bluuebunny/crossref_metadata_2025 huggingface dataset:
Evaluation of Picture-taking System for Railway Vision
Authors: Sasama Hiroshi ,   Railway Technology Research Institute, 2-8-38 Hikari-cho, Kokubunji-shi, Tokyo 185-8540, Japan
Published: April 2016

Railway vision is an important image processing application in which pictures taken from the front of a train are used to support operational control and inspect wayside facilities. We evaluated picture-taking systems using a space and picture model - the imaginary tunnel model - in which railway space is modeled as an imaginary rectangular tunnel including a construction gauge. Position criteria and camera direction are studied based on the visible tunnel zone. We also estimated position and direction based on rail loci in camera pictures.
Optopneumatic Interface for Controlling Pneumatic Power Circuits
Authors: Belforte Guido ,   Department of Mechanics, Politecnico di Torino,  C.so Duca degli Abruzzi, 24 - 10129 Torino - Italy, Eula Gabriella
Published: April 2016

This paper presents a study of an optopneumatic interface integrated with a pressure amplifier stage. The interface works using photothermicity to generate a weak pressure signal in its control chambers. In photothermicity, infrared light strikes a black body a few microns thick, increasing the temperature of the black body and air close to it. If this air is in the control chamber of the optopneumatic interface, its expansion generates a pressure control signal, amplified to make it suitable for common low/high commercial pressure valves. This control enables the command of pneumatic actuators in hazardous environments, with the electrical signal transformed into optical and transported using optical fiber; all electrical parts can be located at a distance from direct application. Our results showed that the device's response times, accuracy, and repeatability are suited to many applications. Below is an example of a command integrating electric, optical, and pneumatic techniques and operating by an infrared source with very low light power.
High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor
Authors: Ohya Akihisa ,   Intelligent Robot Laboratory, Institute of Information Science and Electronics, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Nagashima Yoshiaki , Yuta Shin’ichi ,   Hitachi, Ltd. Power & Industrial Systems R&D Division, 7-2-1 Omika-cho, Hitachi-shi, Ibaraki 319-1221, Japan
Published: April 2016

In novel ultrasonic sensing that measures normal wall direction, wall inclination is calculated from the difference of round-trip time-of-flight detected using plural receivers. This system has four receivers for error correction using an inconsistency check of propagation time.
Self-Position Detection System Using a Visual-Sensor for Mobile Robots
Authors: Tanaka Takayuki ,   Department of Mechanical Control Engineering, Unversity of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Yamazaki Yasunori , Watanabe Hiroki , Katae Takeshi , Yamafuji Kazuo ,   Factory Automation Division, Seiko-Epson Corporation, 1-16-15 Daieicho, Okaya, Nagano 394-0025, Japan
Published: April 2016

We have been developing an intelligent mobile robot for use as an office building secretary or aid during the day and a security guard or maintenance engineer, e.g., for cleaning floors, at night. Since the robot works and moves autonomously among people in an office environment, it must be able to recognize its own location and environment. We proposed two types of self-positoin detection based on a visual sensor. One is global self-positioning (GSP) by recognizing a room number. The other is local self-positioning (LSP) calculating the relationship between the robot and three light landmarks such as two exit lamps and a fire hydrant lamp in corridors. Experiments verified the effectiveness of the robot's self-position detection.
Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment
Authors: Ando Yoshinobu ,   University of Tsukuba, 1-1-1 Tenodai, Tsukuba, lbaraki 305-8573, Japan, Tsubouchi Takashi , Yuta Shin’ichi
Published: April 2016

The present authors developed a laser range sensor with an ultra-wide view angle and a navigation scheme for a mobile robot to move along a corridor. Although the range sensor uses orthodox triangulation in measurement, the detectable angle is extended to 260 degrees. This ultra-wide-angle sensor consists of 5 laser fan beam projectors and 3 CCD cameras. All fan beams from laser projectors are aligned in one plane parallel to the floor, and beam reflections on objects are detected by CCD cameras with super-wide-angle lenses. This paper presents schemes for obtaining range data with the sensor and for following along a corridor and some results on long corridor navigation.
Autonomous Navigation of an Intelligent Vehicle Using 1-Dimensional Optical Flow
Authors: Yamada Masaki ,   Machine Intelligence Laboratory, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama 223-8522, Japan, Nakazawa Kazuo
Published: April 2016

Controlling a vehicle from hitting corridors wall was studied as a problem in visual feedback control. Control used visual information in the real world within real time. We use a 1-dimensional (1-D) optical flow calculated from intensity data obtained using a CCD linear sensor as visual information. A qualitative index indicating the proximity of the moving vehicle to the left or right wall is extracted from the optical flow. This qualitative approach enabled stable visual recognition processing without explicitly calculating distance. This method is based on general, qualitative environmental knowledge and has fewer environmental condition restraints. Because no numerical environment or vehicle models are used for control, the consideration of parameter errors, a serious problem before, is not needed.
Impedance Control Using Anisotropic Fuzzy Environment Models
Authors: Nagata Fusaomi ,   Interior Design Research Institute, Fukuoka Industrial Technology Center, Agemaki-405-3, Ohkawa, Fukuoka 831-0031, Japan, Watanabe Keigo , Sato Kazuya , Izumi Kiyotaka ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi-1, Saga 840-8502, Japan,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, Honjomachi-1, Saga 840, Japan
Published: April 2016

