bluuebunny/crossref_metadata_2025 huggingface dataset:
A Study on a 3-Dimensional Expert Vision System Using the Fiber Grating Method (The Neural Network Applications for Recognition of Plant Pipeline Direction)
Authors: Fukuda Toshio ,   Faculty of Engineering, Nagoya University, I Furo-cho, Chigusa-ku, Nagoya 464, Japan, Hosokai Hidemi , Arai Fumihito , Mogi Shusuke ,   Faculty of Engineering, Science University of Tokyo, 1-3, Kagurasaka, Shinjyuku-ku, Tokyo 162, Japan
Published: April 2016

This paper describes a recognition method for plant pipeline direction, the rotational angle in the vertical plane and in depth. A neural network is applied using the vision method for the plant maintenance robot. For this purpose, a fiber grating method has been employed. The fiber grating is made of optical fiber through which laser beams form discrete dot patterns without any mechanical scanning method. Thus, the proposed method has the advantage of a shorter processing time compared to that of other methods. Although the proposed method does not provide a fine analysis of image data like the common scene analysis, it is suitable for obtaining rough information from the operating environment of robots. Experimental results are included to verify the proposed method.
A Direction Sensing Technique of a Reference Point by Using Cross-Hair Diffraction Beam
Authors: Ito Masafumi ,   Faculty of Engineering, Nagoya University, Furocho, Chigusa-ku, Nagoya 464, Japan, Hane Kazuhiro , Matsuda Fumio , Uchikawa Yoshiki , Hattori Shuzou ,   Gifu National College of Technology, Motosu-gun, Gifu 501-04, Japan,   Nagoya Industrial Science Research Institute, Tenpaku-ku, Nagoya 468, Japan
Published: April 2016

We describe a technique for measuring the direction of a reference point easily and accurately. In the method, cross-hair diffraction beam, corner cube and an XYscanner driven by piezo stacks are used. The accuracy for angular detection was about 10p rad.
Special Issue on Mechatronics
Authors: Kawasaki Haruhisa ,   Professor, Kanazawa Institute of Technology 7-1, Ohgigaoka, Nonoich, Kanazawa-South, Ishikawa 921, Japan
Published: April 2016

Mechatronics is a term created to represent the total technology of mechanisms and electronics. Mechanical engineering dealing with mechanisms has a very long history. Its recent organic combination with electronics has certainly brought about a striking advance in the functions and performance of machines. This striking advance lay in the background of the creation of the new term “mechatronics”. The initiation of mechatronics was no doubt due to the advent of NC machine tools. NC machine tools were accomplished by fusing mechanisms with servo unit drives and computer techniques. The technique using them was somewhat innovative in that servo units were driven by digital computer signals. Mechatronics is considered as essential to develop peripheral machines for computers such as plotters, printers and magnetic memories, and as an application to wire bonding machines and X-ray exposing machines in semiconductor manufacturing processes. For such machines, increasingly higher speed and accuracy are likely to be required, and engineering developments are actively underway accordingly. This special issue was planned to present the current status and recent trends of mechatronic research arid development in Japan. The contents can be classified into three categories. First, bearings and actuators as basic mechatronic elements are featured. For bearings, trends of research and development on magnetic types which permit ultrahigh-speed rotation and operation in vacuum in particular were chosen. For actuators, recent examples of research and development on ultrasonic motors, linear motors and piezoelectric actuators were selected. Second, this issue presents examples of development in the area of X-ray steppers, memory medium handling systems, and polygonal scanners. These are frontier mechatronic systems and the descriptions will be of some help in recognizing future problems in development. Finally, some studies from the point of view of force-torque control were selected. While conventional mechatronic control studies are primarily concerned with position and speed control, force-torque control is expected to become an important trend. I hope that this special issue will be helpful in recognizing the current situation and future trends of mechatronics, and contribute to future developments in this area.
Harmonic Drive with a Built-in Torque Sensor and Its Application to Torque Control
Authors: Hashimoto Minoru ,   Faculty of Engineering, Kagoshima University, Hirabayashi Hideki , Kiyosawa Toshihide ,   Harmonic Drive System Inc.
Published: April 2016

