bluuebunny/crossref_metadata_2025 huggingface dataset:
Classification of Prism Object Shapes Utilizing Tactile Spatiotemporal Differential Information Obtained from Grasping by Single-Finger Robot Hand with Soft Tactile Sensor Array
Authors: Watanabe Kenshi ,   Department of Mechanical Engineering Tokyo University of Science, 1-3 Kagurazaka, Shinjyuku-ku, Tokyo 162-8601, Japan, Ohkubo Kenichi , Ichikawa Sumiaki , Hara Fumio ,   Faculty of Systems Engineering, Tokyo University of Science, 5000-1 Toyohira, Chino-shi, Nagano 391-0292, Japan
Published: April 2016

Our proposal involves classifying cylindrical objects by using soft tactile sensor arrays on a single five-link robotic finger. The front of each link is covered with semicircular silicone rubber with 235 small on-off switches. On-off data from switches obtained when an object is grasped is converted to a spatiotemporal matrix. Eight cells around the contact switch are useful in extracting local spatiotemporal contact physics, so the frequency of the 8-Cell patterns composed of binary data around the switch contacted is obtained for each object and used to form a contact-feature vector. This vector is obtained 10 times of experimental trial, corresponding to each object. Vectors are classified by the Mahalanobis distance for 12 objects - cylinders and regular polygonal prisms - resulting in 14 types of grasping (14 classes). Using 6 dimensional feature vectors, over 95% classification accuracy is obtained for 7 classes derived from 5 objects having one or two types of stable grasping.
Light Weight Quadruped with Nine Actuators
Authors: Yoneda Kan ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino-shi, Chiba 275-0016, Japan
Published: April 2016

Quadruped robots, which tend to be heavy can be made lighter by carefully considering the number of actuators and required power. This paper discusses the relationship of the moving functions of quadruped locomotion and the required number of actuators. Using fewer actuators than conventionally need not prevent the quadruped robot from satisfactory locomotion. At the same time, energy saving brings a lighter design, because required actuators and batteries are smaller. This paper discusses several techniques to reduce energy consumption. Combining these discussions, examples of 3-, 5-, and 9-actuator quadrupeds are designed, and experimentally performed good locomotion.
Plastic-Bottle-Based Robots in Educational Robotics Courses – Understanding Embodied Artificial Intelligence –
Authors: Matsushita Kojiro ,   Dept. of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Yokoi Hiroshi , Arai Tamio
Published: April 2016

In this paper, we introduce an educational robotics approach featuring a unique robotic development kit - hardware, software, and instructions - that concretely encourages student interest in and curiosity about science and technology. The kit was developed based on practical policies: easy construction, low cost, creative activity, and enjoyable education. It uses common materials such as plastic bottles, RC servomotors, and hot glue, and provides three different controllers with instructions - a sensor-motor controller, an electromyography (EMG) interface controller, and a teaching-playback controller. The kit thus offers more custom access to both robot structure and control architecture than similar kits and encourages students to become engaged creatively. The three robotics courses for undergraduates and graduates we have conducted thus far to provide an understanding of robotics and embodied artificial intelligence (AI) have confirmed that some of locomotive robots explicitly exploit their own dynamics - also known as “morph-functionality” - an embodied AI concept. An evaluation of this approach for course hours, task achievement, student interest, and the influence of assistance confirmed conclusively that students experienced creativity in such robotics courses.
Development of an Intraoperative Information Integration System and Implementation for Neurosurgery
Authors: Aoki Eisuke ,   Graduate School of Frontier Sciences, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Noguchi Masafumi , Hong Jae-Sung , Kobayashi Etsuko , Nakamura Ryoichi , Maruyama Takashi , Muragaki Yoshihiro , Iseki Hiroshi , Sakuma Ichiro ,   Department of Nanobiomedicine, Faculty of Medical Sciences, Kyushu University, 3-1-1 Maidashi, Higashi-ku, Fukuoka 812-8582, Japan,   Department of Precision Engineering, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan,   Institute of Advanced Biomedical Engineering and Science, Tokyo Women's Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan
Published: April 2016

Complete resection of glioma is required to obtain a satisfactory outcome in neurosurgical treatment. It is difficult for neurosurgeons to identify the boundary between glioma and normal tissue using the naked eye alone, so surgical assistance systems such as surgical navigation systems for the detection of brain tumor have been used in clinical operations. Intraoperative information obtained from intraoperative biomedical measurement systems must be integrated to detect brain tumors more accurately. In this research, we developed an intraoperative information integration platform using middleware that has global positioning and global time management capabilities. To evaluate the platform, we developed an integrated platform consisting of devices and systems for neurosurgery. Through experiments, we confirmed the basic performance and effectiveness of our platform in a simulated clinical environment.
Reorganization of the Central Nervous Systems in Response to Changes in Social Environment Among Insects
Authors: Sasaki Ken ,   Human Information Systems, Kanazawa Institute of Technology, 3-1 Yakkaho, Hakusan, Ishikawa 924-0838, Japan, Nagao Takashi
Published: April 2016