We describe impedance control for force control in unknown environments, proposing anisotropic fuzzy environment models that estimate environmental stiffness using fuzzy reasoning and generate time-varying damping for stable force control. Each model is automatically taught with genetic algorithms (GAs), in which evaluation is made for force control in several known environments. Taught models are integrated for generalization. We apply models to tasks in which an industrial robot sands or polishes wood is differently stiff in different direction. Numerical simulations demonstrate the effectiveness of our method.
Analyzing a Robotized Workcell to Enhance Robot’s Operation
Authors: Ceccarelli Marco ,   Laboratory of Robotics, Dipartimento di Meccanica, Strutture, Ambiente e Territorio, University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy
Published: April 2016

This paper analyzes robotized manipulation in the production of TV screens in a Videocolor plant in Anagni. A general procedure for manipulation analysis, based on the elementary actions concept, was applied to the study of robotized workcell performance and parameters. Manipulation analysis is presented as a practical application to stress its feasibility for practicing engineers. Kinescope manipulation by an industrial robot in a robotized workcell was analyzed and critical movement recognized and numerically evaluated. We also focused on performance and design parameters of workcell operation to significantly improve productivity through adjustments in robot and workcell programming and by slightly redesigning the workcell. This work was done under a research contract supported by Videocolor Ltd., Anagni, Italy, and results implemented in a new robotized workcell.
Adaptive Formation Plays in Simulated Soccer Game Based on Pheromon as Communication Media and Reward Resources
Authors: Kubo Masao ,   Chaotic Engineering, Complex Systems Engineering Laboratry, Faculty of Eng., Hokkaido University, N-13, W-8, Sapporo, 060, Japan, Mikami Sadayoshi , Kakazu Yukinori , Wada Mitsuo
Published: April 2016

In this paper, a methodology for self-organization of autonomous agents is proposed. Agents make an organization to adapt their environment, building an adaptable soccer team. In soccer games, each player must forecast correctly, and players behave strongly as a team. They must also react and reform team plays if accidents happen by statistical movement of the ball. To adapt the soccer environment, we introduce an on-time communication style among autonomous agents, pheromone communication. Agents as players give their forecasting (represented by pheromones) acquired by the learning ability of each agent. Using by forecasting, they discuss and reform team play. With this learning ability in forecasting by each player, we expect they will make a close soccer team. When they start learning, they cannot behave sophisticatedly but, after sufficient learning trials, they behave like offensive professional players.
Special Issue on Vision
Authors: Oe Shunichiro ,   Department of Information Science and Intelligent Systems, Faculty of Engineering, University of Tokushima, 2-1 Minamijosanjima, Tokushima, 770-8506, Japan
Published: April 2016

The widely used term Computer Vision applies to when computers are substituted for human visual information processing. As Real-world objects, except for characters, symbols, figures and photographs created by people, are 3-dimensional (3-D), their two-dimensional (2-D) images obtained by camera are produced by compressing 3-D information to 2-D. Many methods of 2-D image processing and pattern recognition have been developed and widely applied to industrial and medical processing, etc. Research work enabling computers to recognize 3-D objects by 3-D information extracted from 2-D images has been carried out in artificial intelligent robotics. Many techniques have been developed and some applied practically in scene analysis or 3-D measurement. These practical applications are based on image sensing, image processing, pattern recognition, image measurement, extraction of 3-D information, and image understanding. New techniques are constantly appearing. The title of this special issue is Vision, and it features 8 papers from basic computer vision theory to industrial applications. These papers include the following: Kohji Kamejima proposes a method to detect self-similarity in random image fields - the basis of human visual processing. Akio Nagasaka et al. developed a way to identify a real scene in real time using run-length encoding of video feature sequences. This technique will become a basis for active video recording and new robotic machine vision. Toshifumi Honda presents a method for visual inspection of solder joint by 3-D image analysis - a very important issue in the inspection of printed circuit boards. Saburo Okada et al. contribute a new technique on simultaneous measurement of shape and normal vector for specular objects. These methods are all useful for obtaining 3-D information. Masato Nakajima presents a human face identification method for security monitoring using 3-D gray-level information. Kenji Terada et al. propose a method of automatic counting passing people using image sensing. These two technologies are very useful in access control. Yoji. Ogawa presents a new image processing method for automatic welding in turbid water under a non-preparatory environment. Liu Wei et al. develop a method for detection and management of cutting-tool wear using visual sensors. We are certain that all of these papers will contribute greatly to the development of vision systems in robotics and mechatronics.
Counting Passers-by Using a Color Camera
Authors: Terada Kenji ,   Faculty of Engineering, the University of Tokushima, 2-1 Minamijosanjima-cho, Tokushima-shi, 770-8506, Japan, Ando Takumi , Yamaguchi Jun'ichiro ,   Engineering and Service Devision, SOLO KEIBI HOSHO Co., Ltd. 2-14 Ishijima, Koto-ku, Tokyo 135-0014, Japan
Published: April 2016

