bluuebunny/crossref_metadata_2025 huggingface dataset:
Monitoring of the Recovery Process of the Fukushima Daiichi Nuclear Power Plant from VHR SAR Images
Authors: Liu Wen ,   Graduate School of Engineering, Chiba University 1-33 Yayoi-cho, Inageku, Chiba 263-8522, Japan, Yamazaki Fumio , Sasagawa Tadashi ,   PASCO Corporation 4-10-1 Nakano, Nakano-Ku, Tokyo 164-0001, Japan
Published: April 2016

The Mw9.0 earthquake hitting the Tohoku area on Japan's Pacific coast on March 11, 2011, triggered huge tsunamis and a Fukushima Daiichi nuclear power plant breakdown. Due to high radiation levels, plant damage could only be assessed from satellite images. Our study involves four very-high-resolution (VHR) TerraSAR-X/TanDEX-X SAR intensity images taken under different acquisition conditions and used to try and determine reactor building damage. Layover and radar shadow areas were specified first based on building footprint and height, then backscattering patterns in these areas were modeled by introducing sectional views of the target building. Criteria for detecting damage from individual SAR scenes were used to compare simulated backscattering patterns to actual SAR intensity images. Damage to other reactor buildings was then identified based on these criteria. Results were confirmed by comparisons to two optical VHR WorldView-2 images and ground photos.
Seismic Hazard Visualization from Big Simulation Data: Construction of a Parallel Distributed Processing System for Ground Motion Simulation Data
Authors: Maeda Takahiro ,   National Research Institute for Earth Science and Disaster Prevention (NIED)  3-1 Tennodai, Tsukuba, Ibaraki 305-0006, Japan, Fujiwara Hiroyuki
Published: April 2016

We have developed a data mining system of parallel distributed processing system which is applicable to the large-scale and high-resolution numerical simulation of ground motion by transforming into ground motion indices and their statistical values, and then visualize their values for the seismic hazard information. In this system, seismic waveforms at many locations calculated for many possible earthquake scenarios can be used as input data. The system utilizes Hadoop and it calculates the ground motion indices, such as PGV, and statistical values, such as maximum, minimum, average, and standard deviation of PGV, by parallel distributed processing with MapReduce. The computation results are being an output as GIS (Geographic Information System) data file for visualization. And this GIS data is made available via the Web Map Service (WMS). In this study, we perform two benchmark tests by applying three-component synthetic waveforms at about 80,000 locations for 10 possible scenarios of a great earthquake in Nankai Trough to our system. One is the test for PGV calculation processing. Another one is the test for PGV data mining processing. A maximum of 10 parallel processing are tested for both cases. We find that our system can hold the performance even when the total tasks is larger than 10. This system can enable us to effectively study and widely distribute to the communities for disaster mitigation since it is built with data mining and visualization for hazard information by handling a large number of data from a large-scale numerical simulation.
Special Issue on Comprehensive Disaster Prevention Measures for Underground Spaces (Underground Malls, etc.)
Authors: Matsuo Ichiro ,   Deputy Director,  Research Institute Mitigation and Environmental Studies,  NPO CeMI (Crisis and Environment Management Policy Institute)  Royal Wakaba 505, 1-22 Wakaba, Shinjuku, Tokyo 160-0011, Japan
Published: April 2016

Underground spaces have been variously used. Excluding underground floors of individual buildings, underground space in Japan is mainly used for streets, railways, and parking. Stores are often grouped along underground passages to underground railways and parking near main urban terminals. An accidental underground gas explosion at Shizuoka Station in 1980 led to disaster prevention measures in such spaces, forcing stricter safety standards. Following this was the 1999 Hakata underground mall inundation by the Mikawa River, which has further broadened the attention to the underground space and its inundation risk. Inundation damages in underground malls and spaces had occurred repeatedly since then, however, we believe that the 2012 inundation damage to underground spaces in New York city caused by Hurricane Sandy triggered further reviews of disaster prevention measures against underground spaces in Japan. Recently, small inundation damages often occurred in underground malls in Japan. With our praying these would not be prior events for possible large disasters, we publish this special issue considering that publishing disaster prevention measures and researches for underground spaces is increasingly important worldwide. This special issue features inundation damage caused by Hurricane Sandy, Japan's law systems on antiflood measures in underground spaces, antiflood measures of the subway in Tokyo Metropolitan Area, current situations of antiflood measures in underground spaces. We would like to express our sincere thanks to those who contributed reports and research papers to this issue.
Revision of Flood Control Act and Measures for Underground Shopping Complexes
Authors: Asahori Yasuaki ,   The Ministry of Land, Infrastructure, Transport, and Tourism    2-1-3 Kasumigaseki, Chiyoda-ku, Tokyo 100-8918, Japan
Published: April 2016