In this paper, first a method of torque measurement using elasticity contained in harmonic drive system is outlined. This method of torque measurement does not require changing the structure of the driving system nor inserting a new elastic body for torque measurement. Here, a configuration method of strain gauge for measuring the true torque based on the finite-element method analysis of the flexspline, an elastic clement in the harmonic drive, is proposed. Then, the properties of this torque sensor are experimentally verified. Finally, as a case of application, non-linear friction attributable to the harmonic drive is compensated by torque control using the torque sensor mentioned here, showing an improvement in performance of motion control.
Ultra-Precision Linear Motor Positioning Technique
Authors: Suematsu Masanori ,   Research Laboratory, Yaskawa Electric Corporation.,2-1, Shiroishi, Kurosaki Yahata-Nishi-Ku, Kitakyushu-shi, Japan, Fujii Takao , Kawahara Atsushi , Tanimoto Tomoaki , Matsumoto Toshio , Watanabe Hideaki ,   Robot Division, Yaskawa Electric Corporation
Published: April 2016

This paper introduces an ultra-precision linear motor positioning technique. In order to realize a compact positioning movement without dual structure consisting coarse and fine positionings, higher accuracy air slider studies are conducted on a completely frictionless support mechanism using a linear motor and an externally pressurized air bearing. Results are as follows: (1) Temperature rise of 03°C, table displacement of 0.16μm and guide warp of 0.03μm are achieved by slider guide with adiabatic structure. (2) To reduce cogging force and normal force, coreless and slotless motor is developed. Thrust ripple has reduced to less than 2 % of the rated thrust. (3) Maximum pulse velocity of 10 Mpps, acceleration of 3M/S2, 0.2 sec for 15mm stroke are achieved. (4) Software servo system using DSP is adopted, positioning accuracy of 10nm are achieved without fine positioning.
Disturbance Compensation Control in Media-Handling System
Authors: Yamada Ichiro ,   NTT Interdisciplinary Research Laboratories, 3-9-11, Midori-cho, Musashino-shi, Tokyo 180, Japan, Kaneko Kazumasa , Takayanagi Makoto
Published: April 2016

Mass storage systems (MSS) equipped with automatic media-handling mechanisms have become widely used in the field of information processing, and higher speed of media handling is desired. This paper investigates faster media handling achieved by using an observer to compensate for disturbances such as solid friction and inertia variations. First, two disturbance observers are introduced in the handling mechanisms. One is an adaptive observer of nonlinear characteristics of solid friction. The other is a constant disturbance observer. These observers can estimate solid friction as well as state variables such as velocity. In addition, by using these disturbance observers to estimate the state and to test the positioning control of a media-handling mechanism, the effectiveness of the observers is confirmed. It is also shown that a disturbance observer can be used to compensate for inertia variations.
Knowledge Based Robot Programming
Authors: Aramaki Shigeto ,   Department of Electrical Engineering, Faculty of Engineering in Kyushu Kinki University, 11-6, Kayanomori, lizuka, Fukuoka 820, Japan
Published: April 2016

The paper describes that development of task instruction in the form of natural language to task procedure for robots can be easily made by description of procedure for functions and roles peculiar to parts that we have as image in the object as knowledge by installation of object oriented concept into assemble task programming.
Special Issue on Force and Compliance Control
Authors: Tanie Kazuo ,   Bio-Robotics Division, Robotics Department, Mechanical Engineering Laboratory, AIST- MITI, 1-2 Namiki, Tsukuba, Ibaraki 305, Japan
Published: April 2016

