction brakes and a center mover that drives the microrobot by expanding and contracting. We studied friction generated by friction brakes modeled as a simple beam fixed at both ends. Friction generated by stabilizer is confirmed to be predictable. The fabricated microrobot moves in a pipe in which the friction factor is 0.34, confirmed by navigating a porcine intestine.
Detection of Wet-Road Conditions from Images Captured by a Vehicle-Mounted Camera
Authors: Yamada Muneo ,   Nagoya Electric Works Co., Ltd., 29-1 Shinoda, Miwa-cho, Ama-gun, Aichi 490-1294, Japan, Ueda Koji , Horiba Isao , Yamamoto Shin , Tsugawa Sadayuki ,   Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya-shi, Aichi 468-8502, Japan
Published: April 2016

This paper discusses the detection of wet-road conditions based on images captured by cameras on the rearview mirror of a vehicle. Based on properties associated with water on a road, detection was stable for daytime and nighttime conditions. Water is recognized on the road based on polarization properties from images. Field tests verified detectability on an expressway at an average 100km/h, with favorable results.
Special Issue on VLSI Computing for Real-World Intelligent Systems
Authors: Hariyama Masanori ,   6-6-05 Aoba, Aramaki, Aoba, Sendai, Miyagi 980-8579, Japan
Published: April 2016

Recently, intelligent systems are desired to support human in real world such as advanced safe vehicles, home service robots, wearable computing devices, and intelligent home security systems. Such intelligent systems require extremely high computational power that exceeds that of state-of-the-art microprocessors. They also require
Low power consumption

Low latency from input to output

Compactness
 Special-purpose processors called ""system LSIs"" play an essential role in meeting these requirements. This special issue focuses on the latest advances in system LSIs for real-world intelligent systems. One of their most important tasks is sensing environmental information such as visual information. Image and angle sensors, for example, are implemented in system LSIs. Image processing is the most time-consuming in real-world intelligent systems due to the extremely large amount of data. To overcome this problem, novel parallel architectures are presented. Electrical wires between processing modules must be minimized to make intelligent systems compact. High-speed serial data transfer is one most effective way to minimize the electrical wires. An architecture that handles processing order based on task priorities is a key to low latency. Processing of human interfaces such as face detection and speech recognition are also important factors in making intelligent systems user-friendly. I thank the authors of the articles in this issue for their effort and contributions, and the members of the Editorial Board for their cooperation.
A Digital Vision Chip for Early Feature Extraction with Rotated Template-Matching CA
Authors: Ikebe Masayuki ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan, Asai Tetsuya
Published: April 2016

We discuss a cellular-automata (CA) LSI core that extracts early features of objects in images, such as sizes and skeletons. A CMOS-image sensor with a CA core enables high-speed image processing. We propose an efficient CA algorithm based on rotated template matching. Each cell circuit in the proposed CA is implemented by a digital circuit, and transistors in each cell circuit number 198 in full customized design. The CA LSI consists of a large number of cell circuits operating in parallel to ensure fast, efficient object extraction as the number of cells increases. With a 0.25μm CMOS process, the total area of each cell circuit is 30×30μm². Simulation results indicated that image processing with 320×240 cells operates at up to 25MHz.
A Cellular-Automaton-Type Region Extraction Algorithm and its FPGA Implementation
Authors: Nakano Teppei ,   Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Japan, Morie Takashi , Nagata Makoto , Iwata Atsushi ,   Department of Computer and Systems Engineering, Kobe University, Nada-ku, Kobe 657-8501, Japan,   Graduate School of Advanced Sciences of Matter, Hiroshima University, Higashi-Hiroshima 739-8526, Japan
Published: April 2016

This paper proposes a new region extraction algorithm and its digital LSI architecture based on cellular-automaton operation for very fast image processing. The algorithm sequentially extracts each region defined by a closed boundary. From digital logic simulation using Verilog-HDL, the proposed circuit with pixel-parallel operation can operate 100 times faster than serial labeling for a 100×100-pixel image. We implemented the proposed circuit in an FPGA for 30×30-pixel image processing. In an experiment with the FPGA, five regions are successfully extracted one by one within 6μs at a clock frequency of 25MHz.
Parallel Extraction Architecture for Information of Numerous Particles in Real-Time Image Measurement
Authors: Watanabe Yoshihiro ,   Department of Information Physics and Computing, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Komuro Takashi , Kagami Shingo , Ishikawa Masatoshi
Published: April 2016