Underground spaces are enclosed spaces that collect aboveground floodwater, which causes the inundation height to rise rapidly and thus makes them extremely dangerous spaces from the standpoint of water disasters. Due to the changing rainfall patterns in recent years, incidences of inundation damage to underground spaces have increased. In this situation, the Ministry of Land, Infrastructure, Transport, and Tourism of Japan revised the Flood Control Act in May 2015. This paper provides an overview of this latest revision.
Environmental Sensor Network of NTT DOCOMO
Authors: Tsuboya Hisakazu ,   DOCOMO BIKESHARE, INC.  NTT DOCOMO Sumida building, 1-9-2 Yokoami, Sumida-ku, Tokyo 130-0015, Japan, Kumagai Ken , Furuta Yasuko , Miyajima Akiko ,   NTT DOCOMO, INC.  Sanno Park Tower, 2-11-1 Nagata-cho, Chiyoda-ku, Tokyo 100-6117, Japan
Published: April 2016

Natural disasters due to local heavy rains and storms have been increasing over and under the ground owing to climate change. Since 2009, NTT DOCOMO, INC. has been working on a nationwide weather observation network, the Environmental Sensor Network, by installing weather observation devices in wireless stations nationwide. In addition, the company has assumed that weather observation data are the trigger factor that may cause disasters and promoted the provision of comprehensive observation data, including river water levels, directly related to disasters such as floods. This paper presents an outline of the environmental sensor network as well as its functions and applications to the disaster prevention field.
Proposal for Development Cooperation to Enhance the Capacity on Disaster Emergency Response in Developing Countries : A Case Study of Curriculum Development in the People’s Republic of China
Authors: Shimano Toshiyuki ,   Japan International Cooperation Agency (JICA)  Nibancho Center Building,  5-25, Niban-cho, Chiyoda-ku, Tokyo, Japan, Kimura Reo , Hayashi Haruo , Nagatomo Noriaki , Sakurada Yukihisa ,   School of Human Science and Environment, University of Hyogo, Hyogo, Japan,   National Research Institute for Earth Science and Disaster Prevention, Ibaraki, Japan,   Disaster Prevention Research Institute, Kyoto University, Kyoto, Japan
Published: April 2016

Although the importance of Disaster Risk Reduction (DRR) has been recognized internationally as exemplified by the UN World Conference on DRR, funding for emergency relief teams and relief supplies accounts for approximately 66% of the total amount paid for emergency management as a part of international cooperation. Stable economic development requires improvement of DRR and also the mitigation of damage. This paper: 1. Identifies the challenges for enhancing the capacity for emergency management in China; and 2. Examines methods of development cooperation that could help to resolve the above-mentioned challenges. The challenges in China have been brought to light through the Project “Japan-China Cooperation Plan of Earthquake First-Aid Capacity Training” to enhance capacity for earthquake emergency management under JICA’s Technical Cooperation. The timeline analysis for emergency management and after action review were used to assess the China’s emergency management framework and systems. The system and framework of China were also examined by comparing international systems and frameworks such as ISO22320, Japanese DRR system and the United States system. Based on this, curriculum and texts were developed for the National Earthquake Response Support Service (NERSS) to train the personnel engages in earthquake risk management in China. Guidance curricula were developed for the beginners and the intermediate user, which effectiveness was verified by instructional design.
Shear Characteristics of Seismic Retrofitting Cylindrical Walls in Nuclear Power Plants
Authors: Watanabe Hideyoshi ,   Technology Center, Taisei Corporation   344-1 Nase-cho, Totsuka-ku, Yokohama, Kanagawa 245-0051, Japan, Ono Hideo , Yasutomi Yoko , Okamura Takeshi ,   Design Division, Taisei Corporation, Tokyo, Japan,   Nuclear Power Division, Kansai Electric Power Co., Inc., Fukui, Japan
Published: April 2016

To improve the earthquake resistance of antiseismic cylindrical walls of existing nuclear power plants, new seismic retrofitting method is planned in which concrete is poured on one side of the wall after installing additional rebars and shear connectors, to produce a monolithic structure with increased thickness. The loading tests were carried out to verify the validity of this reinforcement method. The specimens consisted of two types: one in which the amounts of inner and outer reinforcements of the doubly arranged wall reinforcements were varied, simulating the retrofitted condition, and one for comparison, in which the inner and outer steel reinforcements were evenly distributed. The experimental results showed no substantial differences in the behaviors of the two specimens up to the ultimate state, each displaying roughly equivalent shear strength.
On-Line Recognition of Robot Operation by Using a Vibration Analysis
Authors: Kamiya Yoshitsugu ,   Faculty of Engineering, Kanazawa University, 2-40-20 Kodatsuno, Kanazawa, Ishikawa 920, Japan, Okabe Sakiichi , Yokoyama Yasuo , Kobayashi Touru ,   Toshiba Corp., 1385-1 Shimoishigami, Otawara, Tochigi 329-26, Japan
Published: April 2016

This paper considers a possibility of decision whether the robot hand is having a correct work or not by using the analysis of the mechanical vibration of robot that is doing an operation. The dynamics of robot is changed by the various works that the robot hand has or the incorrect movements of robot, and this change of robot dynamics can be analyzed by the residual vibration of robot. Here, this study showed that the state of operation of robot could be recognized on-line operation of robot by using a vibration analysis of robot that is the AR(Autoregressive) Model method.
Coordination Control of Artificial Five Fingers With Multiple Degrees of Freedom and a Concept of Three Dimensional Stable Grasping
Authors: Fukuda Toshio ,   Dept. of Mechanical Engineering, School of Engineering Nagoya University, 1 Furocho, Chikusa-ku, Nagoya 464, Japan, Shimonaka Ken , Hosokai Hidemi ,   Digital Switching System Enhancement Project, Software Engineering Center, Nippon Telegraph and Telephone Corp., NTT Shinagawa TWINS, 1-9-1 Konan, Minato-ku, Tokyo 108, Japan,   Dept. of Mechanical Engineering, Science University of Tokyo, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162, Japan
Published: April 2016