We propose that passers-by be accurately counted using continuously acquired images from a color camera. This generates space-time images from image data on slanted measurement among images where a shadow component is removed via color information. Passers-by are counted by counting groups of people distributed in space-time images, and the direction of movement is detected from the form of groups. Counting is actually done with a color camera on a gate.
Image Processing for Automatic Welding in Turbid Water
Authors: Ogawa Yoji ,   Shikoku National Industrial Research Institute, 2217-14, Hayashi-machi, Takamatsu, Japan, 761-0395
Published: April 2016

Wet underwater welding is a key to improving offshore construction and maintenance cost performance. Automatic wet welding with local dry space provided by a water curtain provides high-quality mechanical properties on weld metal. The most important factor in maintaining high weld quality is precise nozzle positioning. Light cutting by slit laser beam shows potential for shape recognition in air. Waterproof containers for the laser emitter and video camera are used for underwater seam tracking of weld line in turbid water. Acrylic windows on the laser emitter and video camera shortened the total light path length in turbid water and improved image quality. Laser light was dimmed by scattering in turbid water but detected groove geometry, enabling good seam tracking. A trial to get a clear image used a fiberscope camera in the welding nozzle and detected root gap width precisely. Welding conditions such as molten pool geometry were also detectable.
Servocontrol of a Mobile Robot by Using Genetic Algorithms
Authors: Tang Jun ,   Department of Mechanical Engineering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan, Watanabe Keigo , Kuribayashi Katsutoshi ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi-1, Saga 840-8502, Japan
Published: April 2016

One problem that not yet solved in optimum servocontroller design is determination of positive definite matrices Q and R for the Riccati equation, although such servocontrollers have been applied in many complex control processes. We propose a way to tune weighting matrices by applying genetic algorithms (GAs) to type 1 and 2 optimum linear servocontrollers for a mobile robot. Simulation verified the controller's effectiveness.
Study of Motion Monitoring Using an Accelerometer – Unrestrained Measurement –
Authors: Tanaka Hisaya ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157-8572, Japan, Nakata Akihiro , Ide Hideto
Published: April 2016

Recent news reports that elderly households will increase to 35%, so it is important to measure physical activity in such households to ensure their health and security. This is difficult to do while protecting privacy, however. We measured human activity using an accelerometer placed at the waist to distinguish walking, running, stair climbing, and elevator use, comparing movement between young and old.
Automated Vehicles for Greenhouse Automation
Authors: Yamashita Jun ,   Faculty of Agriculture, Ehime University, Tarumi, 3-5-7, Matsuyama-shi, 790-8566, Japan, Sato Kazunobu ,   Tokushima College of Technology, Itano, Tokushima, 779-0108, Tokushima, Japan
Published: April 2016

We designed and manufactured one prototype trackless autonomous transport vehicle to travel in row spacing and another to travel between cultivation beds to ease harsh transport labor in greenhouses for soil cultivation and hydroponics. The vehicle traveling in row spacing was four-wheeled with an independent rear drive featuring 1) a rolling bearing used for self-heading correction; 2) a spin turn at the end of a row; and 3) a microcomputer letting it travel autonomously in the greenhouse. The vehicle traveling between cultivation beds was fourwheeled with an independent rear drive and antiphase four-wheeled steering, controlling heading while measuring the distance to a cultivation bed wall with ultrasonic sensors. We also manufactured a gantry for strawberry cultivation using machinery for automatic work on a wide-bed truck traveling automatically on rails. This paper discusses these prototypes and run perf0mance tests in a greenhouse.
Cucumber Harvesting Robot and Plant Training System
Authors: Arima Seiichi ,   Agri-Tech Research Section, Tsukuba Engineering Department, ISEKI & CO,,LTD. Ami 4818, Ami-cho, Inashiki-gun, Ibaraki 300-0331, Japan, Kondo Naoshi ,   Laboratory of Agricultural Systems Engineering, Faculty of Agriculture, Okayama University, 1-1-1, Tsushima-Naka, Okayama 700-8530, Japan
Published: April 2016

Cucumber is one of the most popular vegetables cultivated in Japan. It must be harvested daily because of rapid maturation and the deterioration of quality in cucumbers harvested too late. We developed a cucumber harvesting robot using a visual sensor, manipulator, endeffector, and traveling device. To discriminate cucumbers from leaves and stems, we used a monochrome TV camera with 550 nm and 850 nm wavelength interference filters. After thresholding images, cucumbers were recognized morphologically. A seven degree-of-freedom (DOF) polar coordinate manipulator moved to a target cucumber and a harvesting end-effector grasped the top, detected the peduncle, and cut it. The manipulator and end-effector were trialmanufactured based on the cucumber's physical properties. A 4-wheel traveling device carrying the robot then moved to the next plant. Experiments verified the robot's feasibility in harvesting cucumbers.
IFAC Commitment on Research and Development in Biorobotics
Authors: Murase Haruhiko ,   Department of Regional Environmental Science, Osaka Prefecture University, 1-1, Gakuen, Sakai, Osaka 599-8531, Japan
Published: April 2016

