bluuebunny/crossref_metadata_2025 huggingface dataset:
Improvement of Ride Comfort with Active Suspension System Using Preview Control Law
Authors: Tobata Hideo ,   Nissan Research Center, Vehicle Research Laboratory, Nissan Motor Co., Ltd., 1, Natsushima-cho, Yokosuka, Kanagawa, 237 Japan, Kimura Takeshi , Akatsu Yohsuke
Published: April 2016

It is known that the ride comfort of a vehicle equipped with active suspension can be further improved if a priori information about the road surface, i.e., preview control, is used. This paper discusses the application of preview control to the rear wheels of a vehicle with active suspension. Information about the front wheels' vertical motion is used to estimate the vertical travel of the rear wheels. Vibration transmitted from the road surface to the vehicle body through the rear suspension can be estimated from the vertical motion of the wheels. Thus, the control force that should be generated by the rear suspension actuators can be obtained. Simulation results reveal that preview control provides an accurate estimate of road force inputs, enabling the vertical acceleration of the vehicle body to be reduced for further improvement in ride comfort. The results of vehicle driving tests also confirm that the preview-control force serves to reduce the vertical acceleration of the vehicle body. Cooperation between preview control and a skyhook damper is also discussed and shown to be effective in reducing vehicle body vibration.
Solution Space and BP Learning Behavior of Multilayer Networks Whose Units Are Different in Polarity
Authors: Gotanda Hiromu ,   Faculty of Engineering, Kinki University in Kyushu, 11-6, Kayanomori, lizuka-shi, Fukuoka, 820 Japan, Ueda Yoshihiro , Siratsuchi Hiroshi
Published: April 2016

This paper studies the size of solution space and the convergence behavior of BP learning for unipolar networks with units activating from 0 to 1 and for bipolar networks with units activating from -0.5 to 0.5. It points out that both networks exhibit the same error characteristics for presentation patterns if the input spaces for each layer are divided geometrically in an equivalent manner by separation hyperplanes and active regions. This implies that their solution spaces are of equal size irrespective of the network's polarity. . However, even if learning commences under such equivalent separation, their convergence behavior differs. On the other hand, two networks of which the hidden units are of identical polarity but the output units are of different polarity yield the same convergence behavior when their initial weights and biases are equal. From simulation results, it is found for large-size networks that the bipolar networks tend to yield better convergence than the unipolar networks even if their input spaces are equivalently separated at the outset of learning.
Special Issue on Advanced Maintenance Robots
Authors: Hosokai Hidemi ,   Professor, Dept. of Management and System Science Science University of Tokyo, Suwa College 5000-1 Toyohira, Chino, Nagano, 391-02 Japan
Published: April 2016

At present, inspection and maintenance operations on various types of pipelines, structures, and others are carried out manually by human operators. Such operations are often performed, in general, under adverse environments such as high places and narrow areas. In addition, fire fighters in blazing high-rise buildings may be subjected to dangers involving high places and fires. Moreover, the robotization of grinding work in factories, for example, require a large number of empirical technologies. In order to mechanize tasks under such adverse environments and under special working conditions, research has been conducted, including studies of mobile mechanisms on inner walls and outer walls of piping, on wall surfaces of structures, etc. or studies of force control methods. Under these circumstances, this issue will be specialized in technical progress of various types of maintenance robots. First, a navigation system of a wind quantity inspection robot using a fuzzy neural network will be discussed by Messrs. Fukuda and Abe. Next, a report will be given by Messrs. Ishikawa and Shiire on the mechanism and functions of a pile recovery robot for large-diameter pipes, with a view to carrying out cleaning work inside cooling water pipes of electric power generation plants, as well as on its field testing. Furthermore, Messrs. Kawaguchi and Yoshida will be asked to report on the mechanism of an inspection robot for use on the inner surfaces of gas piping buried in the ground. In addition, a discussion will be carried out by Messrs. Naruse and Takada on the mechanism and fire extinguishing capability of a hybrid robot system for use in combatting fires in high-rise buildings. Moreover, Messrs. Ozaki and Jinno will be discussing the mechanism and force control system of a grinding robot. In addition, a discussion will be carried out by Messrs. Hosokai and Hara regarding the motion function of a piping inspection robot having a lazy tong mechanism and also regarding its piping test results. Finally, Messrs. Amano and Kakikura will be called upon to give a discussion concerning a robot for carrying out exfoliation of finishing materials on the outer walls of structures and its exfoliation. In closing, it is hoped that this special issue will be of some help in the future when such maintenance robots are developed.
Development of a Maintenance Work Robot for Large Diameter Water Piping – A Vacuum-Cleaning Vehicle Robot –
Authors: Ishikawa Yoshinobu ,   Toshiba Corporation, 1, Toshiba-cho, Fuchu, Tokyo, 183 Japan, Shiire Hidetake
Published: April 2016