In this paper, we propose a new architecture that can extract information of numerous particles in an image at high-speed. Particle information means various characteristics obtained from image moments. The proposed architecture simultaneously extracts moments of multiple particles in parallel. This parallel extraction enables a significant reduction in the amount of calculation required. In addition, asynchronous operation allows fast processing. We believe that this architecture can obtain more information in real-time even at high frame rates than conventional processing, providing advantages in a wide range of applications, mainly for image measurement. This paper details our proposed architecture and reviews some results of its implementation in FPGA.
Development of Image Recognition Processor Based on Configurable Processor
Authors: Miyamori Takashi ,   SoC Research & Development Center, Semiconductor Company, Toshiba Corporation, 580-1 Horikawa-cho, Saiwai-ku, Kawasaki 212-8520, Japan, Tanabe Jun , Taniguchi Yasuhiro , Furukawa Kenji , Kozakaya Tatsuo , Nakai Hiroaki , Miyamoto Yukimasa , Maeda Ken-ichi , Matsui Masataka ,   Corporate Research & Development Center, Toshiba Corporation, 1 Komukai Toshiba-cho, Saiwai-ku, Kawasaki 212-8582, Japan
Published: April 2016

We developed an image recognition processor, “Visconti,” based on a configurable processor. Three VLIW processors that execute three instructions in parallel are integrated into a single chip with peripheral modules such as video I/Os and an SDRAM controller. Each VLIW processor has a RISC processor core and a VLIW coprocessor dedicated to image processing. The coprocessor executes SIMD instructions such as 8-parallel byte. Visconti was fabricated using 0.13μm CMOS technology, operates at 150MHz, and consumes about 1W. We present actual application examples of Visconti, onboard surveillance for automobiles and face recognition. Compared to cases in which only the processor core is used, execution speed per one processor increases about 16 times for onboard surveillance and about five times per three processors for face recognition. These applications can be processed in real time.
Motion Planning for Rolling-Based Locomotion
Authors: Suzuki Kodai ,   Electronics Department, NGK Insulators, Ltd., 1716 Kosaka, Meito-ku, Nagoya 465-0007, Japan, Svinin Mikhail , Hosoe Shigeyuki ,   Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan,   Department of Electronic-Mechanical Engineering, Nagoya University, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

The basic motivation of this paper is to study locomotion on a hemisphere. To understand the problem we resort to a simplified quasi-static model in which the locomotion object is represented by a mass point. In this formulation, the driving principle is based on controlling the position of the center of mass of the object, exploiting non-holonomic rolling constraint to propel the hemisphere. The principle is tested under simulation using two motion planning algorithms. The simulation results show the possibility of steering the loocmotion system to the desired configurations by moving the center of mass through multiple generalized figure eights on the main hemisphere plane.
Stand-Alone Wearable Power Assist Suit –Development and Availability–
Authors: Ishii Mineo ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Yamamoto Keijiro , Hyodo Kazuhito
Published: April 2016

The stand-alone wearable power assist suit we developed gives caregivers the extra strength they need to lift patients while avoiding back injuries. To put this suit to practical use, we improved sensing system and the mechanisms. To stabilize muscle tenseness sensing more, we developed an all-in-one sensor that built the sensor into a mesh belt and improved sensing characteristics. We expanded the movable range and function of the suit. We increased actuator output torque by increasing the number of cuffs inserted into actuators. Based on equations derived from static body mechanics using joint angles, joints torques required to maintain a position are calculated by an embedded microcomputer and required joint torques was combined with muscle sensor output signals to generate control signals. We developed an exoskeleton for measurement having the same frame and potentiometers as the suit and measured muscle force by having a user wear the exoskeleton, and proved that each unit of the suit transmitted assistance torque directly to each joint. We also found that a user wearing the suit could lift weight using half or less muscle power, i.e., muscle power doubled.
Design of a Human Circulation Modeling System for Fitness Training
Authors: Asami Kenichi ,   Faculty of Engineering, Kyushu Institute of Technology, 1-1 Sensui, Tobata, Kitakyushu 804-8550, Japan
Published: April 2016