Although many bioproduction operations and processes have been mechanized, numerous tasks remain that are unsuited to human beings but require certain humanlike intelligence. In the last decade, researchers and industry have developed prototypes of automated machinery and robots used in bioproduction, many of which have been commercialized. The IFAC is working to coordinate information, ideas, and expertise in biorobotics R&D by providing members worldwide with opportunities to attend workshops, symposiums, and conferences and providing excellent publications in this field. This article outlines the IFAC's activities in biorobotics R&D.
Formation and Piezoelectric Property of PZT Film Synthesized Hydrothermally
Authors: Ohba Yoko ,   Department of Metallurgy and Ceramics Science, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-10-okayama, Meguro-ku, Tokyo 152-8552, Japan, Tsurumi Takaaki , Sakai Etsuo , Daimon Masaki
Published: April 2016

Crystalline lead zirconate titanate solid solution (PZT) films were deposited on titanium substrates hydrothermally with a flow. The composition and concentration of solution or slurry werte controlled by adding reactants during the reaction. Although the PZT layer showed the anticipated piezoelectric and dielectric constants, an intermediate layer was created between the PZT layer and Ti substrate. Bimorph bending actuators using the film were bent by voltage applied perpendicular to the film. Bending displacement of the actuator was calculated theoretically using a composite beam model in which both sides of a Ti substrate were covered by PZT films with an intermediate layer between the Ti substrate and PZT film. A comparison of measured and theoretical displacement suggested that the piezoelectric cinstant was comparable to that of PZT ceramics with the same composition. Polar axes in as-deposited film were aligned from the film surface to the substrate, so actuators were bent by applied voltage without poling. Bending displacement increased with decreasing intermediate layer thickness, consistent with the composite.
Transformation and Mechanical Properties of TiNi Thin Films Sputter Deposited at Various Argon Pressures for Micromachine Actuators
Authors: Shimizu Seiji ,   Faculty of Engineering, Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan, Kuribayashi Katsutoshi
Published: April 2016

We studied the transformation and mechanical properties of Ti- 54.8-51.6 at % Ni shape memory alloy thin film actuators sputter-deposited at different argon pressures of 0.47-3.4 Pa. The higher the argon pressure, the lower the nickel composition. TiNi thin films were crystallized at 800C for 10min, aged at 400C for 6h, and analyzed by differential scanning calorimetry and tensile tests. All films showed 2-step transformation of martensite, R, and austenite phases. The maximum generative stress of 365MPa was obtained when the TiNi thin film actuator deposited at 2.0Pa was heated electrically to 30A/mm2 after deformation of 3.0% at room temperature.
Air Impact Drive for Positioning by Pulse and Continuous Air Pressure
Authors: Kouklan Mohammad Hossein ,   Department of Precision Machinery Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan, Hojjat Yousef , Higuchi Toshiro ,   School of Engineering, Tarbiat Modarres University, P.O. Box 14155-4838, Tehran, Iran
Published: April 2016

In recent years, the application of impacts to precise positioning has been increased. Previously, the impulsive force or impact was generated by electromagnetic impulsive force or by the sudden deformation of a piezoelement. In this paper, a new actuator named as Air Impact Drive (AID) is introduced, in which the impact is generated by impulsive air pulse pressure. Free body diagrams and equations of this new actuator were drawn and determined. Experimental and theoretical results are in good agreement. The new actuator could displace a 0.2kg object at 0.1 of millimeter per pulse by pulse air pressure. By implementing suitable setup of parameters, the AID could move the object by continuous, constant air pressure with good linearity. This property is unique among other impact drives for positioning. By 0.3Mpa of source air pressure, the new actuator could move the mentioned object at the speed of approximately 13.4mm/s.
Simulation of Pipeline Dynamics Using an Optimized Finite Element Model
Authors: Sanada Kazushi ,   Department of Mechanical Engineering and Materials Science, Faculty of Engineering, Yokohama National University, 79-5, Tokiwadai, Hodogaya-ku, Yokohama City, Kanagawa 240-8501, Japan
Published: April 2016

Applying finite element approximation to basic equations of pipeline dynamics, we propose an optimized finite element model written as a state space equation having a state variable vector of flows and pressures at intersecting grid points. The model accepts various forms of friction. We propose an augmented model including unsteady laminar friction rewritten as a state space equation. A model generator program is developed to calculate coefficient matrices of the state space equation of the model. Using the program, the model is compatible with block-diagram-based simulation software. Use of the model is shown by experiment and simulation examples. Transient pressures of a closed-end pipe were measured experimentally and used to validate simulated results of the optimized finite element model. Fuel injection was simulated using commercial simulation software to demonstrate model use.
Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models
Authors: Furuta Takayuki ,   Aoyama Gakuin University, 16-1 Chitosedai 6-chome, Setagaya-ku Tokyo, 157-8852, Japan, Yamato Hideaki , Tomiyama Ken
Published: April 2016

The purpose of this study is to realize 3D biped walking in a humanoid robot. A robot that has 12 degrees of freedom with 2 legs was designed and constructed as an experimental platform. Model reference walking control with a virtual inverted pendulum model is proposed, implemented on the robot to realize stable walking.
Self-Powered Active Vibration Control Using Regenerated Vibration Energy
Authors: Nakano Kimihiko ,   Institute of Industrial Science, University of Tokyo, 7-22-1 Roppongi, Minato-ku, Tokyo 106-8558, Japan, Suda Yoshihiro , Nakadai Shigeyuki ,   Department of Mechanical Engineering Chiba Institute of Technology, 2-17-1 Tsudanuma Narashino, Chiba 275-0016, Japan
Published: April 2016