This paper describes a field test of a maintenance robot for water pipes. The results of the test, in addition to the actual movement of the robot along the walls while maintaining sufficient suction levels, the cleaning of the pipe insides, etc., have proved that the new robot would be practical.
Detection of Blobs Using Variable Windows
Authors: Saitoh Machi ,   Software Kogyo, Ltd., 2-9-2 Kanda Suda-cho, Chiyoda,  Tokyo, 101 Japan, Katsulai Hiroshi ,   Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, 275 Japan
Published: April 2016

A blob is a compact region in the image which is surrouded by a smoothly curved closed edge and, at the same time, is lighter or darker than the background. Many objects which are found in an image can be viewed as blobs. It is very important to quickly detect in an image the location of blobs for a wide range of applications of image analysis. In this paper, we propose a noniterative simple method of blob detection which is applicable to various forms of blobs by scanning an image with a size variable window, and does not require so much memory and time for computations because of its simplicity, and demonstrate its effectiveness through experiments.
Development of Micro Actuator Using ER Fluid
Authors: Sano Akihito ,   Dept. of Mechanical Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, 466 Japan, Furusho Junji , Fujimoto Hideo ,   Dept. of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan
Published: April 2016

In recent years, a great deal of research has been done in the area of micro electro mechanical systems (MEMSs). Among the elements of micro machines, the micro actuator is very important. In this paper, a fluiddriven micro actuator using an electro-rheological (ER) fluid is discussed. The proposed actuator consists of micro valves, a piston and a cylinder. These ER micro valves do not require mechanical parts because they form chain clusters like bridges between the electrodes. As a result, the ER actuator can be driven at 75Hz and generate 60gf.
Dynamic Properties of the Visco-Elastic Actuator Designed as an Artificial Muscle
Authors: Tamura Masami Saito Youjiro ,   Department of Electronic and Information Engineering,  Suzuka College of Technology, Shiroko-cho, Suzuka, Mie, 510-02 Japan, Furusho Junji ,   Department of Physics, Suzuka College of Technology, Shiroko-cho, Suzuka, Mie, 510-02 Japan,   Department of Mechanical and Control Engineering, The University of Electro-Communication, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan
Published: April 2016

A mechanical actuator with a visco-elastic property is designed as an artificial muscle, and its dynamic properties are examined and compared with those of natural muscle. The properties are the length-tension relation, the tension response to sudden length change, and the load-velocity relation. The results show qualitatively good agreement with the dynamic properties of frog skeletal muscle, although the performance of the actuator must be improved. It is possible to give an actuator a visco-elasticitic property by properly combining some mechanical elements into a power source. This work is performed as the first step of the research aiming at a robotic system in which a compliant control is completed by controlling the visco-elasticity of the actuator itself.
A millimeter-Sized Robot Using SMA and Its Control
Authors: Kuribayashi Katsutoshi ,   Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube, Yamaguchi, 755 Japan, Shimizu Seiji
Published: April 2016

A millimeter-sized robot has been fabricated using shape memory alloy (SMA) actuators, focusing on its advantages including a strong force to weight ratio and extendibility to micro sizes. The Al links for the robot were made by wire-electric discharge machining (W-EDM). A push-pull type SMA actuator has been constructed with a couple of SMA sheets, each 50μm thick, which were cut by using a laser beam. They were set on Al links after they had been bent spirally. The dynamics of a larger-size SMA actuator were analyzed theoretically and experimentally. This theory was then applied to estimate the dynamics of the millimeter-sized SMA actuator proposed here. The joint angle was controlled with and without the sensor feedback.
Special Issue on Robot Motion Planning
Authors: Noborio Hiroshi ,   Associate Professor Lecturer Osaka Electro-Communication, Tsubouchi Takashi ,   University of Tsukuba University
Published: April 2016

This special issue is devoted to robot motion planning. The main scope of this issue covers research work on mobile robotics. Motion planning is necessary when the robot determines its own actions. For the last decade, the paradigm of motion planning in mobile robotics has shifted from off-line motion planning to on-line motion planning and from planning in a static environment to planning in a time-varying environment. Recent progress of computational power has enabled this paradigm shift, since on-line motion planning and planning in time-varying environments require repeated computation based on sensory information which is always renewed. The guest editors organized this special issue in order to highlight those two new paradigms. We present two survey papers: One is a survey of on-line motion planning for a sensor-based navigation of a mobile robot, and the other is a survey of motion planning for mobile robots in a time-varying environment. Along with the survey papers, distinguished technical papers are provided in this special issue. Concerning path planning, a paper describing a case study on motion planning with teaching is included (Ogata et al). Motion planning based on Fuzzy logic is one approach, and three papers from Maeda, Ishikawa et al. and Nagata et al. also belong to this category. To offer a case study on reactive motion decision making, one paper by Ando et al. is included. A recently emerging subject is related to motion planning for cooperation of multiple mobile robots or a single robot among multiple moving obstacles. Three papers from Yoshioka et al., Ota et al., and Fujimura discuss problems on motion planning for cooperation of multiple mobile robots. One paper from Tsubouchi et al. discussed the motion planning of a single robot among multiple moving obstacles. Motion planning to select an appropriate corner cube as a landmark is addressed in the paper from Hashimoto et al. The guest editors hope that this special issue will provide the readers with a lock at some current issues and new perspectives on robot motion planning.
On a Sensor-Based Navigation for a Mobile Robot
Authors: Noborio Hiroshi ,   Robotics Laboratory, Department of Engineering Informatics, Faculty of Information Science & Technology, Osaka Electro-Communication University, Hatsu-Cho 18-8, Neyagawa, Osaka 572, Japan
Published: April 2016