When robots perform tasks in which constraint forces are applied to the end effector from the environment, the interactive forces must be controlled. Considering this problem, in robotics, force control has been recognized as one of the most important research topics since the beginning of robotics research. In order to control forces dexterously, several studies have been conducted concerning sensors, actuators, and control algorithms. Currently, compliance and impedance control is a newly identified topic in force control. In the biological analysis of human behavior, it is well known that man adjusts the impedance of skeletal muscles according to the kind of task and can perform them dexterously. A compliance/impedance control technique has been proposed in order to realize such a function in robot motion. The feature of compliance/impedance control is control of the interacting forces not directly but through adjustment of compliance/impedance parameters of the system. This control structure provides several benefits to enable robots perform to complex tasks dexterously; however, there are still a lot of problems to be solved before it can be put to practical use. This Special Issue provides an overview of recent research activities concerning force control technology in robotics with an emphasis on compliance and impedance control. The papers compiled in this issue include various topics of force control, such as compliant motion control, biological aspects of compliance control and this force control using different kinds of actuators. I believe that the contents of this issue contains useful information for researchers and engineers with interests in this area. Finally, I would like to express my appreciation to the authors for their efforts and contributions to this issue and also to the members of the editorial staff for their skillful assistance.
Stable Control of Multi-link Manipulator Using Collision Phenomena
Authors: Shoji Yasumasa ,   Applied Technology Department, Toyo Engineering Corporation, 2-8-1 Akanehama, Narashino-shi, Chiba 275, Japan, Inaba Makoto , Fukuda Toshio , Hosokai Hidemi ,   Mechanical Engineering Department, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan,   Mechanical Engineering Department Science University of Tokyo, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162, Japan
Published: April 2016

In this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a multi-link manipulator system, which is positioned on a flexible wall, with collision phenomenon. The stability and response of the system are examined by parameter studies of numerical simulation. Because industrial demands for rapid motion of robotics have been increasing in order to achieve higher efficiency, collision has become a problem because every task involves contact when a manipulator interacts with an object. However, few research has been initiated to overcome this problem. In this paper, we employ a Hertz-type model which includes an energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we have verified the stabilization effect of collision by the Lyapunov method. The effect has been confirmed by simulation. As a result, stable positioning of the manipulator on a flexible wall is assured, and the use of collision is sometimes effective to control the manipulator to performs tasks with rapid contact.
Design and Analysis of Control Software in Virtual Reality Environment
Authors: Amari Haruo ,   Computer & Communication Research Center, Tokyo Electric Power Company, 1-4-10 Irifune, Chuo-ku, Tokyo 104, Japan, Myoi Takeshi , Koike Hideki , Hirose Michitaka , Ishii Takemochi ,   Faculty of Engineering, University of Tokyo, 3-1 Hongo 6-chome, Bunkyo-ku, Tokyo 113 Japan,   Faculty of Environmental Information, Keio University, 5322 Endo, Fujisawa-shi Kanagawa 252, Japan
Published: April 2016

This paper introduces a new method for the design & analysis of control software. We constructed a software designing environment utilizing virtual reality. It includes a human-machine interface for interactive operation, sound effects and wide range stereo optics working space for representation of huge numbers of nodes and complex information flows. In this paper, configuration of the environment, the method of design, analysis and software representation, and efficiency of this method are described.
Generation of Locomotive Patterns and Self-Organization
Authors: Yuasa Hideo ,   Nagoya University, Faculty of Engineering, 1 Furo-cho, Chikusa-ku, Nagoya, 464-01 Japan, Ito Masami
Published: April 2016

Rhythmic movements of walking, swimming, etc. are controlled by mutually coupled endogenous neural oscillators. These rhythms coordinate one another to generate temporal and spatial moving patterns suitable for their environments and purposes. For example, a cat moves faster, the gait patterns change from “walk” to “trot”, and lastly to “gallop”. This moving pattern generator system can be regarded as one of the autonomous distributed systems which generates global patterns suitable for their environments and purposes. Using the bifurcation theory, it is possible to construct a system that suitably changes patterns discontinuously when a parameter changes continuously. This synthesis approach is applied to make a gait pattern generator system of a quadruped artificially. A gait pattern generator is constructed to couple four oscillators in which each oscillating state is regarded as each limb’s rhythmic motion. It is shown using computer simulations that the proposed system generates and changes patterns suitable for its moving speed; i.e. “walk”, “trot” and “gallop”.
Development of Game-Robot
Authors: Yoda Mitsumasa ,   The Institute of Vocational Education, Rehabilitation Engineering, 4-1-1 Hashimotodai, Sagamihara, Kanagawa 229, Japan, Shiota Yasuhito
Published: April 2016