Caste is a polyphenism for efficiently accomplishing various tasks in a group for social insects, and morphological differentiation is based on nutritional conditions in larval development. Adult worker insects can plastically convert part of their internal organs and behaviors to those of a queen while maintaining external morphology as is. Behavioral change together with caste transition is caused by physiological change in the brain, and behavioral change affects even the brain morphologically, eventually creating an “adaptive” brain specialized in caste. This phenomenon, a typical example of “mobiligence,” is a model case in which physiological and morphological transitions in the brain are detected.
Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties
Authors: Iribe Masatsugu ,   Kobe University, 1-1 Rokkoudai-cho, Nada, Kobe 657-8501, Japan, Osuka Koichi ,   Intelligent System Research Lab., Information Technologies Laboratories, Sony Co., 5-12-5 Kita-Shinagawa, Shinagawa-ku, Tokyo, Japan
Published: April 2016

Most mobile robot development has adopted model-based control. On the other hand, we focused on the passive dynamic walking robot that walks only by its dynamics. If the principle of the passive dynamic walking robot is analyzed and clarified, we could apply it to conventional walking robot control, and improve the performance of it. For this reason we tried to develop new design of the passive dynamic walking robot. In this paper we describe the robot’s dynamic properties, and propose a new design method applying these properties.
Synchrony-Induced Attractor Transition in Cortical Neural Networks Organized by Spike-Timing Dependent Plasticity
Authors: Aoki Takaaki ,   CREST, Japan Science and Technology Corporation, Kyoto 606-8501, Japan, Aoyagi Toshio ,   Department of Applied Analysis and Complex Dynamical Systems, Graduate School of Informatics, Kyoto University, Kyoto 606-8501, Japan
Published: April 2016

Recent studies have shown that synchronous neural activity in the cortex area occurs related to behavior or recognition of animals, which suggests that such neural activity involves in information processing. Functions enabled by synchronous firing, however, are still unknown. Results reporting that a transition between recall states of associative memory is induced by external synchronous spikes in a neural network formed by spike-timing dependent plasticity indicate the possibility of a function of synchronous neural activity as a transition signal, requiring further examination using detailed cortical neuron models (AokiAoyagi). We introduced a mathematical model of pyramidal and fast-spiking cortical neurons based on Hodgkin-Huxley, and confirmed the transition between recall states through synchronous spike inputs in detailed neuron models.
Feed-Forward Adaptation to a Varying Dynamic Environment During Reaching Movements
Authors: Ito Koji ,   Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology, 4259-G3-50 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan, Doi Makoto , Kondo Toshiyuki ,   DENSO Corporation, 1-1 Showa-cho, Kariya, Aichi 448-8661, Japan,   Department of Computer, Information and Communication Sciences, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo, Japan
Published: April 2016

Humans must compensate for the reaction forces arising from interaction with the physical environment. Recent studies have shown that humans can acquire a neural representation of the relationship between motor commands and movement, i.e. learn an internal model of environmental dynamics. We discuss feed-forward adaptation in a varying dynamic environment during reaching movements. Subjects first learned to move in a position-dependent divergent force field (DF) and velocity-dependent force field (VF), then move in a switched force field SF1 (DF→VF) and SF2 (VF→DF). The experimental results show that adaptation to switched force fields is achieved by programming the internal model control and impedance control in a feed-forward manner.
Fabrication of FIB-CVD Nanotemperature Sensor Probe for Local Temperature Sensing in Water Environments
Authors: ElShimy Haitham ,   Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi 464-8603, Japan, Nakajima Masahiro , Imaizumi Yoshiaki , Arai Fumihito , Fukuda Toshio ,   Department of Bioengineering and Robotics, Tohoku University, Aramaki Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan
Published: April 2016

We fabricated a nanotemperature sensor probe using focused ion beam chemical vapor deposition (FIB-CVD) of tungsten over atomic force microscope (AFM) cantilevers, to be used in local sensing temperature distribution in local area. We present the fabrication approach & modifications for making this sensor probe capable of sensing temperature distributions not only in air but in water environment as well. The sensor probe was calibrated in water using the hot stage of an environmental scanning electron microscope (ESEM). Experimental results demonstrated positive characteristics of the temperature coefficient of resistance (TCR). We also illustrate the response of the sensor to sudden changes in surrounding media. The characteristics of this sensor probe were compared to previously reported temperature sensing devices. The comparison verifies that our sensor is relatively uncomplicated and reliable in fabrication. The capability of sensing temperature in water enables our sensor to be used in a wide range of bio-applications, especially in studying single-cell thermogenesis.
Effect of Mechanical Environment of Focal Adhesions on Remodeling of Endothelial Cells Subjected to Cyclic Stretching Using Microsubstrates
Authors: Sakamoto Naoya ,   Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan, Yamazaki Yoshimasa , Ohashi Toshiro , Sato Masaaki
Published: April 2016