The sensor-based navigation for a mobile robot is a problem of how to select a sequence of sensor-based behaviors between start and goal positions. If a mobile robot does not know its 2-d environment completely or partially, it is obliged to rely on sensor information reflected from closer obstacles in order to avoid them on-line. In the on-line framework, we should consider how a mobile robot reaches its goal position in an uncertain 2-d world. Therefore we will study some previous sensor-based navigation algorithms for mobile robots. Our motivations are to ascertain the convergence of a mobile robot to its goal position, compare the lengths of sensor-based sequences made in the previous algorithms, and decrease the length of a sequence of sensor-based motions, which is generated between start and goal positions by a sensor-feedback obstacle avoidance. Because the mobile robot itself, its sensors, and its environment usually have several uncertainties, it is notable as to how a mobile robot arrives at or near its goal in overcoming such uncertainties. It is demonstrated that the sensor-based navigation still has an enormous potential as an actual navigation of a mobile robot in a completely or partially unknown environment.
Sensor-Based Traffic Rules for Multiple Automata Based on a Geometric Deadlock-Free Characteristic
Authors: Yoshioka Takashi ,   Division of Information and Computer Science, Osaka Electro-Communication University, Hatsu-Cho 18-8, Neyagawa, Osaka 572, Japan, Noborio Hiroshi
Published: April 2016

In this paper, we propose a sensor-based and decentralized navigation algorithm for multiple automata and discuss its deadlock-free characteristic in an uncertain 2-d world without any static obstacles. We consider multiple, but a limited number of, automata. Each automaton has the same circular shape, finds another automaton in a contact manner by a ring of tactile sensors, and then selects one of three simple behaviors, i.e., stop, straight, and circular behaviors. In our algorithm, an automaton basically moves toward the goal direction, and if and only if the direction is interfered by another automaton, it avoids another automaton based on a common set of sensor-based traffic rules. By common sense, each automaton never enters any local and global deadlocks, which excludes and includes the goal, respectively. Because all kinds of deadlocks are generally classified as local and global deadlocks, we can easily see that our proposed algorithm ensures its deadlock-free characteristic.
Motion Planning of Multiple Mobile Robots Using Virtual Impedance
Authors: Arai Tamio ,   Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113 Japan, Ota Jun
Published: April 2016

This paper proposes a planning method for multiple mobile robot systems. It has two characteristics: (1) Each robot plans a path on its own, without any supervisor; (2) The concept of cooperative motion can be implemented. A two-layered hierarchy is defined for a scheme of individual path planning. The higher layer generates a trajectory from the current position to a goal. The lower layer called“Virtual Impedance Metho” makes a real-time plan to follow the generated trajectory while avoiding obstacles and avoiding or cooperating with other robots. This layer is composed of four modules called, “watchdog”, “deadlock solver”,“blockade solver”, and “pilot”. The local equilibrium is detected by the watchdog and cancelled by the deadlock solver or the blockade solver. Simulation results indicate the effectiveness of the proposed method.
A Method of Piloting an Autonomous Mobile Robot in Dynamically Changing Environment Including Moving Obstacles
Authors: Ishikawa Shigeki ,   IBM Japan, Ltd., Yamato Laboratory, 1623-14, Shimotsururna, Yamato, Kanagawa-Pref., 242 Japan, Asaka Shun’ichi
Published: April 2016