Currently, it is hoped that a robot, which can work together with humans or directly for humans, will be developed because of changing societal needs. Therefore, a robot environment as a human peripheral is necessary. Some of its functions must provide intimacy with humans. The main purpose of this study was to develop a robot to work with humans with the task of playing a game. We developed the robot that plays a game with a human; the robot is called GAME-ROBOT and is a human-intimate robot. Under the development conditions of, (1) human intimate robot, (2) use of existing game articles, and (3) elimination of noise and vibrations, we constructed the system of GAME-ROBOT. Its configuration includes image processing, robot mechanisms operated in space, and main processing with game process routine. After the initial development of GAMEROBOT was able to play a game with human without problems of item in the processing system.
Human-Friendly Operating System for Hyper-Environments
Authors: Mitsuishi Mamoru ,   Department of Engineering Synthesis, Faculty of Engineering, The University of Tokyo, 3-1, Hongo 7-chome, Bunkyo-ku, Tokyo 113, Japan, Warisawa Shin’ichi , Hatamura Yotaro , Nagao Takaaki , Kramer Bruce ,   Department of Civil, Mechanical and Environmental Engineering, The George Washington University Washington D.C., 20052, U.S.A.
Published: April 2016

This paper describes a manufacturing system that allows the natural manipulation of tools of production and raw material in environments which cannot be accessed directly by normal human senses. Examples of such environments may be remote locations, the micrometer world or outer space. In the context of the paper, the term “hyper-environment” connotes such an environment. The paper discusses the functions which are necessary to realize the system, the software and hardware which are employed in the system and the “reality communication” techniques which are needed to allow the remote human operator to effectively monitor the manufacturing operation. A focus of the paper is a technique for transforming cutting force information into auditory information that allows the operator to determine the cutting conditions. Furthermore, a technique which was employed for judging the machining state from force data, which significantly reduces the amount of data which must be communicated to determine the cutting state, is discussed. Tests in which a machining center in Tokyo was controlled by teleoperators in Washington are described.
Ultrasonic Measurement and Control of Microrobotic Drug Delivery System
Authors: Ishihara Ken ,   Clinical Research Institute, Osaka National Hospital,  2-1-14, Hoenzaka, Chuo-ku, Osaka 540, Japan, Furukawa Toshiyuki
Published: April 2016

We attempt a microrobotic drug delivery system (DDS) in which drug carriers of air-filled microcapsules are recognized with echography and are controlled using resonant ultrasound. We have confirmed the physical possibility of resonance design for drug carriers depending on the shell structure of the microcapsule. In addition, we have developed a novel echographic imaging system to locate microrobots precisely. Path lines of microrobots in blood flow could be clearly visualized.
3-D Illusory Phenomena with Binocular Viewing and Computer Vision
Authors: Idesawa Masanori ,   Information Science Laboratory, (RIKEN: The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351, Japan
Published: April 2016

The human visual system can perceive 3-D information of an object by using disparity between two eyes, gradient of illumination (shading), occlusion, textures and their perspective and so on. Consequently, the disparity and the occlusion observed with binocular viewing seems to be the most important cues to get 3-D information. For the artificial realization of the visual function such as in computer vision or robot vision system, it seems to be a clever way to learn from the human visual mechanism. Recently, the author found a new type of illusion. When the visual stimuli of disparity are given only partially along the contour of an object, human visual system can perceive the 3-D surface (not only plane but also curved) of the object where there are no physical visual stimuli to get depth information. The interactions between the perceived illusory surface (occlusion, intersection and transparency) can be recognized. These newly found illusory phenomena have close relations with the visual function of 3-D space perception and can provide a new paradigm in the field of computer vision and human interface.
Impedance Mapping Method and System for Blood Flow Measurement in Brain
Authors: Hieda Ichiro ,   Industrial Products Research Institute, 1-1-4 Higashi, Tsukuba, Ibaraki 305, Japan, Kuchinomachi Yasuo , Sato Sigeru , Kodama Hiroyuki
Published: April 2016