Active vibration control using regenerated vibration energy, i.e., self-powered active vibration control is proposed in which energy absorbed by a damper is stored in a condenser. An actuator produces control input using this stored energy. This requires no external energy. Energy used by the actuator is restricted to be less than energy regenerated. It is important to reduce energy consumption in the actuator. The control we developed requires less external energy than typical active control. A linear DC motor operating as an energy regenerative damper with high efficiency is used in experiments realizing self-powered active control and showing better isolation than passive control.
Feasibility Study of Fault Diagnostics Using Multiple Neural Networks
Authors: Shimada Yukiyasu ,   Department of Systems Engineering, Faculty of Engineering, Okayama University, 3-1-1, Tsushima-naka, Okayama 700-8530, Japan, Suzuki Kazuhiko
Published: April 2016

This paper presents a fault diagnostic system (FDS) using multiple neural networks for chemical plants. The fault propagation in progress is modeled by causal relationships between a fault tree (FT) and its minimal cut sets (MCSa). The measurement patterns required for training neural networks (NNs) are obtained from fault propagation model. The FDS has a circuit network and component networks. The circuit network can identify circuit malfunctions that include disturbances. The component networks can identify component malfunctions as root causes of process malfunction. We have constructed an on-line FDS by making use of proposed method and verified the effectiveness of it experimentally.
Noncontact Hold and Transfer Control by a Two-link Robot Arm with a Magnetic Robot Hand
Authors: Kojima Hiroyuki ,   Department of Mechanical System Engineering, Gunma University, Kiryu, Gunma 376-8515, Japan, Itagaki Osamu , Kobayashi Toshio
Published: April 2016

We developed a two-link robot arm with a magnetic hand constructed from an electromagnet and a gap sensor. The sensor consists of an excitation current sensor and a Hall element. We then designed noncontact hold and transfer control consisting of a magnetic H∞ robust levitation controller of the steel sphere using the robot hand and a high-precision tracking controller using a disturbance cancellation controller based on a disturbance observer. The magnetic H∞ robust levitation controller is designed using normalized caprice factorization. We conducted an experiments on non contact hold and transfer control of the steel sphere and demonstrated the high performance of control using the 2-link robot arm and the magnetic robot hand.
A Study of the Multipurpose Intelligent Guided Vehicle for Education
Authors: Yamaji Kouki ,   Aichi College of Technology, 50-2 Mamori Nishihasama-cho, Gamagori, Aichi 443-0047, Japan, Kamiya Shinichiro ,   Nagoya Kougakuim College, 4-7-21 Jingu, Atuta, Nagoya, Aichi 456-0031, Japan
Published: April 2016

The robots have been utilized widely not only for manufacturing but also for various other fields. And they are becoming more popular with us in everyday life. So higher technical education and good teaching aids about robots are hoped. But as the robot technology is composed of computer science, computer hardware, sensor, mechanism and the artificial intelligence, it has been separately developed in these fields. In these days the technical education which cross over these fields is hoped. This paper reports the automatically guided vehicle which can be used as the teaching aids fors the moving mechanism, sensory function and artificial intelligence.
An Adaptive PI Control System for an Omnidirectional Mobile Robot
Authors: Sato Kazuya ,   Department of Advanced Systems and Control Engineering, Graduate School of Science and Engineering, Saga University, 1 Honjo, Saga 840-8502, Japan, Watanabe Keigo , Izumi Kiyotaka , Watanabe Makoto ,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo, Saga 840-8502, Japan,   Telecommunication System Engineering Information Technology Division, Nitsuko Corporation, 2-6-1 Kitamigata Takatsu-ku, Kawasaki 210, Japan
Published: April 2016

Resolved acceleration and PID control provide high-performance control in an omnidirectional mobile robot, but most research does not consider plant parameter perturbations requiring that control gains be readjusted. We present an adaptive PI control strategy for mobile robots that automatically adjusts PI controller parameters based on error signals. Experiments verify the effectiveness of our method.
An Analysis and Generation of Bunraku Puppet's Motions Based on Linear Structure of Functional Factors, Emotional Factors and Stochastic Fluctuations for Generation of Humanoid Robots' Actions with Fertile Emotions
Authors: Hattori Motofumi ,   Department of Computer and Systerns Engineering, Faculty of Engineering, Kobe University, Rokkodai-cho, Nada-ku, Kobe 657, Japan, Tsuji Masahiko , Tadokoro Satoshi , Takamori Toshi , Yamada Kazuhito ,   Department of Literature, Doshisha University
Published: April 2016