In this paper, we present a sensor-based navigation method for an autonomous mobile robot in a dynamically changing environment with stationary and moving obstacles. A navigation task needs to navigate a robot to a destination along a predefined path, and to avoid obstacles, if necessary. However, the environment is always changing, and sensory information is quite limited (actually, we have many limitations on sensory processing in connection with a dynamically changing environment). We have to describe an efficient navigation manner onto the robot using simple sensory information. The first step in our approach was to use fuzzy control. Based on results of experiments, we propose a new navigation method for an autonomous mobile robot in a dynamically changing environment. The method determines a steering angle and a velocity to be sent to a low-level locomotion system. Two major parts are involved in this operation: one is the task of tracing a planned path; and the other is the task of avoiding obstacles. The distribution weight between their outputs is determined with a range data and differential range data between samplings.
Control Experiment of a Flexible Robot Arm Using the Floating Frame Model
Authors: Caracciolo Roberto ,   Department of Innovation in Mechanics and Management, University of Padova 35131 Padova - Italy, Ceresole Enrico , Giovagnoni Marco ,   Department of Electronics, Management and Mechanics, University of Udine 33100 Udine - Italy
Published: April 2016

The motion of a straight flexible robot arm is described using a floating frame of reference. This approach allows one to determine a dynamic model with the weakest possible inertia coupling. This model is then easily linearized to design a classical optimal controller. A function accounting for the total length of the path and the vibration intensity at the tip is defined. This controller is applied to a laboratory prototype. Experimental results are in good agreement with numerical simulations. Differences between recordings and numerical predictions can be probably attributed to the difficulties in modelling the actuator at low speed.
Apparent Temperature Patterns Superposed on Thermal Infrared Images and Their Removal
Authors: Inamura Minoru ,   Department of Electronic Engineering, Faculty of Engineering, Gunma University, 1-5-1 Tenjin-cho, Kiryu, Gunma, 376 Japan
Published: April 2016

A thermal infrared image is a visualized image of the thermal energy radiated from an object. Thermal radiation energy is dependent on the absolute temperature and the effective emissivity of an object, so that a thermal infrared image does not give the temperature distribution of an object but, rather, is a superimposed image of, so to speak, the temperature pattern and the emissivity pattern. In other words, a emissivity pattern is an apparent temperature pattern superimposed on a true temperature pattern. However, this paper points out that a thermal infrared image obtained with a sensor having an instantaneously large field of view, like a remotely sensed image, has additionally a third pattern due to the size of the field of view superimposed and that this appears as an apparent temperature change on the thermal infrared image. Moreover, the paper stresses the fact that in order to obtain correct information on temperature, it is necessary to remove these patterns and, at the same time, points out that these can be removed if effective use is made of visible, multispectral images.
On Features Obtained by Insertion of White Noise into Intermittently Removed Intervals of Speech Signals
Authors: Ishihara Manabu ,   Department of Electronic Engineering, Polytechnic Unviersity, 4-1-1, Hashimotodai, Sagamihara, Kanagawa, 229 Japan, Shirataki Jun ,   Department of Electrical and Electronic Engineering, Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi, Kanagawa, 243-02 Japan
Published: April 2016

In this study, a signal was synthesized by removing a speech signal at a certain uniform interval and inserting noise into those signal–absent parts. An auditory experiment was conducted to make clear how humans can hear such synthesized signals. In other words, the relationship between the size of noise and the intensity of signal sound and the relationship between the size of noise and clearness degree were made clear. On the basis of the result of the experiment, in case the size of the white noise inserted is smaller than OdB, a degree of sentence comprehension of over 90 percent is obtained as long as the removed intervals amount to around 60 to 50 percent. In this case, the degree of sentence comprehension is seen to have improved by over 30 percent, in view of the fact that the single syllable comprehension is around 50 to 60 percent. Starting with the region where the removed intervals exceed 50 percent, the degree of sentence comprehension goes down sharply, but this is considered to be due to an effect of the insertion of the white noise. On the basis of the results of this experiment, one of the auditory characteristics to be realized by a digital circuit was made clear.
Hybrid Position and Force Control Without Force Sensor
Authors: Ohishi Kiyoshi ,   Nagaoka University of Technology, 1603-1 Kamitomioka-cho, Nagaoka, Niigata, 940-21 Japan, Miyazaki Masaru , Fujita Masahiro ,   Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka, 535 Japan
Published: April 2016

Generally, hybrid control is realized by sensor signal feedback of position and force. However, some robot manipulators do not have a force sensor due to the environment. Moreover, a precise force sensor is very expensive. In order to overcome these problems, we propose the estimation system of reaction force without using a force sensor. This system consists of the torque observer and the inverse dynamics calculation. Using both this force estimation system and H∞ acceleration controller which is based on H∞ control theory, it takes into account the frequency characteristics of both sensor noise effect and disturbance rejection. The experimental results in this paper illustrate the fine hybrid control of the three tested degrees-of-freedom DD robot manipulator without force sensor.
A Robust Control Strategy of Redundant Manipulator by Workspace Observer
Authors: Oda Naoki ,   Faculty of Science and Technology, Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, 223 Japan, Murakami Toshiyuki , Ohnishi Kouhei
Published: April 2016