The flexible functions of a human five finger hand with a palm were studied from the viewpoint of force sensory manipulation, unlike the conventional viewpoint of position based manipulation. It was clear that more than half of human hand work is related to force sensory information. Based on this examination, the degree of freedom of an articulated finger hand is determined to realize such a flexible manipulation as a human hand, so that twenty five degrees of freedom are necessary for a hand with consideration of joints inside the palm which have not been taken into account previously. An artificial finger hand with twenty five degrees of freedom was built for experiments by employing a wire and spring mechanism. Finally, an evaluation concept of three dimensional grasping is presented as a crosssection method by calculating applied forces and moments in a plane virtually cut at arbitrary inclined angles around the center of a grasped object.
Micro Walking Machines Using Piezoelectric Actuators
Authors: Uchino Kenji ,   Faculty of Science and Technology, Sophia University, 7-1 Kioi-cho, Chiyoda-ku, Tokyo 102, Japan
Published: April 2016

A large number of attempts have been made in recent years to apply piezoelectric ceramics to actuators for movable systems. In effect, piezoelectric ceramics have been placed under the category of precision positioners.i> In this paper, the future of micro travelling systems is reviewed mainly on the basis of studies conducted by the author et al. Piezoelectric/electrostrictive actuators can roughly be classified according to their driving principles into the following two types: one type is designed to utilize the displacement created rigidly under an electric field applied; the other type is designed to utilize the displacement created by an alternating electric field as a result of mechanical resonance. The elements of both types, called inchworm and ultrasonic motor respectively, differ considerably in driving principle, though they are very similar in appearance. In addition, a third type known as photostrictive actuator has been developed. This type is designed to be driven by irradiated light.
Shape Control of Flexible Structure With Gravitational Compensation
Authors: Fukuda Toshio ,   Dept. of Mechanical Engineering, Nagoya University Furocho, Chikusa-ku, Nagoya, 464-01 Japan, Hosokai Hidemi ,   Dept. of Mechanical Engineering, The Science University of Tokyo, 1-3 Kagura-zaka, Shinjuku-ku, Tokyo 162, Japan
Published: April 2016

In this paper a method is proposed for shape control of large scale flexible structures, such as lenses in large telescopes, antennae and others. As large flexible structures are distorted due to gravitational force when inclined, some kind of shape control is needed to keep the prescribed shape. Some simulated results are shown for inclined angles of a beam using a continuous model. Also given are the results of applying the static repeating control algorithm to a flexible experimental model.
Development of Mastication Robot WJ-1
Authors: Takanishi Atsuo ,   Mechanical Engineering, School of Science & Engineering, Waseda University, 3-41 Okubo, Shinjuku-ku, Tokyo 169, Japan
Published: April 2016

The purpose of this study was to establish a dynamic, quantitative engineering model for the mandible movement in man's mastication by reproducing this movement by using a mechanical model and to define the mandible movement controlling mechanism from the viewpoint of engineering. To realize this purpose, WJ (Waseda Jaw)1, a 1 degree of freedom mastication robot, was developed. The following is a description of the mastication robot WJ-1 with reference to man's actual mandible movement.
Application of the Three Dimensional Coordinate Measuring Machine (CAD/CAM for the New Cosmetic Hand)
Authors: Saito Yukio ,   Faculty of Science and Technology, Tokyo Denki University, Hatoyama, Hiki, Saitama 350-03, Japan, Higashihara Takanori , Oshima Torn , Tajima Takamitu ,   Tokyo Metropolitan Prosthetic and Orthotic Research Institute, 3-17-3 Toyama, Shinjuku 162, Japan
Published: April 2016

The purpose of this research was to develop a CAD/ CAM system for soft objects such as the human hand. In this article are described the various steps in this process, including digitization of the shape by automatic measurement of the object shape processing such as shape interpolation and correction, additional shape processing, motion simulation for the digitized soft model, and reproduction of the shape as a positive model. As an example, we established a method for making a new cosmetic hand that could meet the necessary requirements of shape and functionality. For the shape, we measured the natural hand of a disabled person automatically with a three-dimensional coordinate measuring machine, performed data processing, and produced a positive model for the cosmetic hand. For functionality, we simulated the change of surface shape caused by finger motion using the shape of the measured hand, and then developed the inside mechanism of the cosmetic hand. This article describes the system developed for application to the cosmetic hand.
Numerical Simulation of Horizontal Articulated Robots in Consideration of Flexibility of Mechanical Systems
Authors: Kojima Hiroyuki ,   Faculty of Engineering, Gunma University, 1-5-1, Tenjin, Kiryu-shi, Gunma 376, Japan, Takahashi Hiroshi , Kuwana Hideharu ,   Oki Electric Industry Co., Ltd., 1-7-12, Toranomon, Minato-ku, Tokyo 105, Japan
Published: April 2016