The authors have been engaged in the development of a brain blood flow mapping system based on the impedance technique which is more convenient and economical than the existing observation systems of blood flow in brain using radioisotopes or various types of CTs. This system is capable of non-invasive measurements and suitable for screening examinations of stroke in group examinations. A prototype system has recently been completed. This paper examines how sensitively changes in the resistivity of the internal tissue of a head affects voltage readings in impedance measurement, which results in the creation of grid-electrodes. The paper then introduces the prototype system, focusing mainly on the principle of impedance measurement using the new grid-electrodes and also on analysis of data.
A Study on Optical Piezo-Electric Actuator (Response Experiments by U.V. Beam and Photo Response Model)
Authors: Hattori Shinobu ,   Central R&D Laboratories, Nippon Densan Corporation, Tsutsumisotomachi, Nishikyogoku, Ukyo-ku, Kyoto 615, Japan, Fukuda Toshio , Nagamori Shigenobu ,   Faculty of Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan
Published: April 2016

In this paper, we propose a photo response model of the optical piezo-electro actuator, which reacts by light beam. Based on response experiments by U.V. beam, the response in this model is constituted with three effects: 1) photostrictive effect; 2) pyroelectro effect; 3) thermal deformation. Those effects are different in response magnitude and response time each other; influenced by the characteristics of the light beam. In consequence, it is possible that a photo response is controlled by changing characteristics of light beam. As a whole, results of the simulations of this model agree with those of the experiments.
About the Use of the Floating Frame in the Optimal Control of the Flexible Robot Arm
Authors: Bisiacco M. ,   Department of Electronics and Computer Science, University of Padova, 35100 Padova - Italy, Caracciolo R. , Giovagnoni M. ,   Department of Innovation in Mechanics and Management University of Padova, 35100 Padova - Italy,   Institute of Theoretical and Applied Mechanics University of Udine, 33100 Udine - Italy
Published: April 2016

The mathematical model of a single-link flexible manipulator is obtained by measuring transverse deflections in a rotating reference frame which is floating with respect to the link. The use of this particular frame, the rigidbody mode frame, enables one to obtain weakly coupled equations of motion. The size of the inertia coupling terms can be easily evaluated: these terms can be shown to be negligible thus leading to an essentially linear model. An example of optimal control of manipulator's tip position is numerically reproduced. The same controller is first applied to the mechanical model of the arm accounting for non-linear coupling and then to the linear model: the two responses are found to be very close to each other.
Special Issue on Planning and Intelligent Behavior
Authors: Hasegawa Tsutomu ,   ProfessorDepartment of Computer Science and Communication Engineering, Kyushu University6-10-1, Hakozaki, Higashi-ku, Fukuoka 812, Japan
Published: April 2016

A required function of intelligent robots is autonomous and quick execution of tasks which are difficult for conventional machines. In addition, the intention of human operators must be transmitted precisely and easily to the robots. A variety of R&D is underway in order to realize such requirements. This R&D falls into two categories: (1) R&D on intelligent functions applied for the preparation phase of task execution and (2) that applied for the real time task execution. Motion planning based on geometrical information is a typical function for the task preparation phase which has been studied for the past ten years. Thanks to the rapid progress in computing power, the analysis of real problems has progressed and has permitted the practical application of such planning. Thus, its application to operational use is not far off. R&D on a comprehensive system including the geometric environment modeling, motion planning, and real time task execution is also underway. Intelligent functions necessary for task execution must include a task execution mechanism and a control method which guarantee reliable task execution in the presence of unpredictable errors. The solution to this problem will be realized through the implementation of skillful manipulator motions which utilize various sensors and constraints being complied in the real world, most as key technologies. This special issue has compiled reviews and articles which focus on the above mentioned issues.
Dynamic Job-Shop Scheduling by Hopfield-Type Neural Network
Authors: Takatori Norihiko ,   Hokkaido College of Arts and Sciences, 582-1, Midori-machi, Bunkyou-dai, Ebetu, Hokkaido 069, Japan, Kakazu Yukinori ,   Faculty of Engineering, Hokkaido University, Kita-13, Nishi-8, Sapporo, Hokkaido 060, Japan
Published: April 2016