Endothelial cells (ECs) adapt to mechanical environments such as cyclic stretching by altering their morphology and cytoskeletal structure. The detailed mechanism underlying EC remodeling in response to cyclic stretching, however, remains unclear. To understand the contribution of strain in contact area between focal adhesions (FAs) and the substrate to morphological and cytoskeletal changes in cells, we applied cyclic stretching to ECs using a microsubstrate with arrays of micropillars on which cells were selectively stretched between FAs but FA-substrate contact area were hardly stretched. Bovine aortic ECs were seeded on a silicone elastomer micropillar substrate in a silicone chamber. ECs were then subjected to 20% stretching at 0.5 Hz for up to 6 h using a stretching apparatus. Cells stretched on a flat substrate were also observed. Under static conditions, no significant difference was seen in EC morphology between flat and micropillar substrates. After exposure to cyclic stretching for 3 h, ECs on both flat and micropillar substrates were aligned perpendicular to the direction of stretching. Stress fibers were oriented about 60° to the direction of stretching on the flat substrate, while stress fibers were not aligned in any direction for the micropillar substrate. After 6 h of stretching, stress fibers on the micropillar substrate were oriented approximately 90° to the direction of stretching. These results suggest that strain in contact area between FAs and the substrate may have an impact on reorientation rates of stress fibers in ECs in response to cyclic stretching.
Optically Driven Micromanipulators with Rotating Arms
Authors: Maruo Shoji ,   Department of Mechanical Engineering, Graduate School of Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya, Yokohama, Kanagawa 240-8501, Japan, Hiratsuka Yojiro ,   Researcher of Precursory Research for Embryonic Science and Technology (PRESTO), Japan Science and Technology Agency, 5 Sanbancho, Chiyoda-ku, Tokyo 102-0075, Japan
Published: April 2016

We propose optically controlled micromanipulation tools that operate in sealed environments. The micromanipulator arm has probes to grasp microobjects and a handle to rotate the arm on its long axis. When a laser beam is focused on the handle and scanned linearly on the focal plane, the handle inclines toward the focus, rotating the arm on its long axis for probes to grasp a microobject. Rotation enable the microobject to be grasped separately from a substrate. Micromanipulators, fabricated by using two-photon microstereolithography, can catch microparticles in three dimensions, and a single manipulator arm with twin probes has been used to slide a microparticle on a glass substrate. Such optically controlled micromanipulators are potentially versatile, powerful tools for micro total analysis in biological applications.
In-Situ Formation of a Gel Microbead for Laser Micromanipulation of Microorganisms, DNA, and Viruses
Authors: Ichikawa Akihiko ,   Ubiquitous Functions Research Group, Intelligent Systems Research Institute, Advanced Industrial Science and Technology, 1-1-1 Umezono, Tukuba-city, Ibaraki 305-8568, Japan, Honda Ayae , Ejima Miho , Tanikawa Tamio , Arai Fumihito , Fukuda Toshio ,   Frontier Biosci., Dept. Engineering, Hosei University,   Graduate School of Engineering, Dept. Bioengineering and Robotics, Tohoku University,   Micro-Nano System Engineering, Dept. Engineering, Nagoya University
Published: April 2016

We proposein situformation of gel microbeads made of a thermoreversible hydrogel for indirect laser micromanipulation of microorganisms, DNA, and viruses. Using a 1064 nm laser, we irradiated an aqueous solution mixed with poly-(N-isopropylacrylamide) through a high- magnification lens, thereby forming a gel microbead through heating at the laser focus. The gel microbead, trapped by the laser, was used to indirectly manipulate micro- and nano-scale samples. Laser tweezers stably handle micro-scale object ranging from several tens of nm to several hundreds of µm. This cannot be done with nano-scale objects of a few nm, however, due to laser beam heating. We demonstrate how to manipulate microorganisms, DNA, and viruses indirectly using a gel microbead made from an aqueous poly-(N-isopropylacrylamide) solution. We reduced laser power for gel microbead formation, and used the gel microbead trapped by the laser to manipulate microorganisms, DNA, and viruses.
Versatile Robotic Biomanipulation with Haptic Interface
Authors: Hwang Gilgueng ,   Institute of Industrial Science, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo, Japan, Chantanakajornfung Preeda , Hashimoto Hideki
Published: April 2016

This paper presents a multi-scale extension of versatile robotic biomanipulation powered by single-master multislave (SMMS) bilateral teleoperation. We tested the potential possibility of SMMS multiscale extension to variety of biomanipulation applications. Our target goal is to design a multi-scale biotweezing tool. The SMMS configuration was previously proven useful for single manipulation control. First, cell handling experiments such as pick-and-place, injection, and cell indentation with probing from meso- to nanoscale are shown using salmon roe, modeled styren block and a dried yeast cell representing biological applications. A simulation environment was constructed to emulate potential experiments on the subnanoscale. Based on our lab-on-a-tip approach, we expect our proposal to become a multifunctional platform for biomanipulation. We describe an SMMS biomanipulation experiment on the extracellular scale and simulation for potential subcellular applications. Virtual reality (VR) simulation is used in rapid prototype manipulation or assembly models prior to actual biomanipulation experiments and is used as an experimental platform.
Rehabilitation Walker with Standing-Assistance Device
Authors: Chugo Daisuke ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Matsuoka Wataru , Jia Songmin , Takase Kunikatsu
Published: April 2016