In this report, the numerical simulation of a horizontal articulated robot consisting of two horizontal rotating links and a vertical linear link is presented. In the numerical simulation, the pendulum vibrations of the vertical linear link, in the plane perpendicular to the second horizontal rotating link, are considered. Then, in the derivation of the state equation of the robot, the equation of motion of the mechanical system is derived in consideration of the flexibility and viscosity of the coupling mechanism between the second horizontal rotating link and the vertical linear link as well as the nonlinear flexibility of the harmonic drives, and the nonlinear state equation of the robot is obtained by coupling the equation of motion with the electric current equation of the servo position control system based on the proportional plus integral plus derivative control. Furthermore, the numerical simulation results are demonstrated, and the effects of the pendulum vibration of the vertical linear link on the dynamic characteristics of the robot and the control accuracy are investigated.
High-Speed Adaptive Control of a Robot Manipulator
Authors: Okada Yohji ,   Dept. of Mechanical Eng. Ibaraki Univ., Hitachi, Japan 316, Suzuki Eiichi , Matsuda Kenichi ,   Engineer, Shizuoka NEC Co.,   Research Assistant, Dept. of Mechanical Eng. Ibaraki Univ.
Published: April 2016

One of the biggest problems of realizing fast motion of a robot manipulator is its dynamic reflection. The driving torque calculated from the mathematical model compensates well for this reflection, but the dynamic property changes according to the clamped load and arm position. This paper introduces a high-speed adaptive control technique using identification. First, the manipulator is controlled only by a planned trajectory. A time series identification is then applied to estimate the robot dynamics. The inverse transfer function is used to calculate the actuating signal which produces the highspeed motion of the next cycle. The proposed technique is applied to 3-dimensional positioning of a multijoint manipulator.
Algorithm for Automatic Generation of Boundary Lines
Authors: Nagae Sadahiko ,   Professor, Arts and Cultural Studies, School of Literature, Kinki University, 3-41, Kowakae, Osaka 577, Japan, Ohta Chiaki ,   Part-time instructor, Temma Campus, Branch School in Japan, Philips University, 2-21, Nishiki-cho, Kita-ku, Osaka Japan
Published: April 2016

It may be supposed that the development of an algorithm capable of automatically generating boundary lines among parts for designing IC diagrams and automatic recognition of intervals among parts as well as mapping is widely desired in different industrial sectors. The most basic, effective solution conceivable will be image analysis using an ITV camera. The authors, however, tried to develop an algorithm capable of automatically generating boundary lines which would not interfere with one another using a great number of profiles comprising, in principle, polygons based on vector input data. It is not that this enables every boundary line between graphics to be automatically generated with good precision, but a result has been obtained which can appropriately be applied to roughly calculating the living space in a floor plan, and dividing structures for land use status drawing on a scale of about 1 to 2500. It can also be used for designing wiring drawings among parts. It is conceivable that the utilization of the results of this research will enable the algorithm to be used for graphic recognition by image processing. The following are the proposed problem, definitions, and a detailed description of the algorithm leading to a solution.
Tip Position Control of a Flexible Robot Arm Considering the Reduction Gear's Friction
Authors: Yoshida Yasuo ,   System Control Division, Government Industrial Research Institute, Shikoku, AIST, MITI 2-3-3, Hananomiya, Takamatsu 761, Japan, Tanaka Masato
Published: April 2016

The reduction gear's friction strongly affects the dynamic characteristics of a one-link flexible robot arm. Experiments of open loop response by motor torque were performed in two cases of large and small values of the reduction gear's friction, and compared with simulation. The reduction gear's friction has both viscous and Coulomb aspects and can be approximately treated as an equivalent viscous friction. However, tip position control was very difficult in the case of large friction with an equivalent viscous friction. Experiments indicated that tip position feedback control was possible by using a dither signal and linearizing the non-linear friction.
Adaptive Neural Network Controllers for Dynamics Systems
Authors: Yamada Takayuki ,   NTT Transmission Systems Laboratories Tokai, Ibaraki, 319-11, Japan, Yabuta Tetsuro
Published: April 2016

Many studies such as Kawato's work have been undertaken in order to apply both the flexibility and learning ability of neural networks to dynamic system controllers. However, their characteristics have not yet been completely clarified. On the other hand, many studies have established conventional control theories such as adaptive control. If we can clarify the relationship between neural network controllers and adaptive controllers, the two control algorithms will be developed considerably by making use of the advantages of each. Therefore, this paper proposes a neural network direct controller in order to construct an interface between neural network and conventional control theories. This paper also proposes an open loop type of controller in order to realize inverse dynamics using only the neural network. Analytical approaches prove the local stability of the proposed controllers. Simulated and experimental results verify their realization and confirm their characteristics. This paper also discusses the relationship between neural network controllers and adaptive controllers.
Motor Schema Model Learned by Structural Neural Networks
Authors: Tsuji Toshio ,   Faculty of Engineering, Hiroshima University, Higashi-Hiroshima-shi, 724 Japan, Ishida Yusuke , Ito Koji , Nagamachi Mitsuo , Nishino Tatsuo ,   Department of Industrial Engineering, Hiroshima Institute of Technology Hiroshima-shi, 731-51 Japan
Published: April 2016