This paper deals with an approach to the dynamic jobshop scheduling problem. In this approach, the Hopfield-type neural network is introduced for solving the problem. The idea is based on the mapping between the scheduling problem and the neural network. That is, the energy function of the network is set for the problem so that a job assignment corresponds to the equilibrium of the network. The solution of the scheduling problem is obtained when the network is in equilibrium. In this paper, the method of constructing the energy function with due date and in-process inventory as criteria is described, and reasonable results of several numerical experiments are shown.
Vibration Suppressing Control of Flexible Rotary Crane Using Tip Position Sensor
Authors: Tanaka Yoshio ,   Government Industrial Research Institute, Shikoku 2-3-3 Hananomiya, Takamatsu 761, Japan, Yoshida Yasuo , Ueta Tetsushi , Kawakami Hiroshi ,   Faculty of Engineering, Tokushima University 2-1 Minami-Josanjima, Tokushima 770, Japan
Published: April 2016

For vibration suppressing control of flexible rotary cranes, two control methods by the use of a tip position sensor have been proposed. One is a control system that suppresses transient vibrations generated by the impact of switching of driving speeds when Bang-Bang control, open-loop anti-swing control, is completed. The other is a servo system to which vibration suppressing feedback is added. Experiments have confirmed that either system is remarkably effective in suppressing vibration.
A Consideration on a Dynamic Control Method for Quadruped Walking Robots
Authors: Furusho Junji ,   University of Electro-Conununications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan, Sano Akihito , Okajima Yosuke ,   Gifu University, 1-1, Yanagido, Gifu, Japan
Published: April 2016

There are many kinds of control methods for quadruped walking robots. In this paper, we deal with a walking control method in which the robot system can utilize the gravity effect very skillfully and the energy can thus be saved. Using computer simulation, we studied the walking control by this method from some aspects, such as the mean walking speed, the variation of the walking speed, and the stability. It is shown that the step width and the bending angle of the knee joints at the touchdown are important factors for walking controls.
Special Issue on Visual Inspection
Authors: Idesawa Masanori ,   ProfessorUniversity of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan
Published: April 2016