This paper describes a decoupling force control strategy of redundant manipulator by workspace observer. In general, the calculation process of the redundant manipulator becomes complex as the number of degree-offreedom motion increases because the controller includes the pseudo inverse Jacobian matrix. To alleviate this problem, we develop a simplification method of the inverse kinematics solution including null space calculation by using the transposed Jacobian matrix, and the workspace observer. Here the stable condition of the proposed controller is also presented. Its condition is an important index to construct the stable workspace observer.
Three Dimensional Digital Simulation of Legged Robots
Authors: Fujimoto Yasutaka ,   Department of Electrical and Computer Engineering, Yokohama National University, 156 Tokiwadai, Hodogaya-ku, Yokohama, 240 Japan, Kawamura Atsuo
Published: April 2016

This paper describes a new simulation method of multidegree-of-motion-freedom mechanical systems with the time-dependent contact and the Coulomb friction, such as a legged robot interacting with the ground and a satellite-mounted manipulator catching an object. The proposed approach is the extension of the open link manipulator simulation method and the contact simulation method of rigid body mechanics. The proposed simulation model can be said to be mathematically exact, thus this approach enables the essential investigation for control algorithms of the mechanical systems. The method is tested on a biped robot system and some results are shown.
State Estimation for Mobile Robot using Partially Observable Markov Decision Process
Authors: Kang Daehee ,   Institute of Industrial Science, The University of Tokyo, 7-22-1, Roppongi, Minato-ku, Tokyo 106, Japan, Hashimoto Hideki , Harashima Fumio
Published: April 2016

Dead Reckoning has been commonly used for position estimation. However, this method has inherent problems, one of the biggest being it always cumulates estimation errors. In this paper, we propose a new method to estimate a current mobile robot state using Partially Observable Markov Decision Process (POMDP). POMDP generalizes the Markov Decision Process (MDP) framework to the case where the agent must make its decisions in partial ignorance of its current situation. Here, the robot state means the robot position or current subgoal at which the mobile robot is located. It is shown that we will be able to estimate the mobile robot state precisely and robustly, even if the environment is changed slightly, through a case study.
Flexible Manipulator Control Based on Inverse Dynamics Model and Joint Feedback
Authors: Petrić Joško ,   Faculty of Mechanical Engineering and Naval Architecture, The University of Zagreb, HR-10000 Zagreb, I. Lučića 5, Croatia, Deur Joško
Published: April 2016

In this paper a problem of precise positioning and precise trajectory tracking during fast motions of flexible manipulator's tip is solved by using feedforward and feedback control. Feedforward control acting is the inverse dynamics of the flexible robot, and feedback control acting is a function of the joint variables (angular rotation and angular speed). Inversion of linearized mathematical model of the manipulator dynamics is calculated in the frequency domain, using Fourier transformation. The research presented is theoretical and experimental. Experimental verification of developed control algorithm is performed on the self-made one axis laboratory model of the flexible manipulator arm driven by the permanent magnet AC motor.
GA in Continuous Space and Fuzzy Classifier System for Opening a Door with a Manipulator of Mobile Robot: New Benchmark of Evolutionary Intelligent Computing
Authors: Ohwi J. ,   The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu Tokyo, 182 Japan, Ulyanov S.V. , Yamafuji Kazuo
Published: April 2016

An intelligent mobile robot for service use which is mainly utilized in office buildings has been developed. It can locomote autonomously from one room to others in different floors and buildings using elevators. The robot equips a 5DOF manipulator and must often conduct opening and closing doors operation. For realizing door opening operation of a manipulator in cooperation with locomotive mechanisms, it is necessary to develop efficient and intelligent computing algorithms for next two requirements: (1) determination of initial position of the mobile robot in front of a door-knob like parking a car and (2) path planning of manipulator trajectory for opening a door. This paper provides these algorithms. We propose an algorithm on basis of Fuzzy Classifier System (FCS) for (1). The FCS is a kind of Genetic Algorithms (GA) in which a chromosome expresses each fuzzy rule. And we develop a method of making a trajectory of the flexible manipulator using Genetic Algorithms in Continuous Space (GACS) for (2).
Modeling and Robust Control of a Flexible Solar Array Paddle as Clamped-Clamped-Free-Free Rectangular Plates
Authors: Matsuno Fumitoshi ,   Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, 4259, Nagatsuda Midori-ku, Yokohama, 226 Japan
Published: April 2016