A physiological modeling and simulation system to support fitness training in which the cardiovascular system model predicts pulsatile blood flows in response to exercise levels is presented. A circulation monitor and simulator that allow interaction of humans with health enhancement devices enable development of intelligent fitness machines. A modeling and simulation system of the human circulation is necessary to realize safe and effective machines. In order to construct a better architecture of the assisting framework, a modeling and simulation system for the human circulation for fitness work could contribute to the effectiveness of programs for rehabilitation, weight change, health enhancement, and physical strengthening.
Human Posture Probability Density Estimation Based on Actual Motion Measurement and Eigenpostures
Authors: Harada Tatsuya ,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Mori Taketoshi , Sato Tomomasa ,   Graduate School of Interdisciplinary Information Studies, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

We construct human posture probability density based on actual human motion measurement. Human postures in daily life were measured for two days by having subjects wear a mechanical motion capture device. Accumulated human postures were converted to unit quaternions to guarantee the uniqueness of posture representation. To represent probability density effectively, we propose eigenpostures for posture compression and use the kernel-based reduced set density estimator (RSDE) to reduce the number of posture samples and construction of posture probability density. Before compression, unit quaternions were converted to Euclidean space by logarithmic mapping. After conversion, postures were compressed in Euclidean space. Applying constructed human posture probability density for unlikely posture detection and motion segmentation, we verified its effectiveness for many different applications.
Extracting Multimodal Dynamics of Objects Using RNNPB
Authors: Ogata Tetsuya ,   Graduate School of Informatics, Kyoto University, Kyoto, Japan, Ohba Hayato , Tani Jun , Komatani Kazunori , Okuno Hiroshi G. ,   Brain Science Institute, RIKEN, Saitama, Japan
Published: April 2016

Dynamic features play an important role in recognizing objects that have similar static features in color or shape. This paper focuses on active sensing that exploits the dynamic feature of an object. An extended version of the robot, Robovie-IIs, uses its arms to move an object and determine its dynamic features. At issue is how to extract symbols from different temporal states of the object. We use a recurrent neural network with parametric bias (RNNPB) that generates self-organized nodes in parametric bias space. We trained an RNNPB with 42 neurons using data on sounds, trajectories, and tactile sensors generated while the robot was moving or hitting an object with its arm. Clusters of 20 types of objects were self-organized. Experiments with unknown (untrained) objects showed that our proposal configured them appropriately in PB space, demonstrating its generalization.
Development of Infant Behavior Simulator: Modeling Grasping Achievement Based on Developmental Behavior Model and Environmental Interest Induction Model
Authors: Kitamura Koji ,   Tokyo Univ. of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan, Nishida Yoshifumi , Matsumoto Naoaki , Motomura Yoichi , Yamanaka Tatsuhiro , Mizoguchi Hiroshi ,   AIST & CREST, JST,   Ryokuen Children’s Clinic
Published: April 2016

Comprehensive understanding of infant behavior is required to prevent infant accidents in the home. We are developing a system to simulate infant behavior and accidents in virtual space to comprehensively understand infant behavior and accidents. We model infant grasping achievement in daily life, focusing on interaction with objects as a basic function of the infant behavior simulator we are developing. Grasping achievement refers to behavior in which an infant sees an object, approaches it, and grasps it. We classified elements related to infant behavior into developmental behavior, which is an internal factor, and environmental interest induction, which is an external factor. We created models by representing these factors in a stochastic form based on the knowledge on developmental behavior, which is known in the medicine field, and our new findings on environmental interest induction, which was obtained from infant observation. We integrated these models in a stochastic manner to create a grasping achievement model. We validated this model by comparing data on infant behavior with simulation results using the grasping achievement model.
Reliable Robot Communication on Web Services
Authors: Narita Masahiko ,   Fujitsu Limited, 2-15-16 Shinyokohama, Kouhoku-ku, Yokohama, Kanagawa 222-0033, Japan, Shimamura Makiko , Oya Makoto ,   Hokkaido University, N14, W9, Kita-ku, Sapporo 060-0814, Japan
Published: April 2016

Remote-robot-control study and standardization have mainly focused on real-time mission-critical communication. As robot technology expands in non-industrial areas such as entertainment and home use, a more flexible communication is required to realize communication between robots and between robots and computers in open/public network space, which need not be real-time or mission-critical. The RoboLink Protocol, developed as a standardized protocol for such communication, is based on Web services technology to ensure flexibility. We discuss requirements for robot communication reliability, an important practical issue, especially in loosely coupled environments, wireless networks, and WANs. To ensure reliability, we propose combining two solutions: one for the transport layer using standard messaging technology and the other for the application layer implementing transaction behavior with recovery for fatal failures. We provide a guideline for developers on how to implement recovery easily in their applications. We confirmed the feasibility of our proposal using sample implementation developed as a plug-in handler for the Web server.
A Stable Approach for Modular Learning and its Application to Autonomous Aero-Robot
Authors: Bando Mai ,   Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto 606-8501, Japan, Nakanishi Hiroaki
Published: April 2016