Human beings remember plans concerning typical motions which occur frequently as schema, and by selecting suitable schema depending on conditions, generate muscular motion almost unconsciously. Though a motor schema represents typical motions, it is equipped with superior plan structure taking into consideration the concurrency and seriality of motions as seen in grasping actions and walking motions, and the structure of plans can be acquired by learning. In this paper, a study is made of the modeling of such motor schema with the use of neural networks. For this purpose, the neural network is structured beforehand into the part which generates action sequences in the form containing concurrency (concurrent action generation part) and the part which modifies the action sequences to satisfy constraints which cannot be executed concurrently (constraint representation part). After learning in each part model the neural network can generate motion sequences while taking into consideration the seriality and concurrency of motion by combining the parts at the time of execution. Finally, this model is applied to the formation of typewriting action motor schema, and it is demonsted that generates motion sequences which take into consideration the constraint of the motion system accompanying the execution of motion.
Force Control of Robot Manipulator by Neural Network Model - Experiment and Evaluation of One-Degree-of-Freedom Manipulator -
Authors: Tokita Masatoshi ,   Kisarazu National College of Technology, 2-11-1, Kiyomidaihigashi Kisarazu-shi, Chiba 292 Japan, Mitsuoka Toyokazu , Fukuda Toshio , Kurihara Takashi ,   School of Engineering, Nagoya University, 1, Furo-cho Chikusa-ku Nagoya 464-01, Japan,   IBM Japan, Ltd., 19-21, Nihonbashi hakozaki-cho, Chuo-ku 103, Japan
Published: April 2016

In this paper, a force control of a robotic manipulator based on a neural network model is proposed with consideration of the dynamics of both the force sensor and objects. This proposed system consists of the standard PID controller, the gains of which are augmented and adjusted depending on objects through a process of learning. The authors proposed a similar method previously for the force control of the robotic manipulator with consideration of dynamics of objects, but without consideration of dynamics of the force sensor, showing only simulation results. This paper shows the similar structure of the controller via the neural network model applicable to the cases with consideration of both effects and demonstrates that the proposed method shows the better performance than the conventional PID type of controller, yielding to the wider range of applications, consequently. Therefore, this method can be applied to the force/compliance control problems. The effects of the number of neurons and hidden layers of the neural network model are also discussed through the simulation and experimental results as well as the stability of the control system.
Neural Network Type Grasping Control for Robot Hand
Authors: Wada Mitsuo ,   Industrial Products Research Institute, 1-1-4, Higashi Tsukuba-shi Ibaraki 305, Japan, Endo Hiroshi
Published: April 2016

A neural network-type control method to grasp an object and apply force uniformly using multi-joint hand is presented. The controller has lateral inhibition-type parallel processing and autonomously folding toward decreasing the energy of grasping state.
Automatic Operation of a Mobile Robot Using an RCE Network
Authors: Kobayashi Hisato ,   Dept. of Electrical Engineering, College of Engineering, Hosei University, 3-7-2, Kajino-cho, Koganei-shi, Tokyo 184, Japan, Inagaki Katsuhiko
Published: April 2016

This article describes an example using a neural net as a method of mobile robot operation. The method eliminates the need for characteristic equations of a mobile robot, but requires an exercise to some extent using adequate ""patterns."" For accumulating experience of this practice, an RCE (restricted coulomb energy) network, or a pattern recognition-use neural network, is used. A simulation is conducted by driving a car into a garage. A man drives a car into a garage to create pattern data, which an RCE net is made to learn. After learning to some extent, it is allowed to put a car into a garage from an arbitrary initial point. The following are the descriptions of the results.
An Auxiliary Instrument for Automobiles Using Tactile Sense
Authors: Ide Hideto ,   Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku 157, Tokyo, Yarita Masaru ,   NIHON KODEN Corporation, 1-31-4 Nishi-Ochiai, Shinjuku-ku 161, Tokyo
Published: April 2016

Human beings depend mostly on visual sensory information to recognize their environment. There are many devices which provide vibration to the skin but a few use vibration for practical application. In this study, the vibration pattern is produced by a 16x6 array of small vibrator (PZT) reeds (50 Hz) and the entire array fits on the thumb. This apparatus can be used by the driver who can recognize the correct order of the characters from the motion of the vibrator points.
Control of Master-Slave Manipulator Based on Virtual Internal Model
Authors: Kosuge Kazuhiro ,   Faculty of Engineering, Nagoya University, Chikusa-ku, Nagoya, Japan, Furuta Katsuhisa , Shiote Yoshinori , Hatano Hiroshi ,   Faculty of Engineering, Tokyo Institute of Technology, Meguro-ku, Tokyo,   Production Engineering Center, Yamatake-Honeywell Co., Ltd., Fujisawa
Published: April 2016