In this paper, modeling and robust control of a large solar array paddle, which is mounted on satellites and space stations, are discussed. We regard the solar array paddles as two clamped-clamped-free-free rectangular flexible plates. We consider the flexible plates which are in zero gravity field and are rotated about two axes of each plate by two motors, respectively. We derive partial differential equations and boundary conditions which represent the vibrations of the flexible plates and ordinary differential equations which represent the dynamics of angles of rotation of motors. Solving the related eigenvalue problem, the eigenvalues and the corresponding eigenfunctions are obtained. On the basis of a finite-dimensional modal model of the distributed-parameter system, an optimal controller with low-pass property and a robust controller using H∞ control theory for the flexible plates are constructed. Simulation results are shown.
Obstacle Avoidance Using Vibrating Potential Method (Self-Organization in a Narrow Path)
Authors: Yokoi Hiroshi ,   Faculty of Engineering, Hokkaido University, North 13 - West 8, Kita-ku, Sapporo, Japan, Mizuno Takafumi , Takita Masatosi , Kakazu Yukinori ,   National Institute of Bioscience and Human-technology, 1-1-4 Higashi, Tsukuba, Ibaraki, 305 JAPAN
Published: April 2016

In this paper we use the vibrating potential method 2) (VPM) in an attempt to solve the obstacle avoidance problem. The paper reports swarm behavior for finding suitable avoidance that is derived from the VPM through self-organization. In the VPM, AGV consists of a group of units that has elementary sensor, action, controller, and communication functions. The communication media is through wave propagation on the vibrating potential field. The wave motion propagates from each of these units, and informs the unit's status to other units. From this wave motion, the AGVs obtain information about their environments and are thus able to choose appropriate behavior (i.e., obstacle avoidance and goal pursuit.) This system is advantageous to users because the AGVs do not require programming oriented to a specific problem. We provide illustrations in the form of computer simulations. These show AGVs as they pursue goals, avoid obstacles, and as they leave and rejoin a group.
Self-Organization of Lower Limb Motion in Human Locomotion
Authors: Yokoi Takashi ,   National Institute of Bioscience and Human Technology, Higashi 1-1, Tsukuba, Ibaraki 305, Japan, Takahashi Akihiko , Byun Keigo Ohyama ,   University of Tsukuba, Tsukuba, Ibaraki 305, Japan
Published: April 2016

This project was undertaken to demonstrate the modal bifurcation displayed in human locomotion and the nature of motional self-organization found in the lower limb joints via the continuously measured walking and running of subjects on a treadmill for five minutes. The knowledge obtained from this study is as follows: (1) The self-organizational patterns of leg motion differ between walking and running. (2) This pattern shift is achieved based on the joint angular relationship and the change in the dynamical systems controlling the flexion and extension of the ankle and hip joints. The motion pattern is entrained to a final state immediately following the changeover. (3) Chaotic movements were observed in joint-angle time-series data, but the wide variance exhibited in Lyapunov exponent is dependent on the evolution time value set in the calculation. (4) If chaos occur in the lower limb motion of locomotion, we safely achieve locomotion in our everyday life by positively adopting the body and environmental conditions through the utilization of the selfsame chaos.
Control of a Robot Arm by Electromyogram -Recognition of Arm Motion by Neural Network
Authors: Uchida Masafumi ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo, 157 Japan, Ide Hideto
Published: April 2016

In this study, 1/3 Octave-analyzed EMG patterns were classified by neural networks which possess learning ability and deal with Interval-Valued data to cope with the position slip of electrodes. Interval-Valued data is a method express an attribute as a dot in the multi-dimension. For example, the attribute is constant and is changing. EMG were measured under following conditions; (1) closing hand, (2) opening hand, (3) bending wrist to the bending side, (4) bending wrist to the stretching side, (5) turning wrist to the inside, (6) turning wrist to the outside.
Robot Manipulators Control with Guaranteed Stability Using Feedback Error Learning Neural Networks
Authors: Lee Ju-Jang ,   Department of Electrical Engineering Korea Advanced Institute of Science and Technology, 373-1 Kusong-Dong, Yusong-Gu, Taejon 305-701, Korea, Kim Sung-Woo , Park Kang-Bark
Published: April 2016

Among various neural network learning control schemes, feedback error learning(FEL)8),9) has been known that it has advantages over other schemes. However, such advantages are founded on the assumption that the systems is linearly parameterized and stable. Thus, FEL has difficulties in coping with uncertain and unstable systems. Furthermore, it is not clear how the learning rule of FEL is obtained in the minimization sense. Therefore, to overcome such problems, we propose neural network control schemes using FEL with guaranteed performance. The proposed strategy is to use multi-layer neural networks, to design a stabilityguaranteeing controller(SGC), and to derive a learning rule to obtain the tracking performance. Using multilayer neural networks we can fully utilize the learning capability no matter how the system is linearly parameterized or not. The SGC makes it possible for the neural network to learn without fear of instability. As a result, the more the neural network learning proceeds, the better the tracking performance becomes.
Special Issue on Distributed Robotic Systems
Authors: Asama Hajime ,   Biochemical Systems LaboratoryThe Institute of Physical and Chemical Research (RIKEN)Hirosawa 2-1,Wako-shi, Saitama 351-01, Japan
Published: April 2016

Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
Highly-Safe Intelligent Integrated Systems
Authors: Kameyama Michitaka ,   Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, 980-77 Japan
Published: April 2016

To keep safety and security in our daily life, intelligent detection technologies for dangerous situations are discussed. The main concepts include a physical model approach and a rule-based approach. In such applications, development of special-purpose VLSI processors and hardware accelerators are essential to realize quick response. These typical examples are shpwn in this article.
Optimal Design of a VLSI Processor with Spatially and Temporally Parallel Structure
Authors: Kameyama Michitaka ,   Department of Computer and Mathematical Sciences, graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, 980-77 Japan, Sasaki Masayuki
Published: April 2016

In intelligent integrated systems such as robotics for autonomous work, it is essential to respond to the change of the environment very quickly. Therefore, the development of special-purpose VLSI processors with minimum delay time becomes a very important subject. A suitable combination of spatially parallel and temporally parallel processing is very important to realize the minimum delay time. In this article, we present a scheduling algorithm for high-level synthesis, where the input to the scheduler is a behavioral description viewed as a data flow graph. The scheduler minimizes the delay time under the constraint of a silicon area and I/O pins.
Project and Experimentation of a Photoacoustic Cell
Authors: Belforte G. ,   Department of Mechanics-Politecnico di Torino C.so Duca degli Abruzzi, 24-10129 Torino (Italy), Raparelli T. , Viktorov V , Eula G. , Ivanov A. ,   Department of Energetics-Universita’di L’Aquila, 67040 Roio Poggio-L’Aquila (Italy)
Published: April 2016

A new kind of control device is here presented. It is realized through no-one electrical components so that it can be also used in environments where there is a danger of explosion, fire or electromagnetic interference. Its principal way of working is based on the photothermic effect, in which the energy of an optical source (infrared source in this case) is converted into heat energy through an absorbent body. So it is possible to increase the temperature of the air close to the absorbent body and to obtain a pneumatic signal that can be used as a control signal in a high-gain laminar fluidic amplifier.
Pantomime Effect and Sustaining Cues in the Perception of a 3-D Illusory Transparent Object with Binocular Viewing
Authors: Zhang Qi ,   Graduate School of Information Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182 Japan, Idesawa Masanori , Sakaguchi Yutaka
Published: April 2016

A new visual effect --- ""pantomime"" effect has been found in transparent object perception with binocular viewing. It is induced by the visual stimuli sustaining cues arranged in suitable relations. Sustaining cues played different roles in this effect according to their positions, they can be classified into three types: font-, side-, and back- sustaining cues. It was also found that this effect was closely related to occlusion perception; front-sustaining cues can be regarded as a kind of bulky occusion cues in opaque object perception. In addition, we show that several kinds of sustaining cues induce the perception of different kinds of illusory transparent objects.
Saccade Mechanism Based on Processes for Depth Estimation and Incongruity Detection between Binocular Retinal Images – Analysis of Gazing Positions and Inter-saccade Intervals –
Authors: Kudo Hiroaki ,   Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-01, Japan, Uomori Kenya , Yamada Mitsuho , Ohnishi Noboru , Sugie Noboru ,   Central Research Laboratories, Matsushita Electric Industrial Co., Ltd., 3-4, Hikaridai, Seika-cho, Soraku-gun, Kyoto, 619-02, Japan,   Human Vision Research Division, NHK Science and Technical Research Laboratories, 1-10-11, Kinuta, Setagaya-ku, Tokyo, 157, Japan,   Bio-Mimetic Control Research Center, RIKEN, 2271-130, Anagahora, Shimoshidani, Moriyama-ku, Nagoya, Aichi 463, Japan,   Faculty of Science and Technology, Meijo University, 1-501, Siogamaguchi, Tempaku-ku, Nagoya, 468, Japan
Published: April 2016

We analyzed binocular gazing positions in the existence of a rim occlusion. When a human gazes at the rim of a textured cylinder, the gazing position shifts from the fixation target, When a human gazes at the rim of a cylinder whose upper-surface is visible, the gazing points are located at the estimated surface's depth. In this paper, to investigate the mechanism changing the gazing point, we analyzed inter-saccade intervals. The result shows that an occlusion detection mechanism exists at an early stage of human visual processing, and the mechanism causes a shorter-interval saccade when incongruity regions between left and right retinal images are detected. We propose a saccade mechanism which includes processes for depth estimation and incongruity detection between binocular retinal images based on relationships between the gazing positions and the results of inter-saccade intervals.
Some Notes for Anaglyph Stereo Method in the Presentation of Moving Objects
Authors: Koike Hitomi ,   Benesse Corporation, 1-34, Ochiai, Tama-shi, Tokyo, 206, Japan, Idesawa Masanori ,   Graduate School of Information Systems, The University of Electro-communications, 1-5-1, Chofugaoka, Chofu-shi, Tokyo, 182, Japan
Published: April 2016

The human visual system perceives three-dimensional structures by using all kinds of means, such as perspective, binocular parallax, motion parallax, texture gradient, etc[2]. Among these, binocular stereo viewing based on binocular parallax is one of the most important means in perceiving the three-dimensional structures of objects.