The walker with power assistance for standing we propose focuses on home use for those requiring daily assistance. Our key concepts involve (1) a new assistance manipulator with four parallel linkages using smaller actuators and rigid with lighter linkages than general manipulators, providing compact assistance at low cost; and (2) a combination of force and position control. Based on the user’s posture while standing, our proposed control selects appropriate control using the reference of standing based on typical standing by nursing specialists for realizing natural assistance. The conductance of our proposed assistance is verified by computer simulation and experiments using a prototype.
Portable Pneumatic Actuator System Using MH Alloys, Employed as Assistive Devices
Authors: Sato Mitsuru ,   Department of Physical Therapy, School of Nursing and Rehabilitation Sciences, Showa University, Yokohama, Kanagawa, Japan, Ino Shuichi , Yoshida Naoki , Izumi Takashi , Ifukube Tohru ,   Research Center for Advanced Science and Technology, University of Tokyo, Tokyo, Japan,   Institute of Rehabilitation Science, Tokuyukai Medical Corporation, Toyonaka, Osaka, Japan,   Department of Electronic and Information Technology, School of Engineering, Hokkaido Tokai University, Sapporo, Hokkaido, Japan
Published: April 2016

Metal hydride (MH) actuators that use reversible reaction between heat and mechanical energy are suitable as a power source for rehabilitation or assistive devices. To avoid the risk of a hydrogen drive and obtain broader use than conventional MH actuators, we developed an MH air compressor that converts the hydrogen pressure of the MH actuator to air pressure. Although this compressor requires time to restore consumed air, it has the advantages of small size and flexible shape. Sit-to-stand motion aid for a wheelchair user that is the size of a seat cushion was developed using the MH air compressor.
Multiple Mobile Robot Exploration and Patrol Strategy Using a Self-Organizing Planner Based on a Reaction-Diffusion Equation on a Graph
Authors: Trevai Chomchana ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Fujii Norisuke , Ota Jun , Arai Tamio
Published: April 2016

In this paper, we propose a search and surveillance with mobile robots to collect information while minimizing repeated coverage to maximize efficiency. The problem of search and surveillance is defined as one having a mobile robot or covering a working area with sensor footprints. The problem is applicable to tasks such as floor cleaning, map building, surveillance, security patrols, and search and rescue operations. We use a reaction-diffusion equation on a graph (RDEG), we make and remake plans online base on incoming environmental information. The strategy is applicable to patrolling tasks after an environment has been completely explorated. Tasks are allocated to multiple mobile robots, among which a temporary leader, i.e., the robot detecting a drastic change in the environment, plans a strategy for other mobile robots on the team. Sensing and positioning data for each robot is broadcast and shared among robots. Simulation in different scenarios using one to three robots demonstrated the feasibility of increasing the number of robots on a team.
Development of the MOSFET Type Enzyme Biosensor Using GOx and ChOx
Authors: Ooe Katsutoshi ,   Dept. of Micro System Technology, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1 Noji-Higashi, Kusatsu, Shiga 525-8577, Japan, Hamamoto Yasutaro , Kadokawa Toshifumi , Hirano Yoshiaki ,   Dept. of Applied Chemistry, Faculty of Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka 535-8585, Japan
Published: April 2016

As the population ages, the management of health is one of the important problems. Before now, we developed the glucose sensor for using at Health Monitoring System (HMS). The whole blood contains the manifold health index markers, and it is very important to measure them. Glucose sensor specifically detects the glucose of the blood, and it monitors the glucose concentration. Our glucose sensor had ‘separated Au electrode’ which immobilized glucose oxidase (GOx). By utilizing this style, it becomes possible that the sensor part is easily miniaturized. In our previous work, GOx was immobilized onto electrode by using of SAMs (Self-Assembled Monolayor) method, and the sensor using this working electrode detected the glucose concentration of glucose aqueous solution. In this paper, glucose sensor which immobilized GOx using the cross-link method was produced. And we carried out operation confirmation of produced glucose sensor using diluted human serum and whole blood. In addition, the cholesterol sensor which immobilized cholesterol oxidase (ChOx) onto separated Au electrode by cross-link method was produced. The immobilization of the ChOx was evaluated from the spectra of ESCA (Electron Spectroscopy for Chemical Analysis), and the performance as a sensor was evaluated.
RT Component Based Network Distributed Monitoring System
Authors: Jia Songmin ,   Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-City, Tokyo 182-8585, Japan, Takase Kunikatsu
Published: April 2016