A control system for an autonomous robot, which consists of several cooperative modules whose combination and structures change dynamically through interaction with environment, is discussed in this paper. We propose a method to design a control system by modular learning based on Lyapunov design method. In our method, modules that have different property and the dynamic relations between modules to achieve the task are learned. Numerical simulations and flight experiment of an autonomous aero-robot demonstrate the effectiveness of the proposed method.
Tail-Actuator Propulsion Device for Aquatic Robot
Authors: Bertetto Andrea Manuello ,   Dipartimento di Ingegneria Meccanica, University of Cagliari, Piazza D’Armi, 1-09123 Cagliari, Ruggiu Maurizio
Published: April 2016

In this paper an aquatic device inspired to the fish propulsion is proposed. At the first, the operating principle of the fluidic actuator and its experimental characterization are presented. Then, the results of numerous tests carried out on the integrated tail-actuator device are shown either in terms of thrust exerted or as biomorphism of its kinematics. The tests were run at several driven frequencies with different fins depending on their geometrical dimensions and compliances. On the other hand, a simplified mathematical model of the propulsion system, based on the calculation of the instantaneous tail kinematics and dynamics by means of a numerical procedure, is proposed with the aim of simulating performances either in terms of thrust exerted or kinematics behavior. Finally a discussion about the results obtained and a comparison between experimental and numerical data are presented.
Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm
Authors: Tsetserukou Dzmitry ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Tadakuma Riichiro , Kajimoto Hiroyuki , Tachi Susumu
Published: April 2016

We recently developed an optical torque sensor to replace expensive strain-gauge-based sensor on the anthropomorphic robot arm and realize local impedance control in individual joints.
Development of 6-Axis Material Tester for Measuring Mechanical Spine Properties
Authors: Fujiwara Motoyoshi ,   Metals Lab., Mie Prefectural Science and Technology Promotion Center, 208 Nishiyama, Shichi, Kuwana, Mie 514-0937, Japan, Masuda Takanori , Inaba Tadashi , Katoh Takaya , Kasai Yuichi , Ito Satoru ,   Faculty of Engineering, Mie University,   Research Center For Creation, Mie University,   Faculty of Medicine, Mie University,   FUSO Machine Works Ltd.
Published: April 2016

Because mechanical spine properties having multiple degrees of freedom (DOF) are generally difficult to measure, we developed a parallel 6-axis material tester with hybrid position/force control. We give examples of 6-axis testing and results of material tests using polyurethane rubber and animal spines.
Development of Human-Symbiotic Robot “EMIEW” – Design Concept and System Construction –
Authors: Hosoda Yuji ,   Robotics Project, Mechanical Engineering Research Laboratory, Hitachi, Ltd., 832-2 Horiguchi, Hitachinaka, Ibaraki 312-0034, Japan, Egawa Saku , Tamamoto Junichi , Yamamoto Kenjiro , Nakamura Ryousuke , Togami Masahito ,   Ubiquitous Media Systems Research Department, Central Research Laboratory, Hitachi, Ltd., 1-280 Higashi-koigakubo, Kokubunji-shi, Tokyo 185-8601, Japan
Published: April 2016

We are developing a robot that will support people in their daily lives, i.e., a human-symbiotic robot. This kind of robot is required to coexist with users, be user friendly, and be capable of supporting them. As a first step to achieving the last goal, we have developed an autonomous mobile robot that makes use of a self-balancing two-wheeled mobility system and a body swing mechanism to shift its center of gravity. This allows it to move nimbly at up to six kilometers per hour. It also has capabilities that enable it to avoid collisions with obstacles and move safely through complex environments. It is able to interact with people naturally without special tools by means of distant-speech recognition and high-quality speech-synthesis technologies. These capabilities were demonstrated at the 2005 World Exposition Aichi Japan.
Integrated Limb Mechanism Robot ASTERISK
Authors: Takubo Tomohito ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Arai Tatsuo , Inoue Kenji , Ochi Hikaru , Konishi Takeshi , Tsurutani Taisuke , Hayashibara Yasuo , Koyanagi Eiji ,   Department of Robotics and Bio-Mechatronics, Toin University of Yokohama, 1614 Kurogane-cho, Aoba-ku, Yokohama 225-8502, Japan
Published: April 2016