In recent years, in the field of computer graphics, the three-dimensional presentation method based on binocular stereo viewing is widely used. In research on the elucidation of the human visual mechanism, studies with the use of three--dimensional presentation methods based on binocular stereo viewing as applied to computer graphics are being , carried out actively. These studies have led to new discoveries which were never anticipated in the past, and to new knowledge concerning the human visual system.

For three-dimensional presentation based on binocular viewing, various methods are used; the anaglyph method is one of them (Fig.1). According to the anaglyph method, the images of the left eye and the right eye are depicted in different colors and are observed after they are separated by means of filters corresponding to these colors. For this reason, the anaglyph method is an extremely effective one for conducting a simple experiment on binocular stereo viewing[1]. However, in the observation of moving objects which the present authors have recently conducted, a strange phenomenon was observed that a triangle rotating on a plane with a uniform depth is perceived as if it were moving in a slanted way. When this phenomenon was examined, it was confirmed that it was due to the Pulfrich effect based on the difference in brightness between red and blue colors[4]. This fact indicates that it is necessary to pay sufficient attention to the existence of this phenomenon as long as the anaglyph method is used for the presentation and observation of moving objects. The present report is intended to introduce several of phenomena observed in the course of the study on the cause of this phenomenon.
Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller
Authors: Tang Jun ,   Department of Mechanical Engineering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755, Japan, Watanabe Keigo , Nomiyama Akira ,   Department of Mechanical Engineering, Saga University Honjomachi-1, Saga 840, Japan,   Nishinihon Soft Service Co., Ltd., 2-9-25, Hakata-eki Higashi, Hakata-ku, Fukuoka 812, Japan
Published: April 2016

This paper presents a new design for a fuzzy controller, called ""stochastic fuzzy control."" It describes the application controlling a mobile robot driven by two independent wheels. Using this scheme, the fuzzy control system provides an optimal stochastic control strategy that ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, and the other assumes that the control object includes unknown parameters. We design the straight line and circular path reference trajectories in accordance with the practical applications for the mobile robot, in which three patterns of speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests using our experimental mobile robot.
20 DOF Five Fingered Glove Type Haptic Interface -	Sensor Glove II	-
Authors: Kitada Toshio ,   Asahi Chemical Industry Co., Ltd. 2-2-1 Asahi-machi, Nobeoka-shi, Miyasaki 882, Japan, Kunii Yasuharu , Hashimoto Hideki ,   Dept. of Electrical Engineering, Faculty of Science and Engineering, Chuo University 1-13-27 Kasuga, Bunkyo-ku, Tokyo, 112 Japan,   Institute of Industrial Science, University of Tokyo 7-22-1 Roppongi, Minato-ku Tokyo, 106 Japan
Published: April 2016

In this paper, a new haptic human interface device to communicate with a virtual world, which we named Sensor Glove II (SGII), is presented. SGII, which is drawn on the human hand, corresponds to the dexterous manipulation of human fingers and acquires angles and torque of each joint. SGII adds the reaction forces of a virtual object to the fingers. The forces are calculated in the Dynamic Force Simulator we have developed. We outline the design, characteristics and structure of SGII, and display preliminary experimental result to verify the stability and performance of SGII.
Space Interface Device for Artificial Reality – SPIDAR –
Authors: Sato Makoto ,   Precision and Intelligent Laboratory, Tokyo Institute of Technology,  4259, Nagatsuda, Midori-ku, Yokohama-shi, 226 Japan, Hirata Yukihiro , Kawarada Hiroshi
Published: April 2016

In order to realize a human interface for the efficient modeling of three-dimensional shapes over the computer, it is necessary to create an environment in which shape models can be manipulated in the same way as their actual three-dimensional objects. Such an environment is called a virtual work space. In case that a human manipulates an object with his or her own hands, that person unconsciously uses the sensations, such as those of sight, touch, and force. In order to compose a virtual work space, it is important that information on such sensations be given comprehensively to a human. Moreover, it is necessary that all this information be generated artificially through computer processing. On the basis of these observations, the present paper newly proposes a space interface device SPIDAR as an input/output device necessary for composing a virtual work space. This device can not only obtain information on the positions of end-effectors but also provide information concerning the sensation of force to the end-effectors. Furthermore, an experiment is carried out for investigating the effect of information concerning the sensation of force on the direct manipulability of three-dimensional shapes in this virtual work space, and its effectiveness is verified.