Video stream, a typical way of providing the information of visualizations for the robotic system working, the environment of robot system and the state of the age and disabled, is indispensable in order to enable the remote user to get a better understanding of situation. In this paper, a RT Component-based network distributed monitoring system for human assistance robotic system was developed to improve the interaction among the users and local service robotic system. We developed robot system and network monitoring system using QuickCam Orbit cameras and demonstrated them from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. Improvements of network distributed monitoring system using IEEE1394 cameras with high performance and high resolution have been done in order to extend the application of system. We used Robot Technology Middleware (RTM) to develop cameras functional elements as “RT software components” that can be implemented by different programming languages, run in different operating system, or connected in different networks to inter-operate. It is also easy to re-use existing modules thus facilitating network-distributed software sharing and improving the cost of writing and maintaining software.
Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment
Authors: Koizumi Norihiro ,   Department of Engineering Synthesis, School of Engineering,  The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Ota Kohei , Lee Deukhee , Yoshizawa Shin , Ito Akira , Kaneko Yukio , Yoshinaka Kiyoshi , Matsumoto Yoichiro , Mitsuishi Mamoru ,   Department of Bioengineering, School of Engineering,  The University of Tokyo,   Department of Electrical and Communication Engineering,  School of Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan,   Department of Mechanical Engineering, School of Engineering, The University of Tokyo
Published: April 2016

The integrated non-invasive ultrasound diagnosis and treatment we propose tracks and follows movement in an affected area – kidney stones here ” while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. High-speed CCD camera cannot be used in non-invasive diagnosis and treatment because we must avoid damaging healthy tissue. Servoing error mainly due to ultrasound imaging and its dead time become serious problems, unlike when a high-speed camera is used. We propose feed-forward control using semi-regular kidney movement focusing on enhancing servoing performance.
Robot Manipulation and Guidance Using Magnetic Motion Capture Sensor and a Rule-Based Controller
Authors: Villagran Carlos R. Tercero ,   Micro-Nano Systems Engineering Department, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Ikeda Seiichi , Fukuda Toshio , Sekiyama Kosuke , Okada Yuta , Uchiyama Tomomi , Negoro Makoto , Takahashi Ikuo ,   Electronics Engineering Department, Del Valle de Guatemala University,   Complex System Science Department, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan,   Department of Neurosurgery, Fujita Health University, 1-98 Dengakugakubo, Kutsukake-cho, Toyoake, Aichi 470-1192, Japan,   Department of Neurosurgery, Anjo Kosei Hospital, 28 Higashi Hirokute, Anjo-cho, Anjo, Aichi 446-8602, Japan
Published: April 2016

Magnetic motion capture sensors (MMCS) are not commonly used for robot control due to the need for complex, resource-consuming calibration to correct error introduced by the magnetic sensor. We propose avoiding such calibration using a rule-based controller that only uses spatial coordinates from the magnetic sensor. This controller uses a sparse look-up table of spatial coordinates and actions conducted by the robot and reacts to the presence of the sensor near reference points. The control method was applied to manipulate a robotic camera to track a catheter-shaped sensor inside vessels silicone models. A second evaluation was done guiding a mechanism to reconstruct catheter insertion in major silicone vasculature models. The robotic camera tracked the catheter by reacting to the sensor within 10 mm of each reference point. The catheter insertion mechanism reconstructed the catheter trajectory by reacting to the sensor within 6 mm of each reference point. We found that the proposed method allowed robot control in a bounded space without having to correct for the magnetic tracker output distortion.
Dynamic Modeling of Nonlinear Systems Using Wavelet Networks
Authors: Hassouneh Wissam ,   School of Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE, Dhaouadi Rached , Al-Assaf Yousef
Published: April 2016

The purpose of this paper is to present wavelet networks as a new scheme to model nonlinear systems. The capabilities of wavelet networks in function approximation make them appealing for system modeling. The wavelet networks presented are utilized in the dynamic modeling of a nonlinear servomechanism. A new wavelet network scheme is proposed for the identification of the nonlinearity in the servomechanism. Simulation results show the modeling performance of both schemes.
Special Issue on Selected Papers from ROBOMEC'07 (Part 1)
Authors: Umeda Kazunori ,   Co-Editor, Professor,, Kosuge Kazuhiro ,   Program Chair of ROBOMEC'07 and
Published: April 2016