This paper presents an alternative control architecture of master-slave manipulators using of Virtual Internal Model. The proposed control architecture realizes the master-slave manipulator system with functions which assist operators based on the external information from sensors as well as bilateral feedback. In this paper, the control problem of a master-slave manipulator is formulated as the realization problem of the desired relation between a master arm and a slave arm. The virtual internal model, whose input includes the external sensory information, is used to describe the desired relation. The control system is designed so that the master arm and the slave arm tracks the desired trajectories generated by the virtual internal model.The proposed control architecture is experimentally applied to the master-slave manipulator system with force sensors. The effectiveness of the control architecture is illustrated through experiments.
The Development of a Direct Drive Master Arm
Authors: Kotoku Tetsuo ,   Robotics Department, Mechanical Engineering Laboratory, Namiki Tsukuba-shi, Ibaraki 305, Japan, Hüsler Erhard J. , Tanie Kazuo , Fujikawa Akio
Published: April 2016

This paper deals with the development of a 4 degree of freedom direct drive master manipulator system which has the ability of virtually adjusting its mechanical impedance. In the field of bilateral master-slave manipulation, there are some important points to be considered when a master manipulator is designed. One point is related to how to measure the human operator’s arm motion with high accuracy (which the operator produces to teach the trajectory of tasks). Another point is how to design an effective force/torque generator to make an operator feel the constraint forces the slave arm will receive from the environments during tasks. To satisfy these requirements, a manipulator with a variable mechanical impedance structure and joints equipped with high resolution angular displacement sensors is expected to be developed. The use of the variable impedance structure provides a capability of reflecting the constraint forces to an operator not only statically, but also dynamically. This is effective to present the constraints to an operator with high fidelity. In the research, joint mechanisms and joint sensors suitable for the impedance control were discussed, while the mechanical structure of the master manipulator which is effective to construct a simple impedance control law was investigated. With these considerations in mind, a master manipulator was designed and its impedance control law was formulated. The features of the manufactured manipulator are summarized as follows; (1) each joint is driven by a direct drive torque motor with less friction and has a high resolution angular encoder attached to a processor which can provide joint angular displacement, angular velocity and angular acceleration. (2) the manipulator has the decoupled and configuration-invariant inertia structure in part which is effective to simplify impedance control law. In the paper, the design concept of the master manipulator is first discussed. Secondly, the details of the manufactured manipulator structure are explained. Finally, the results of the evaluation experiments are described and the fundamental characteristics of the system are confirmed.
Clean Room Actuators
Authors: Higuchi Toshiro ,   Institute of Industrial Science, University of Tokyo, 22-1 Roppongi 7-chome Minatoku Tokyo Japan
Published: April 2016

Clean rooms are becoming indispensable for production of semiconductors or biotechnology related activities. Demand for a higher degree of cleanness is increasing. A need for the development of automatic machinery which does not generate dust is becoming increasingly strong. This paper is intended to present the current situation concerning actuators for clean rooms, including research conducted by the author.
Special Issue on Bioelectronics
Authors: Ide Hideto ,   Aoyama Gakuin University 6-16-1 Chitosedai, Setagaya-ku, Tokyo
Published: April 2016

Recent biological approaches in robotic research and development have been advancing in two ways: 1) steady advances toward intelligent bio-systems by making sensors more integrated and functional, and 2) studies on the coordination of bio-information from various sources. For the coordination of bio-information dealt with in this special issue, its necessity was originally discussed in the area of mobile robots. For a mobile robot performing tasks autonomously, recognition of its relation with the external environment is essential. The concept perhaps came up as robotics aimed to improve robots' toughness to changing and unknown environments, by coordinating information from several sense organs (visual, tactile etc.) to obtain more accurate information. Man constructs a recognition system more reliably as a whole by coordinating various sets of sensory information. Attempts are also being made to con struct a new bio-information coordinating architecture aimed at achieving functions equivalent to those of human recognition. This special'issue was planned to present recent research and development as well as problems and trends in bio-information. This area of study is still in its infancy, with no study frameworks and methodology having been established in its short history. In contrast to other past special issues, this one stresses biological approaches, and I hope it will be helpful in developing the specific area of study mentioned here while helping robotists recognize current studies and problems. Finally, I express my sincere thanks to those who spared time to contribute to this issue, and to the editorial staff of the journal.
Proving the Carry-over Effect of Slow-Wave Sleep by Mathematical Models
Authors: Kobayashi Toshinori ,   Psychiatric Research Institute of Tokyo, Tsuji Yoichi , Iguchi Yoshinobu
Published: April 2016