The Integrated Limb Mechanism (ILM) concept deals with a dual arm-leg integrating the leg for locomotion and the arm for manipulation, while it enables a robot, for example, to operate flexibly in different work and situations, dual use requires that components are compact and mobile. Integrated software controlling the leg and arm is also required for implementing the actual robot. The ILM robot ASTEIRSK has six limbs arranged radially around the center to enable locomotion and manipulation capabilities omnidirectionally. ASTERISK features upper and lower symmetrical body and workability. We propose a design for the ILM and develop a small robot I/O controlling robot motion and monitoring sensors. In multimodal performance, ASTERISK uses omnidirectional drive control to walk hexapodally alternating tripod gait and creeping for restricted mobility. The new transportation way of hexapod walking style on a grid ceiling is proposed. Experiments deal with the detection of heat sources using infrared sensors and remote control to handle an object using two arms.
A Finite Element Scheme for Impact Force Prediction of Robotic Mechanisms
Authors: Isobe Daigoro ,   Department of Engineering Mechanics and Energy, University of Tsukuba, 1-1-1 Tennodai, Tsukuba-shi, Ibaraki 305-8573, Japan, Moriya Yoshiaki ,   Toyota Motors Co., 523 Toyota, Toyota-shi, Aichi 471-0826, Japan
Published: April 2016

Stress in robots operating at high speed may be considerable. Robots can also be subjected to unexpected, large reaction forces that may not be detected by sensors during high-speed impact. These present major problems since impact may damage the robotic mechanism. We propose the concept of impact force prediction using numerical models and a low-cost finite element scheme considering inertia and large motion of the whole system. We developed a scheme using gap elements to simulate the contact-impact phenomenon. To check the scheme’s validity, we conducted tests and experiments whose results show that impact analysis considering the stiffness of contact objects is possible. Peak of impact forces in numerical analysis agrees well with those of experiments.
Haptic-Assisted SMMS Telemicromanipulation Using Virtual Fixture
Authors: Hwang Gilgueng ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo, Japan, Hashimoto Hideki
Published: April 2016

The haptic-assisted user/robot-shared telemicromanipulation we propose uses learning different skill levels to improve operability. This research is expected to enhance teleoperation through haptic guidance based on a virtual fixture. Haptic guidance in the noncontact phase and novel feedback in the contact phase are integrated into a manipulation strategy to realize the haptic-assisted telemanipulation. We tested our proposed algorithms on a single-master multi-slave telemicromanipulation system using the task of improving user operability for user/robot-shared control. Pick-and-place experiments using salmon roe and styrene block model verify the feasibility of our haptic-assisted manipulation.
Future Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II
Authors: Halabi Osama ,   Department of Computer Science, Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka 020-8551, Japan, Daniulaitis Vytautas , Kawasaki Haruhisa , Mouri Tetsuya , Ohtuka Yoshio ,   System Analysis Department, Kaunas University of Technology, Studentu 50-403a, Kaunas LT-50250, Lithuania,   Department of Human Information System, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Published: April 2016

Maintaining a stable haptic interaction with virtual environments, especially with physically-based deformable objects, has long been an active area of research. We address this issue by presenting a comprehensive haptic system architecture and virtual reality simulation, where a physically-based modeling using the Finite Element Method (FEM) combined with an “elementary displacement” approach has been implemented. This approach ensures the stability of haptic interaction with deformable objects and considers interaction with multipoints contacts. The Future Haptic Science Encyclopedia (FHSE) we developed to verify our proposal and demonstrate the new haptic interface HIRO II. We also present an objective and subjective evaluation of FHSE simulation.
Cross-Modality Between Haptic and Auditory Roughness with a Force Feedback Device
Authors: Kitamura Emi ,   Interdisciplinary Graduate School of Medicine and Engineering, University of Yamanashi, 4-3-11 Takeda, Kofu, Yamanashi 400-8511, Japan, Miyashita Katsuya , Ozawa Kenji , Omata Masaki , Imamiya Atsumi ,   Faculty of Engineering, University of Yamanashi, 4-3-11 Takeda, Kofu, Yamanashi 400-8511, Japan
Published: April 2016