The Robotics and Mechatronics Conference 2007 (ROBOMEC'07) was held at “ALVE,” Akita, Japan, on May 10-12, 2007, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers (JSME). Prof. Chonan of Akita Prefectural University served as general chair and Prof. Kosuge of Tohoku University as program chair. With the possibilities to help and develop solutions for managing quality of life of all people, the conference was organized based on the motto “Robotics and Mechatronics Improving the Quality of Life.” A record-breaking 918 papers were presented and more than 1300 attended the conference. This special issue presents 17 papers from the conference selected from 100 outstanding presentations further narrowed to 46 before final selection for Part 1 (Vol. 20, No. 2). We thank the authors for their invaluable contributions to this issue and the reviewers for their time and effort. We also thank Editor-in-Chief Prof. Tatsuo Arai of Osaka University for organizing this special issue.
Verification of a Weeding Robot “AIGAMO-ROBOT” for Paddy Fields
Authors: Mitsui Teruaki ,   Gifu Prefectural Research Institute for Information Technology, 1-21, TECHNO PLAZA, Kakamigahara, Gifu 509-0109, Japan, Kobayashi Takahiro , Kagiya Toshiki , Inaba Akio , Ooba Shinya ,   Institute of Advanced Media Arts and Sciences (IAMAS), 3-95 Ryoke-cho, Ogaki-city, Gifu 503-0014, Japan,   Gifu Prefectural Research Institute for Agricultural Technology in Hilly and Mountainous Areas, 2-6-56 Koreshige, Hida, Gifu 509-4244, Japan,   Faculty of Applied Biological Science, Gifu university, 1-1 Yanagido, Gifu 500-1193, Japan
Published: April 2016

Increased public interest in food safety and clean agriculture (e.g., ecological agriculture, organic culture and agrochemical-free cultivation) is driving a production system change from dependence on and use of agrochemicals toward their elimination. However, this raises a huge time- and labor-consuming problem with weeds. The weeding robot “AIGAMO-ROBOT” we propose decreases weeds in paddy fields without resorting to herbicides.
Study on a Variable Stiffness Mechanism Using Wire Spring
Authors: Hayashibara Yasuo ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, Japan
Published: April 2016

In this paper, we propose a variable stiffness mechanism using wire springs. We have proposed such kind of mechanism using nonlinear coil springs. We intend to apply it to continuous passive motion (CPM) machine. It can change the spring characteristic continuously. Its disadvantages are need for wide space and powerful motor to change stiffness. And, it is difficult to design such nonlinear spring. To solve these problems, we propose a mechanism with wire springs. It is easy to obtain the wire spring, because it is material of coil spring. We explain how the design and evaluate it in experiments.
Hardware and Numerical Experiments of Autonomous Robust Skill Generation Using Reinforcement Learning
Authors: Senda Kei ,   Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan, Kondo Takayuki , Iwasaki Yoshimitsu , Fujii Shinji , Fujiwara Naofumi , Suganuma Naoki
Published: April 2016

It is difficult for robots to achieve tasks contacting environment due to error between the controller models and the real environment. To solve this problem, we propose having a robot autonomously obtains proficient robust skills against model error. Numerical simulation and experiments using an autonomous space robot demonstrate the feasibility of our proposal in the real environment.
A Neural Model for Exploration and Learning of Embodied Movement Patterns
Authors: Kinjo Kaito ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Nabeshima Cota , Sangawa Shinji , Kuniyoshi Yasuo
Published: April 2016

Despite increased interest in the study of human motor development among researchers ranging brain scientists to roboticists, many aspects of the mechanisms involved remain to be clarified. Talking a synthetic approach to development, to extract the property of the mechanism for a new robot controller, we propose two movement learning properties in the human being: (1) compression of redundant motor commands and (2) mapping from sensors to motors in the coupling of the controller, the body, and the environment. To prove the feasibility of our proposition, we constructed a neural model having essential biological features. In a series of experiments with a simple body model, rhythmic movement (to be learned in early infancy) is explored and correctly learned; moreover entrainment is observed. Our results suggest that our model can learn rhythmic movement, confirming a first step towards understanding of human development.
Swizzle Movement for Biped Walking Robot Having Passive Wheels
Authors: Hashimoto Kenji ,   Graduate School of Science and Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan, Sugahara Yusuke , Lim Hun-ok , Takanishi Atsuo ,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan,   Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama, Kanagawa 221-8686, Japan,   Department of Modern Mechanical Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan,   Humanoid Robotics Institute (HRI), Waseda University, 17-41-2-04A Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Published: April 2016

Biped walking is easily adapted to rough terrain such as stairs and stony paths, but speed and energy efficiency on flat surfaces is less effective than wheeled locomotion. We propose new control for swizzling by biped walking robots using inline skates. Swizzling uses friction force generated by regular passive wheel movement. Our proposal is based on the reaction force on the foot, and new reference position is changed based on reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.
Development of the Breast Pump with a Baby-Like Peristaltic Motion
Authors: Kobayashi Hiroshi ,   Faculty of Engineering, Tokyo University of Science, 1-14-6 Kudankita, Chiyoda-ku, Tokyo 102-1073, Japan, Tsuji Toshiaki , Awano Yukinari , Mizuno Katsumi , Kawamura Hiroshi , Onuki Zenichi , Ishimaru Aki ,   Graduate School of Engineering, Tokyo University of Science, 1-14-6 Kudankita, Chiyoda-ku, Tokyo 102-1073, Japan,   Department of Pediatrics, Showa University School of Medicine, 1-5-8 Hatanodai, Shinagawa-ku, Tokyo 142-8666, Japan,   Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-0022, Japan,   Joso Laboratory, Pigeon Corporation, 6-20-4 Kinunodai, Tsukubamirai, Ibaragi 300-2495, Japan
Published: April 2016