In order to study the psychophysiological function of ""slow wave sleep (SWS), we are trying to identify the control mechanism of SWS. It is well known that the amount of SWS found in a sleep episode depends upon the length of wakefulness prior to the sleep episode. But Karakan et al. (1970) and Miyashita et al (1978) reported that SWS of a sleep episode was also influenced by SWS of the preceding sleep episode. So, we examined the hypothesis that SWS of a sleep episode depended not only on prior wakefulness to the sleep episode but also on SWS of the preceding sleep episode by the use of mathematical models and the experiment. Two models were prepared to examine the hypothesis: one is MODEL (CO), in which SWS of a sleep episode depends upon both prior wakefulness and SWS carried over from the preceding sleep episode, the other is MODEL (nCO), in which SWS of a sleep episode depends on only prior wakefulness to the sleep episode. Four pairs of night sleep and dayti,me naps were recorded in the experiment for eight healthy university students (aged 18 to 25) as follows: (1) Morning nap (0900-1300) was recorded after the mid night sleep (23000300) or early morning sleep (0300-0700), and (2) evening nap (1700-2100) after mid night sleep or early morning sleep. We compared SWS of night sleep and daytime naps estimated by two models with those obtained by the experiment. There was close agreement between SWS estimated by MODEL (CO) and that obtained by the experiment. This result indicates that there is carry over of SWS from night sleep to daytime nap. So, SWS of a sleep episode depends on both prior wakefulness to the sleep episode and SWS carried over from the preceding sleep episode. SWS is accumulated in proportion to the length of wakefulness prior to a sleep episode during waking and is released according to sleep progression during sleep. When SWS is relatively large compared with the length of sleep episode, all SWS is not completely released in the sleep episode. A part of SWS remains in the brain. The remainder of SWS is carried over to the following sleep episode. When SWS is considered as an index of a kind of fatigue in the brain, it is accumulated during waking and is restored during sleep. When the fatigue is not fully restored in a sleep episode, it carries over into the following sleep episode.
Symbol Encoding Method of Time Series Data and Markov Model
Authors: Katayama Takafumi ,   Dept. of Electronic Engineering, Kogakuin Univ., Suzuki Eiji , Saito Masao ,   Institute of Medical Electronics, Univ. of Tokyo
Published: April 2016

A symbol encoding method is proposed for the purpose of data classification. The parameters of a sample are obtained by linear prediction analysis. Log likelihood ratios are computed between the parameters of a sample and several templates. A sample is classified to the template distance, and then the parameters of the template is modified. A symbol (e.g. an alphabetic character) is assigned to each template. The whole time series data are encoded into the stream of symbols. A Markov model which produced the same symbol series is constructed. A model parameter is represented as a structure of the time series data.
Automatic 3D Measurement System by the Grid Illumination Type Moire Method
Authors: Arai Yasuhiko ,   Department of Mechanical Engineering, Faculty of Engineering, Kansai University, 3-3-35, Yamate-cho, Suita, Osaka 564, Japan, Yokozeki Shunsuke , Yamada Tomoharu ,   Department of Mechanical System Engineering, Faculty of Computer Science and System Engineering, Kyushu Institute of Technology, 680-4, Kawazu, lizuka, Fukuoka 820, Japan
Published: April 2016

This paper describes an installation of the fringe scanning method into a shadow-type Moire Topography. The result is a high-precision three-dimensional measuring system and automatic fringe order measuring system using a liquid crystal plate. A description of this fullyautomatic measuring system, which does not require the user to have knowledge of measuring instruments, is also provided. This system was constructed by achieving the automation of Moire topography, which is regarded as difficult due to problems concerning the linkage of independent processes. The validity of the system is illustrated by experimental results for spheres and for planes with a difference in level.
Optimum Design Method for Sub-Reed of an Ultrasonic Motor
Authors: Aoyagi Seiji ,   Faculty of Engineering, Kanazawa University, 2-40-20, Kotateno, Kanazawa, Ishikawa 920, Japan, Kamiya Yoshitugu , Okabe Sakiichi
Published: April 2016

In order to increase the rotational speed of an ultrasonic motor using a flexural traveling wave, slits made on the surface of the stator are very effective. In this paper the projections made by the slits are called ""sub-reeds"" for convenience. Though the sub-reeds play important roles in an ultrasonic motor, their dimensions are generally decided through trial and error. This paper presents the optimum design method of a sub-reed by using elastic vibration analysis. This method calculates the dimensions of the sub-reed of which resonant frequency is same as that of the basic disc. This paper also shows that the resonance of the sub-reed mainly causes the magnification of the amplitude by using finite element analysis. The optimum design method and the mechanism of the magnification mentioned above are confirmed by experiments.
A Vertical X-ray Stepper for SOR Lithography
Authors: Ishihara Sunao ,   LSI Laboratory, Nippon Telegram and Telephone Corporation, 3-1 Morinosato-Wakamiya, Atsugi-shi, Kanagawa 243-01, Japan, Une Atsunobu , Kanai Munenori , Suzuki Masanori , Fukuda Makoto , Omata Fujio
Published: April 2016

A vertical x-ray stepper for SOR lithography has been developed. The stepper exposes wafers in a normal atmosphere to vertically-scanned SOR with continuous alignment control during exposure. The key devices of the stepper are a vertical X-Y stage and an opticalheterodyne alignment system. The X-Y stage uses airlubricated components, including air bearing lead screws, linear sliders and radial/thrust bearings. The optical-heterodyne alignment system detects the displacement between the mask and wafer gratings with precision of 8.3nm. Several exposure experiments proved that the alignment capability is better than ±0.1μm for a 3σ-value.
Active Control for Whirling Motion of Flexible Rotor
Authors: Ishimatsu Takakazu ,   Nagasaki University, 1-14, Bunkyou Machi, Nagasaki 852, Japan, Shimomachi Takashi , Taguchi Nobuyoshi ,   Technology Center of Nagasaki, 2-1303-8, Ikeda, Oomura, Nagasaki 857, Japan
Published: April 2016