Haptic roughness is basic to accurately identifying the texture of an object. When we manipulate everyday objects, their surfaces emit sound. Cross-modal effects between haptic and auditory roughness must thus be considered in realizing a multimodal human-computer interface. We conducted two experiments to accumulate basic data for the cross-modality using a force feedback device. In one experiment, we studied the cross-modal effect of auditory roughness on haptic roughness. We studied the effect of haptic roughness on auditory roughness in the other experiment. Results showed that cross-modal effects were mutually enhancing when their single-modal roughness was relatively high.
Haptic Length Display Based on Cutaneous-Proprioceptive Integration
Authors: Terada Kazunori ,   Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Kumazaki Akinori , Miyata Daisuke , Ito Akira ,   FUJI SOFT ABC INCORPORATED, 1-1 Sakuragi-cho, Naka-ku, Yokohama-shi, Kanagawa 231-8008, Japan
Published: April 2016

When a human recognizes length of an object while exploring it with an index finger, both proprioception and cutaneous sensation provide information for estimating the length of the object. We studied the contribution of cutaneous sensation and proprioception to the subjective estimation of object length, developing an apparatus for investigating the human cutaneous-proprioceptive integration using velocity dependency of cutaneous and proprioceptive length perception. We conducted four experiments. In experiment 1, 12 subjects estimated object length passively, using cutaneous sensation only via the index finger. In experiment 2, ten subjects estimated the distance if index finger traveled passively without cutaneous sensation. In experiment 3, subjects used both cutaneous and proprioceptive sensation to estimate the object length. The results showed that using both senses simultaneously improves length perception. In experiment 4, 17 subjects estimated object length moving the index finger passively but with the cutaneous sensation and proprioception differing in perceived length. The results showed that subjects relied on the greater sensation if proprioceptive and cutaneous sensations were discrepant.
Locomotion of 3D Snake-Like Robots – Shifting and Rolling Control of Active Cord Mechanism ACM-R3 –
Authors: Mori Makoto ,   Department of Mechanical & Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

We discuss basic control strategies of a three-dimensional snake-like robot. Introduced strategies are composed of shifting and rolling, and their superimposing control. This paper clarified the generation of control commands for these movements and verified the feasibility of our proposal in experiments using the three-dimensional snake-like robot “ACM-R3”.
Neural Adaptive Approach-Application to Robot Force Control in an Unknown Environment
Authors: Amirat Yacine ,   LISSI - Université Paris 12, 120-122, rue Paul Armangot 94400 Vitry sur seine, France, Djouani Karim , Kirad Mohamed , Saadia Nadia ,   Electronics and Computer Science Faculty, USTHB University, BP 32, Bab-ezzouar, El Alia, Alger Algeria
Published: April 2016

This paper presents an effective neural adaptive approach for robot force control with changing/unknown robot-environment interaction dynamic properties. In this approach, a multilayered neural network controller is trained at first off line from data collected during contact motion in order to perform a smooth transition from free to contact motion. Then, an adaptive process is implemented online through a desired impedance reference model such that the closed-loop system maintains a good performance and compensates for uncertain/unknown dynamics of the robot-environment interaction. The effectiveness of the proposed approach has been evaluated for the force control of a 6 DOF (Degree Of Freedom) C5-links parallel robot executing rectangular peg-in-hole insertions with weak tolerances. The experimental results demonstrate that the robot’s skill improves effectively and force control performances are good even if robot-environment interaction dynamic properties change.
Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks
Authors: Kawasaki Haruhisa ,   Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Ramli Rizauddin Bin , Ueki Satoshi
Published: April 2016

The decentralized adaptive coordinated control of multiple robot arms grasping a common object constrained by a known environment involves the analysis of cases of rigid and rolling contact between end-effectors and object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. Desired motion of the robot arms is generated by an estimated object reference model. The asymptotic stability of motion is proven by the Lyapunov-like lemma. Experimental results for two planar robot arms with 3 DOF moving a constrained object demonstrate the effectiveness of the control scheme.
Clothes Folding Task by Tool-Using Robot
Authors: Osawa Fumiaki ,   Dept. of Electrical and Electronic Engineering, Daido Institute of Technology, 10-3 Takiharu-cho, Minami-ku, Nagoya 457-8530, Japan, Seki Hiroaki , Kamiya Yoshitsugu ,   Faculty of Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan
Published: April 2016