Human robots must have actions with fertile emotions, in order to cooperate with human being. To clarify ""what is the emotional factor of actions"", the authors analyze the actions of a Bunraku puppet. The observed action time series are modeled by a stochastic time evolutionequations (KM2O-Langevin equations) with exogenoussources which represent the sources of functional factors, emotional factors and stochastic fluctuation factors. The estimation method for KM2O-Langevin equations with exogenous sources is established. This method is verified by a numerical simulation.
High-speed End Milling of Extruded Aluminum Alloys Using Articulated Robot
Authors: Shimizu Kazunori ,   Sankyo Aluminium Industry Co., Ltd. 70, Hayakawa, Takaoka-shi, Toyama, 933-8610, Japan, Matsuoka Shin-ichi , Yamazaki Nobuyuki , Oki Yoshinari ,   Faculty of Engineering, Toyama Prefectural University, 8150, Kurokawa, Kosugi-machi, Imizu-gun, Toyama, 939-0398, Japan
Published: April 2016

This study describes the end milling operation using an articulated robot that is the new machining for extruded aluminum alloys. The most important characteristic of this operation is using the small diameter of endmill and the high-speed spindle in order to reduce a cutting force and improve the low stiffness of an articulated robot. However, the behavior of end milling with super-fast spindle speed for extruded aluminum alloys was still unclear. In this paper, in order to clear it, the basic end milling experiments and structural analysis were done. Consquently, it was proved that the high frequency vibration proper to high-speed end milling had a close relation to the stiffness (natural frequency) of machine tools or work piece, and great affected the cutting force and the cutting surface. On the other hand, it was confirmed that the articulated robot had few effects on the high frequency vibration of end milling because of low stiffness, and that the cutting force was 50 to 70% down compared with the fluting machine. Therefore, it is thought that the end milling using an articulated robot is effective for the improvement of high-speed end milling performance.
Kinematic Synthesis of In-Parallel Actuated Mechanisms Based on the Global Isotropy Index
Authors: Takeda Yukio ,   Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-ku, Tokyo 152, Japan, Funabashi Hiroaki
Published: April 2016

To develop a mechanism that minimizes directional variation of pose accuracy, maximum operation speed, and maximum output force over a prescribed working space and minimizes required sensor resolution and maximum actuator power for generating required accuracy, speed, and force, we propose a global isotropy index as an evaluation index in mechanism design. The effectiveness of the global isotropy index was numerically confirmed through error analysis of output displacement and kinematic synthesis of spatial in-parallel actuated mechanisms with 6 degrees of freedom.
Odometry in Cooperative Multi-Mobile Robots
Authors: Hashimoto Masafumi ,   Department of Mechanical Design Engineering, Faculty of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8527 Japan, Kurazumi Takanori , Oba Fuminori ,   SHINKO IND. LTD, 5-7-21, Ohzu, Minami-ku, Hiroshima, 732-0802 Japan
Published: April 2016

We propose odometry in cooperative multi-mobile robots by integrating conventional odometry and interrobot position sensor information. In our odometry, each robot is considered a moving landmark with imprecise location. Robots in the group locally estimate their own absolute positions based on conventional odometry and find the relative positions of each other using interrobot position sensors. They communicate and exchange information on local estimates and relative positions. The information is integrated decentralized based on the extended Kalman filter and robots improve their absolute positions. Simulation and experiments show that our odometry eliminates large robot location errors found in conventional odometry.
Micro Autonomous Robotic System
Authors: Ishihara Hidenori ,   Department of Intelligent Mechanical Systems Engineering, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa 760-8526, Japan, Fukuda Toshio ,   Center for Cooperative Research in Advanced Science and Technology, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

Miniaturized autonomous robots have been developed by several research groups. The miniaturized autonomous robot is defined as a miniaturized closed-loop system with microprocessors, microactuators, and microsensors. We developed a micro autonomous robot (MARS) consisting of a microprocessor, microsensors, microactuators, communication units, and batteries. MARS controls itself by a downloaded program supplied through infrared communication. We demonstrate performance of MARS, and discuss system features.
Estimation of Oxygen Desaturation by Analyzing Breathing Curves
Authors: Nishida Yoshifumi ,   Intelligent Systems Division, Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba-shi, Ibaraki 305-8568, Japan, Suehiro Takashi , Hirai Shigeoki
Published: April 2016

The unrestrained monitor reduces monitoring load, but the variety of physiological values is limited. We propose a new method for measuring oxygen desaturation frequency by analyzing Cheyne-Stokes-like breathing curves based on the fact that the characteristic pattern of the curve occurs at a high probability at oxygen desaturation. We confirmed the effectiveness of our proposal in experiments on patients with sleep apnea and other disorders. This proposal is applicable to any sensors that monitor breathing curves and in calculating physiological values using unrestrained monitors at home and in screenings examination at hospitals having no special equipment.
Autonomous Mobile Robot Carrying Food Trays to the Aged and Disabled – Robot Technology and Results of the Field Evaluation Test –
Authors: Maruyama Tsugito ,   Peripheral Laboratories, Fujitsu Laboratories Ltd. 4-1-1 Kamikodanaka, Nakahara-ku, Kawasaki, Kanagawa 211-8588, Japan, Yamazaki Muneshige ,   Yaskawa Electric Corporation, 5-9-10 Tohkohdai, Tsukuba, Ibaraki 300-2635, Japan
Published: April 2016