Because of change in woman’s place in society, the number of working woman is growing and the demand of the breast pump is increasing as well. Commercial product of the breast pump is applying only negative pressure for sucking and many users feel a pain for a long term use. While a baby is using peristaltic motion as the result of tongue and jaw action in addition to suction. In this research, therefore the breast pump with a baby-like motion is developed. In order to realize baby-like peristaltic motion, cam mechanism is applied. Also for producing negative pressure, crank mechanism is utilized. As the result, it turns out that the breast pump developed is realized the same peristaltic motion and suction pattern as a baby.

This paper is the full translation from the transactions of JSME Vol.73, No.730.
Ciliary Vibration Drive Mechanism for Active Scope Cameras
Authors: Konyo Masashi ,   Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki-Aza Aoba, Aoba-ku, Sendai 980-8579, Japan, Isaki Kazuya , Hatazaki Kazunari , Tadokoro Satoshi , Takemura Fumiaki ,   Department of Mechanical Systems Engineering, Okinawa National College of Technology, 905 Aza Henoko, Nago, Okinawa 905-2192, Japan
Published: April 2016

The active scope camera we proposed has active mobility using a ciliary vibration drive mechanism for long flexible cables. The physical details have yet to be clarified. We determined it based on detailed physical phenomena to design an optimal ciliary vibration drive. We discuss the reasons for design efficiency based on the analysis of dynamic models of ciliary parts, focusing on (1) the characteristic vibration of the cilia and (2) stick-slip contact. We constructed a pseudo linear spring model and a stick-slip friction model to evaluate these phenomena. We determined optimal driving vibration frequencies and the inclined angle of cilia through experiments and analysis. Qualitative comparisons with the dynamic models and the results of experiments indicated the effective physical factors of the activation mechanism. A prototype of the active scope camera showed good performance in practical rescue activities.
A Basic Study on Tactile Navigation Using Vibration Motor Braking by Skin Against Vibration and Body Positioning Suitable for Tactile Information Presentation
Authors: Mizuno Tota ,   Dept. of Electronics and Electric Eng., Col. of Sci. and Eng., Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara, Kanagawa 229-8558, Japan, Uchida Masafumi , Ide Hideto ,   Dept. of Electronic Eng., The University of Electro-Communications, 1-5-1 Chofu-Ga-Oka, Chofu, Tokyo 182-8585, Japan
Published: April 2016

This paper presents results of a basic study on tactile navigation using vibration motors. It includes studies about appropriate position finding for information presentation navigation that used a vibration motor. We examined skin vibration and vibration strength generated by a vibration motor by physical measurement. Section 1 discusses the need for a new car navigation device that meets the needs of those with hearing problems. Section 2 discusses three experiments for measuring (1) skin hardness, (2) vibration, and (3) discrimination threshold. Section 3 discuss results of experiments.
Constant-Value Control of Joystick Operating Force Using Acoustic System Having Feedback Control System
Authors: Sato Taichi ,   Department of Mechanical Engineering, School of Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan, Murayama Yuta , Igarashi Hiroshi ,   Graduate School of Science and Engineering, Intelligent Mechanical Engineering, Tokyo Denki University, Ishizaka, Hatoyama-cho, Hiki-gun, Saitama 355-0394, Japan,   Department of Electronical and Electronic Engineering, Tokyo Denki University, 2-2 Kanda-Nishiki-cho, Chiyoda-ku, Tokyo 101-8457, Japan
Published: April 2016

We have conducted experiments of operating a force operating joystick to the sound. Test subjects listen to white noise with square envelope in a semi anechoic room and joystick operating force is measured. We have seen that time waveform of operating force varies among experiments. Variation in operating force depends on day, test subject, etc. And, we have established an acoustic control system that feedbacks operating force for realizing target value of joystick operating force. We conducted a constant-value control experiment using PI control in which each control parameters’ effects are studied. As a result, among three existing control parameter tuning methods, Cohen-Coon’s control parameter tuning method is the most appropriate for our system.
Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Nakano Eiji , Takahashi Takayuki ,   Faculty of Symbiotic Systems Science, Fukushima University, 1 Kanayagawa, Fukushima 960-1296, Japan
Published: April 2016

The leg-wheel robot we developed has four legs and two wheels mechanically separated and operates with high mobility and stably on rough terrain. We propose a free gait algorithm for the leg-wheel robot that enables continuous locomotion under random velocity commands. The gait algorithm, based on a predictive event-driven approach, determines leg-lift timing to keep legs within prescribed work areas. The robot is operated remotely by an operator who uses a controller to give straight velocity and angular velocity. Our algorithm fully automates leg control via the operator's commands, and its feasibility was confirmed in simulation and experiments.