Dropping birth rates and the aging of society are expected to lead to the increasing use of robots in the home to assist in housework and family care. We target a robot that folds and stacks laundry. On the other hand, fabrics variably change in their shapes and, thus, the robot is difficult to handle them. Therefore, this paper proposes the system for folding a variety of clothes by a collective behavior of a tool and the robot. The tool has a function to bend and double clothes by using a plate. The robot positions clothes on the tool to ensure correct folding at the intended location. Our robot model automatically adjusts the positioning and course of folding, as detailed below, and checks progress based on visual information. A folding experiment confirmed the feasibility of our proposal.
Development of a Needle-Insertion Robot for MRI-Guided Stereotactic Surgery
Authors: Wakasa Yuji ,   Graduate School of Science and Engineering, Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan, Oka Masato , Tanaka Kanya , Fujii Masami , Yamauchi Syuichi , Minami Kazuyuki ,   Ube National College of Technology, 2-14-1 Tokiwadai, Ube, Yamaguchi 755-8555, Japan,   Yamaguchi University Hospital, 1-1-1 Minami-kogushi, Ube, Yamaguchi 755-8505, Japan,   Graduate School of Medicine, Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan
Published: April 2016

Needle insertion in stereotactic brain surgery, such as electrode implantation for Parkinson’s disease, requires highly precise positioning control. MRI-guided robots are practical and promising in realizing safe, precise stereotactic brain surgery, but such robots must meet numerous constraints on component materials due to the strong magnetic field that MRI generates. We developed a needle-insertion robot for MRI-guided surgery taking into account such constraints.
Dual-LED Imaging System for Secure and Robust Fingerprint Detection
Authors: Fujieda Ichiro ,   Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan, Tai Katsuki , Matsuyama Etsuji , Kurita Masashi
Published: April 2016

Counterfeiting is an important issue in unattended fingerprint identification. To help prevent this, we have proposed to look at the finger color changes during an input action. When a finger is pressed against an optical fingerprint sensor, it is gradually deformed and the color of the fingerprint images changes. This is due to the blood movements inside the finger. If the extent of this color change exceeds a certain threshold, the finger is judged to be real. We start by describing the spectral changes in light scattered by the pressed finger. As the pressure applied to the finger increases, the relative intensity of the red portion of the spectrum decreases. Second, we discuss a dual-LED imaging system based on scattered light detection. Here, two LEDs with peak emissions at 530nm and 630nm are mounted on the edge of a plastic plate serving as a light-guide. Light scattered by a finger on the light-guide is captured by a standard color camera. Using eight types of replicas and live fingers of 42 volunteers, we have acquired series of images during an input action. For each finger, three input actions have been recorded. Analysis of this database of 150 input trials shows that our imaging system can differentiate the live fingers and the replicas clearly. We have investigated signal extraction process for a reliable differentiation. The imaging system is adequately robust against temperature fluctuation in a finger and it can be used under illumination of 3050 lux.
Object Modeling Using Gaussian Mixture Model for Infrared Image and its Application to Vehicle Detection
Authors: Seki Makito ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-Honmachi, Amagasaki, Hyogo 661-8661, Japan, Okuda Haruhisa , Hashimoto Manabu , Hirata Nami
Published: April 2016

In this paper, we propose a new object modeling method for infrared (IR) image. It is based on the modeling method using Gaussian Mixture Model (GMM) that has been originally proposed for general visible image. The original method is one of effective object modeling algorithms that can describe the topological structures of the internal patterns of object. This approach can also eliminate the influences due to small differences between patterns. On the other hand, an IR image is often used instead of visible image in actual applications such as outdoor surveillance. IR images make it easy to extract foreground object regions from background scenes, but their low-contrast makes object modeling difficult. We therefore propose a modeling method using Orientation-Code for IR image. Orientation-Code of each pixel has information about the maximum-gradient orientation of image, not intensity information. Gradient orientation information does not depend on contrast and describes internal pattern structures of objects even in unclear IR images. We also applied proposed method to vehicle detection for outdoor scenes, where it extracts multiple foreground regions as vehicle candidates using background subtraction for IR image, and they are described as models by our method. Models are finally compared with standard vehicle view models pre-memorized to determine which candidate is true vehicle or not. Evaluation tests with actual IR video sequences have proved that our proposed algorithm detects objects robustly.
Self-Stabilizing Dynamics for a Quadruped Robot and Extension Toward Running on Rough Terrain
Authors: Zhang Zu Guang ,   Dept. of Precision Engineering, Graduate School of Engineering, the University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kimura Hiroshi , Fukuoka Yasuhiro ,   Graduate School of Information Systems, Univ. of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu, Tokyo 182-8585, Japan,   Department of Intelligent Systems Engineering, Ibaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, Ibaraki 316-8511, Japan
Published: April 2016