A food-carrying robot developed for the aged and disabled consisted of 6 basic components, i.e., a compact light-weight manipulator, a moving mechanism, an environmental perception unit, an information display, a navigator, and a remote supervisory controller. Practical evaluation tests at medical and welfare facilities showed that targets for safety, autonomy, and human friendliness were achieved. Such a robot will help to resolve shortages in health-care workers and improve overall care quality.
Interaction Using Multiview Representation in a Large-Scale Virtual Environment
Authors: Nariman Dahlan ,   Department of Computer Science and Intelligent Systems, Oita University, 700 Dannoharu, Oita 870-1192, Japan, Nishino Hiroaki , Utsumiya Kouichi , Korida Kazuyoshi ,   Department of Communication, Oita Prefectural College of Arts and Culture, Oita 870-0833, Japan
Published: April 2016

The evolution of virtual reality and 3D computer graphics has made digital visual simulation increasingly popular. Realistic visual simulation as in urban planning requires large-scale virtual environments using a large number of objects and space expansion. In such large systems, it is difficult to get information on the overall view and status using conventional representation. Effective representation and interaction must be considered for objects in a large-scale virtual environment. We propose large-scale 3D virtual environment interaction using multiview representation incorporating local and global views. Local view displays the detailed environment and global view provides a simple small-scale model of the environment giving users an overall view and status. Gesture interface enables them to directly interact with the model using natural and intuitive actions.
AUV with Variable Vector Propeller
Authors: Nagashima Yutaka ,   Department of Electrical Engineering, Sasebo National College of Technology, 1-1 Okishin, Sasebo 857-1193, Japan, Ishimatsu Takakazu , Mian Jamal Tariq ,   Department of Mechanical Systems Engineering, Nagasaki University, 1-14 Bunkyo, Nagasaki 852-8521, Japan
Published: April 2016

We developed an autonomous underwater vehicle (AUV) with a distributed controller and underwater acoustic communication. It is compact and lightweight thanks to its variable vector propeller and control using sophisticated logic circuits. Control is very precise using underwater ultrasonic command signals. Experiments showed that the AUV moves along a path at the desired position and azimuth. We confirmed the feasibility of our algorithm for increasing ultrasonic communication reliability.
Development of Dual Mode X-screw -A Novel Load-Sensitive Linear Actuator with a Wide Transmission Range-
Authors: Hagiwara Tetsuto ,   Kanagawa Industrial Technology Research Institute, 705-1 Shimoimaizumi, Ebina, Kanagawa 243-0453, Japan, Hirose Shigeo ,   Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology
Published: April 2016

X-screw, a load-sensitive linear actuator that we have proposed, has many desirable characteristics, but one drawback is that the linear motion is much slower than a conventional lead screw. When the axial load is small, the transmission efficiency of X-screw is approximately the same as that of a lead screw since the transmitted power is low in this case. Therefore we have developed a Dual Mode version of X-screw called ""DM X-screw"". This mechanism is able to automatically switch between lead screw mode and X-screw mode in response to the axial load. This feature makes it possible to apply DM X-screw to many mechanical systems. We have used this mechanism in a pantograph jack that makes use of its dual mode loadsensitive variable transmission properties. This jack can be operated with a small input force and unlike conventional jacks, several of these jacks can be used in combination to overcome the output force limitations of normal pantograph jacks.
Development of Suspender Device Controlled by Gyroscopic Moments (Outline of Original Device and Its Improvement)
Authors: Inoue Fumihiro ,   Technical Research Institute, Obayashi Corporation, 4-640 Shimokiyoto, Kiyose-shi, Tokyo 204-0011, Japan, Watanabe Kouji , Wakabayashi Akira , Nekomoto Yoshitsugu ,   Kobe Shipyard and Machinery Works, Mitsubishi Heavy Industries, Ltd. 1-1-1 Wadasaki-cho, Hyogo-ku, Kobe 652-0854, Japan
Published: April 2016

To reduce load rotation and danger, we developed a suspender device activated by gyroscopic moment and applied it to construction work, finding that transport time of a hanging load was reduced and more comfortable and work without load rotation safer compared to conventional methods. Since characteristics of loads and restriction of work conditions vary at construction sites, the suspender device was not always suitable. To apply the device optimally, we improved the original device with new functions and the ability to handle larger loads. We describe new functions and applications and explain the device's effectiveness and efficiency.
Miniaturization of Self-Reconfigurable Robotic System using Shape Memory Alloy Actuators
Authors: Yoshida Eiichi ,   Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tsukuba-shi, Ibaraki 305-8564 Japan, Kokaji Shigeru , Murata Satoshi , Tomita Kohji , Kurokawa Haruhisa
Published: April 2016

This paper presents a small-size self-reconfigurable modular machine using shape memory alloy (SMA). The system is designed so that various shapes can be actively formed by a group of identical mechanical units. Each mechanical unit realizes two-dimensional rotational motion by using a novel actuator mechanism composed of two SMA torsion springs which can generate sufficient motion range and torque. The size and the weight of a unit are approximately 5[cm] cube and 80[g]. The reconfiguration motion of the machine is verified by many-unit experiments. Applicability of the developed unit model to a 3-D self-reconfigurable system is also discussed.
Wearable System Based on Concept of Action and Speech Sharing Between Human-and System
Authors: Mori Taketoshi ,   The Department of Mechano-Informatics, Faculty of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Asaki Katsutoshi , Sato Tomomasa
Published: April 2016