This paper is the full translation from the transactions of JSME Vol.71, No.705.
Creation of Validation Field for Preventive Medicine – Kashiwa-no-ha (Oak Leaf) Preventive Medical Project (KPMP)
Authors: Shiina Kunihiro ,   S&E research center, Mitsui Fudosan Co. Ltd., 5-40-2 Soshigaya, Setagaya, Tokyo, Japan
Published: April 2016

A pioneering across-the-board approach is being attempted in Kashiwa, Chiba, Japan, to include local residents, medical institutions, agricultural and administrative organizations, universities, and private enterprises based on a personal health records (PHR) database providing health information on an as-needed basis. Kashiwa City hopes this effort will lead to Japan's first preventive medical effect validation field making available alternative approaches to health and medical research through trial and validation of health-related products. Kashiwa's Kashiwa-no-ha (Oak Leaf) Preventive Medical Project (KPMP) initiative also has a social experimental aspect of disseminating movements among local residents.
Adaptive Gait for a Leg-Wheel Robot Traversing Rough Terrain (Second Report: Step-Up Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Nakano Eiji
Published: April 2016

This paper is the full translation from the transactions of JSME Vol.72, No.721.
Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)
Authors: Nakajima Shuro ,   The Department of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan, Nakano Eiji
Published: April 2016

A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-down gait, which is one part of the adaptive gait, is described. The point of the flow of the step-down gait is described. When the robot approaches a downward step, a forefoot touches the surface deeply. It forecasts the existence of the downward step by the information on the forefoot's touch point. After that, the robot does the step edge searching operation. This searching operation is the point for going down the step, since the robot fell under the step if it has walked without knowing the step. When the body goes down the step a little, the load sharing ratio of legs increases so that the load of the body rests upon legs. Therefore, the robot finds the edge of it, and it changes footsteps for preparation of going down the step. After the preparation, it can lower the body from the step supported by all legs and wheels. To lower the body, the following items are needed similar to the case of an upward step: 1. Acquisition of target value of lowering the body. 2. Correspondence to difference between target depth and actual depth.

This paper is the full translation from the transactions of JSME Vol.72, No.721.
Development of MRI Compatible Manipulandum for Hand and Arm Movement
Authors: Aodai Toshiyuki ,   Division of Mechanical System Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan, Toyama Shigeki
Published: April 2016

The paper subscribes development of Magnetic Resonance Imaging (MRI) compatible using an ultrasonic motor, to work within the limits of MRI scanner workspace and environment, dimensions involving upper-limbs biomechanics. The manipulandum consists of hand mechanism and an arm-reaching mechanism having a two-degree-freedom (2DOF) haptic interface enabling human subject to conduct reaching movement comfortably within MRI workspace. The kinematics structure of the manipulandum is optimized for MRI space and movement. We have confirmed the manipulandum's MRI compatibility in experiments.
A Quantitative Navigability Measure of Rough Maps
Authors: Yun Jooseop ,   Department of Information and Computer Sciences, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan, Miura Jun
Published: April 2016

This paper discusses a sketch interface that can be used to guide a mobile robot along a specified path in its unfamiliar place. With the sketch interface, the user draws a rough map to give navigation tasks to robots. Because sketched maps often suffer from various inaccuracies and large errors in landmarks, we discuss what kinds of uncertainties in the rough maps would mainly have effects on navigating a robot. The effects of such inaccuracies on robot navigation are analyzed in simulated environments. A quantitative navigability measure of rough maps is then developed based on the analysis. Experimental results are also presented for validating the navigability measure.
Eccentricity Estimator for Wide-Angle Fovea Vision Sensor
Authors: Shimizu Sota ,   California Institute of Technology, Division of Biology, MC 139-74, Pasadena, CA 91125, USAWaseda University, Advanced Research Institute for Science and Engineering, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Burdick Joel W. ,   California Institute of Technology, Department of Bioengineering
Published: April 2016

This paper proposes a method for estimating the eccentricity that corresponds to the incident angle to a fovea sensor. The proposed method uses the Fourier-Mellin Invariant descriptor to estimate rotation, scale, and translation, by taking both geometrical distortion and non-uniform resolution of a space-variant image from the fovea sensor into account. The following 2 points are focused on in this paper. One is to use multi-resolution images by Discrete Wavelet Transform to properly reduce noise caused by foveation. Another is to use a variable window function (although the window function is generally used for reducing DFT leakage caused by both ends of a signal) to change the effective field of view (FOV) so as not to sacrifice high accuracy. The simulation compares the root mean square (RMS) of the foveation noise between uniform and non-uniform resolutions when a resolution level and a FOV level are changed, respectively. The result shows the proposed method is suitable for the wide-angle space-variant image from the fovea sensor, and, moreover, it does not sacrifice the high accuracy in the central FOV. Another simulation is done to determine a reliable resolution level.

This paper is the full translation from the transactions of JSME Vol.74, No.744.