We designed and analyzed a control strategy that achieves autonomous adaptation and good energy efficiency in running by a quadruped robot. Our control strategy, inspired by previous studies on self-stabilizing dynamics, combines rhythm and torque generators with delayed feedback control (DFC) to achieve stable running and essential energy input. We developed an adaptation strategy to extend this control strategy that adjusts the robot’s leg touchdown angle based on the body’s pitch angle. Used together with our proposed control, it enables robust bounding over a shallow slope. Simulation results confirmed the feasibility of our proposal and its performance.
Configuration-Based Wheel Control for Step-Climbing Vehicle
Authors: Chugo Daisuke ,   The University of Electro-Communications, 5-1-5 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Kawabata Kuniaki , Kaetsu Hayato , Asama Hajime , Mishima Taketoshi ,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan,   The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8568, Japan,   Saitama University, 255 Shimo-Ookubo, Saimata, Saitama 338-8570, Japan
Published: April 2016

We propose a derivation of adaptable wheel rotation velocity for negotiating irregular terrain based on vehicle configuration. We developed a holonomic vehicle capable of negotiating steps and running around omnidirectionally on a flat floor using seven special wheels and two passive links. Each wheel has its actuator, requiring that the rotation velocity of individual wheels be coordinated, which is difficult due to changes rotation speed when the passive link negotiates the irregular terrain. Unstable rotation velocity calculated without considering the vehicle configuration causes wheel slippage and rotation error that adversely affect mobility on rough terrain. Because conventional general traction control cannot coordinate wheel velocity, we propose reference derivation that does so based on the vehicle configuration. In the sections that follow, we focus on (1) the derivation of individual wheel velocity during step climbing and (2) adaptation to wheel control reference while balancing rotation velocity among wheels. We confirm the feasibility of our proposal in experiments using our vehicle prototype.
Learning from Approximate Human Decisions by a Robot
Authors: Jayawardena Chandimal ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan, Watanabe Keigo , Izumi Kiyotaka
Published: April 2016

Robot systems operating under natural-language commands must be able to infer the meaning intended by the issuer. Despite some successful research, however, an important related aspect not yet addressed has been the possibility of learning from natural-language commands. Such commands, generated by human users, contain valuable information. The inherent subjectivity of natural language, however, complicates potential learning from such commands and their interpretation. We propose decision making for robots operating under natural-language commands influenced by human aspects of decision making. Under our proposed concept, demonstrated in experiments conducted using a robotic manipulator, the robot is controlled using natural-language commands to conduct pick-and-place operations, during which the robot builds a knowledge base. After this learning, which uses a probabilistic neural network, the robot conducts similar tasks based on approximate decisions from the knowledge gained.
Grasping Operation Based on Functional Cooperation of Fingers
Authors: Nagata Kazuyuki ,   Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Saito Fuminori , Wakita Yujin , Suehiro Takashi ,   Former member of National Institute of Advanced Industrial Science and Technology (AIST) (Currently at Toyota Motor Corporation, 1 Toyota-cho, Toyota, Aichi 471-8571, Japan)
Published: April 2016

When we observe human grasping, some grasping operations consist of multiple cooperative primitive operations. Performing individual movements by different fingers in a grasping operation are generally called “partitioning of fingers.” Our interest is not in the individual movement of each finger, but in functional units of operations constituting entire grasping operations realized by fingers working together. We define such functional unit operation as a “primitive operation.” When one grasping operation consists of multiple cooperative primitive operations and fingers are used in different primitive operations, we call this “functional partitioning of fingers.” By assigning different primitive operations to functional partitioning of fingers, robot can realize various grasping operations. This paper shows that primitive operations can be described in software modules running in multifingered robot hand system, and demonstrates that various grasping operations are achieved by cooperation of primitive operations.
Development of a Portable Multipurpose Controller for Mechatronics Education
Authors: Hyodo Kazuhito ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Noborisaka Hirokazu , Yamamoto Keijiro , Yada Takashi ,   ZUCO Co.Ltd, 13-4 Higashi-Naruse, Isehara, Kanagawa 259-1117, Japan
Published: April 2016

The control module we developed for mechatronics education, consists of a Field-programmable gate array (FPGA), a Programmable System-On-Chip (PSoC) and Game Boy Advance (GBA). The FPGA and PSoC provide a reconfigurable peripheral module and the GBA provides computational power and an interactive user interface. The interactive user interface is very useful for developing educational materials, and the control module enables educators to develop a variety of educational materials.