This paper proposes a wearable system based on action and speech sharing concept, keeping in mind information support to humans through accumulation and display of human behavior. Specifically, it proposes a system in which action in our daily life serves both purposes of doing the action itself and inputting data into a computer. Similarly, daily speech meets the purposes of the speech itself and at the same time serves as the means of inputting data into the computer. The paper took up support to nurse's record preparation in nursing as an application example of the system, built a prototype system, and verified the performance of the system.
Assembly Support Based on Human Model -Provision of Physical Support According to Implicit Desire for Support-
Authors: Hayakawa Yasuhisa ,   Department of Mechanical Engineering, Waseda University, 3-4-1 Ohkubo, Shinjuku-ku, Tokyo 169-8555, Japan, Kitagishi Ikuo , Kira Yusuke , Satake Kensuke , Ogata Tetsuya , Sugano Shigeki
Published: April 2016

This study presents a method of cooperative systems, determining when support is necessary by understanding human intention. We focus on assembly and propose self-organized human information to extract human intention for use in system support. Such a system would realize provision of support without a strict model of the assembly target given in advance. This would enable support in cases where neither the assembly process, nor the final form of the completed task, is known to the system. First, a method of extracting human intention by observing human is presented. Next, a support system constructed for the assembly work cooperation is described. Experiments were conducted to evaluate and verify the effectiveness of the system. Results show that assembly support, extracted as human intention, is effective in improving performance and increasing friendliness.
Macro to Nano Tele-Manipulation Towards Nanoelectromechanical Systems
Authors: Sitti Metin ,   Institute of Industrial Science, University of Tokyo, 7-22-1, Roppongi, Minato-ku, Tokyo 106-8558, Japan, Hashimoto Hideki
Published: April 2016

In this paper, manipulation systems from macro- to nanoworlds indispensable for constructing Nanoelectromechanical Systems (NEMS) are introduced, and a macro to Nanotelemanipulation System has been proposed. We selected the telerobotics manipulation for positioning micro/nanoobjects with sizes between 10nm and 10μm in 2D. A user interface enables operator to feel nanoforces using a haptic device, and see the 3D graphics of the nanoworld during manipulation. Force models, the manipulation strategy and teleoperation control are designed, and preliminary results are presented. Possible target applications of this telenanomanipulation system are nanometric particle assembly through constructing 2D or 3D NEMS devices, biological object (cell, virus, gene, DNA, etc.) manipulation, and modifying the local surface properties of materials.
Error Recovery of Autonomous Mobile Robot With Global Matching
Authors: Abe Yasunori ,   Shinryo Corporation, Tanaka Yoshio , Sakamoto Shintaro , Fukuda Toshio , Arai Fumihito , Shikano Masaru ,   Nagoya University
Published: April 2016

This paper proposes a new navigation system for an autonomous mobile robot. An earlier version of the robot navigated by recognizing a single landmark at a time, but the landmark was often lost sight of, and as a result, the robot's self-position was lost. We propose a method that enables the robot to recover from such an error. The method determines the self-position by using information on the corner, windows and doors of a room simultaneously if the single landmark is lost.
Deforming and Cutting Operation with Force Sensation
Authors: Tanaka Atsuko ,   Central Research and Development Laboratory, OMRON Corporation, 20 Igadera, Shimokaiinji, Nagaokakyo-shi, Kyoto 617-8510, Japan, Hirota Koichi , Kaneko Toyohisa ,   Research Center for Advanced Science and Technology, the University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan,   Department of Information and Computer Sciences, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi 441-8580, Japan
Published: April 2016

In this paper, we discuss an approach to applying a virtual environment to shape forming tasks. In the study, we implemented a vertual work space that support deforming and cutting operations with visual and haptic feedback. In the implementation of the deforming operation, the surface shape is represented by a geometric model while the physical reaction is simulated using a spring model. The deformation of the spring model is considered on the geometric model by using interpolation technique. In the implementation of the cutting operation, we realized visual and haptic feedback of the cutting operation remarking on the geometric and physical aspects, respectively. Combining the deforming and the cutting environment, we successfully implemented a work space in which we can form and design shapes through operations similar to clay modeling.
Proposal of Artificial Larynx Using PZT Ceramics Vibrator as Sound Source
Authors: Ooe Katsutoshi ,   Dept. of Micro System Engineering, Nagoya University, Furo-cho l, Chikusa-ku, Nagoya 464-0814, Japan, Fukuda Toshio , Arai Fumihito ,   Center of Cooperative Research Center in Advanced Science & Technology, Nagoya University
Published: April 2016

Speech production substitutes that reconstruct speech function have been developed and used practically to enable the handicapped to speak, but still present problems. We focused on the PZT ceramics vibrator as a sound source of an artificial larynx. We produced an artificial larynx using the PZT ceramics vibrator and evaluated its performance. The power spectrum of an artificial larynx user's voice is similar to that of a healthy person's voice. The vocalization of artificial larynx user shows good characteristics in formant frequency important for vowel discrimination. Based on the result of listening evaluation, this voice has good clarity. We expect that our proposed artificial larynx will go into wide use.