In a rotational machine, unbalance on the rotor is formidable since it causes resonance synchronized with the rotation of the rotor. In order to suppress this unfavorable vibration, we built an active vibration control system of flexible rotor using an electromagnetic damper. Our control system is composed of a digital controller to suppress the rotationally synchronized whirling motion and also a conventional analogue controller. Using our control system, whirling motion of the rotor under various rotating speeds was suppressed significantly.
Calculation Model-Based Machine Design System and Application to Robot Programming
Authors: Nagasawa Isao ,   Department of Machine System, Faculty of Engineering, Kyushu Institute of Technology, 680-4, Kawazu, Iizuka, Fukuoka 820, Japan, Aramaki Shigeto , Furukawa Yumiko ,   Department of Electrical Engineering, Faculty of Engineering, Kyushu Kinki University, 11-6, Kayanomori, Iizuka, Fukuoka 820 Japan,   Fukuoka Junior Colledge of Technology Wagirohigashi, Higashi-ku, Fukuoka 820, Japan
Published: April 2016

In the design of architecture, machinery, and electronic circuits, many materials and equations have been prepared and utilized for each part involved and for each design requirement. We generally regard knowledge, such as a design formula, as restrained conditional knowledge and develop a system to find solutions by the reduction method. The system is capable of handling values and numerical equations, retrieval of design material, and searching for solutions, making it effective for programming design calculation. Therefore, the system is superior to conventional design systems written in FORTRAN. The system has the following features: (1) The user can provide knowledge and specification to the design system in the form of constraints and can search for a solution with the aid of the system. This enables a multi-purpose system for design, design testing, and partial alteration of design. (2) Solution of constraints is performed using the reduction method to integrally perform different design calculations. (3) Design knowledge is controlled using object oriented programming and is modularized to a high degree for excellent availability, extendibility, and maintenance. In this paper, these features are illustrated through an example of design programming for a gear reducer. In addition, this paper shows that programming for machine design and robot operation can be described using the same language.
Impedance Regulation in Human Movements During a Rotation Task
Authors: Ito Koji ,   Faculty of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-hiroshima-shi, Hiroshima 724, Japan, Tsuji Toshio , Sugino Minoru
Published: April 2016

In this paper, we discuss how the human subject controls the hand position and force depending upon the task objects and what roles the arm redundancy and muscle impedance regulation play in rotation. From the measurement of the hand force and arm posture in the execution of crank rotations, it was found that the subject made wrist joint impedance large and generated hand force in the both directions normal and tangential to the crank rotation. Impedance analysis demonstrated that the high impedance of the wrist joint, realized by simultaneous activities of the flexor and extensor muscles, provided for the posture of redundant arm without limiting the hand manipulatability. It was also shown that the hand force in the outer and normal directions contributed to an increase in the robustness of the hand manipulation against external disturbances.
Robust Impedance Control for Robot Manipulator
Authors: Nishida Yoshiharu ,   Kobe Steel Ltd., 5-5, Takatsukadai 1-chome, Nishi-ku, Kobe 673-02, Japan, Harada Takashi , Imamura Nobuaki , Kimura Nobuo
Published: April 2016

In most robust impedance control methods, error factors such as disturbances and modeling errors in the joint space are dealt with. However, the dynamics for an end effector of the manipulator in the Cartesian space is more important than that of the manipulator in the joint space. In this paper, error factors are described in the Cartesian space, and the influence of these factors on the dynamics of the end-effector are considered. A robust controller is designed using either feedback of impedance error or a disturbance observer based on the Cartesian space, and its effectiveness is confirmed through experimental results.
Cooperative Compliant Motion Control of Writ and Arm
Authors: Kawase Kei ,   IBM JAPAN Ltd., Tokyo Research Laboratory Dai 36 Kouwa Bldg., 5-19 Sanbancho, Chiyoda-ku, Tokyo 102, Japan, Ishikawa Hiroshi , Sawada Chihiro , Takata Masayuki
Published: April 2016

This paper describe a method for high-speed compliance control by cooperation between an arm and a wrist body. To realize high-speed compliance control, it is necessary to reduce the endpoint inertia. The proposed method alleviates this problem by physically reducing the endpoint inertia, introducing a discreet wrist body, which is set up at the end of the arm, and by cooperative control between them. The wrist can generate a highspeed compliance because of its low inertia. However, the wrist's range of motion is restricted within a small range. We developed a method to solve this problem. The wrist can generate a desired compliance, and the arm expands the wrist's range of motion. Consequently, the wrist-and-arm system can achieve compliant motion beyond the wrist's range of motion with multi degrees of freedom. We analyzed the behavior of the proposed wrist-and-arm system and compared it with the conventional method using force sensor feedback. This control method is implemented in a prototype system. We had experiments to evaluate our method by touching the cyclic displacement. We confirm the effectiveness of the cooperative control method by the results. They showed that our cooperative control method can expand wrist's range of motion.