We acquire more than 60 percent of information from our activity environment through our visual sense. The visual sense allows us to collect information about an object from a position away from it without exerting any effects it such as constraining its motion. Visual information acquisition plays a very important role in the industrial field including visual appearance inspection and various other monitoring. A field called machine vision or computer vision has been formed, it is related to the artificial realization and application of the visual function and is now under aggressive study. Inspection using the visual sense, so-called visual inspection, is extremely important; and its automation has been studied for a long time. However, many problems remain to be solved; and in many cases, this operation must rely on human vision. In order to realize the visual function from an engineering point of view, there are many demands for the development of an image sensor that acquires visual information as image information, a method that processes and recognizes image information, and a method that integrates the observation control system allowing processed image information to be systematically organized and the operation to be checked. In consideration of long-term vision as stated above, this special issue provides a description of sensor technology for image information acquisition in the visual inspection process as well as the neural network processing method which is expected as a flexible method for image processing and recognition. For robot sensors, an active method is used to simplify the recognition process, which projects a special light on an object for measurement. This issue includes the topics covering the development of sensors, aiming at their downsizing and high performance. The human visual sense may function by two operating modes: the monitoring mode that senses an unusual situation appearing in the view field and the attention mode that provides detailed analysis of the situation in this area. The former is permitted to have a low detecting, accuracy, but it requires a wide detectable range. The latter is permitted to have a narrow sensing range, but it requires a high sensing accuracy. In other words, multi-resolution sensing operations are performed in the human visual sense. It is desirable for robot sensors to perform the multi-resolution operations that enable coarse sensing to be realized in a wide range and high-accuracy sensing in the attentive area. This issue also includes the development of these sensors. The appearance inspection of welded boats and the recognition of vehicle numbers have been put to practical use, and these topics are also described in this issue. In some cases, techniques visual information processing can make visible to us those that can not be seen by our visual system. This can be thought as an extension of the visual function and the level of sight is very interesting.
Multi-Resolution Image Position Sensing Characteristics of R-HPSD
Authors: Ding Huai-bong ,   The Institute of Physical and Chemical Research (RIKEN), 2-1, Hirosawa, Wako, Saitama 351, Japan, Idesawa Masanori ,   On Leave from Yunnan Institute of Technology, Kunming, Yunann, China
Published: April 2016

The authors have developed the Riken Hybrid Type Position Sensitive Device (R-HPSD), an analog and digital hybrid-type semiconductor image position sensitive device. The R-HPSD can improve the relative image position sensing resolution by tens of times, even with the use of ordinary electronics technology, without making sacrifices of simplicity and sensing speed in the conventional position sensitive device (PSD). It can also freely change the image position sensing resolution as needed by the selection of output terminals. It allows the realization of the multi-resolution sensing function that senses an image position, coarsely in a wide range or highly precisely in a narrow range, with a single sensor. Based on the principle of the R-HPSD, the authors measured the image position sensing characteristics of the one-dimensional R-HPSD prototype made for trial and experimentally confirmed the multi-resolution image position sensing operation. This multi-resolution image position sensing function is expected to be applied to various fields such as the automated system and robotics in CAD/CAM or FA as a new application. The R-HPSD can be effectively used as one of sensing devices to introduce the hierarchical operation pattern which is equivalent to the monitoring or attentive mode of the human being and is required for position sensing in the automated system, such as robots, or to implement intentional sensing.
Development and Motion Control of the All-Direction Steering-Type Mobile Robot (1st Report: Analyses and Experiments on Postural Stability and Ascent/Descent on a Slope)
Authors: Koshiyama Atsushi ,   Sony Corporation, 6-7-35, Kita-Shinagawa, Shinagawa, Tokyo 141, Japan, Yamafuji Kazuo ,   University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan
Published: April 2016

This paper describes the analyses and experiments on postural stability control and ascent/descent on a slope of a spherical shaped monocycle-type robot. Applying the postural stability control methods proposed here, we achieved stability control of the robot not only on flat planes but also on rough grounds even when unexpected disturbances were added. Also, a detection method for an unknown inclination angle of a slop was established by using an analytical equation derived from the robot's mechanisms and an angle compensation method. By virtue of the unknown angle detection method, the robot's ascent/descent of a slope with its arched body remaining upright was achieved. Furthermore, when we put a glass of water on the top of the robot's arched body, the robot can run without spilling any water from the glass. It has been confirmed by the experiments that the all-direction steering-type robot developed in this study has great capability as well as versatility for home and personal use.
Development and Motion Control of the All-Direction Steering-Type Mobile Robot (2nd Report: Principle, Control Methods and Experiments on Steering of the Robot)
Authors: Koshiyama Atsushi ,   Sony Corporation, 6-7-35, Kita-shinagawa, Shinagawa, Tokyo 141, Japan, Yamafuji Kazuo ,   University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan
Published: April 2016

This paper reports the principle, control methods and experimental results of the steering control of a spherically shaped, all-direction steering-type mobile robot developed in this study. By applying a spiral rotation method proposed here, we achieved the robot's rotational and steering controls. Angle detection mechanisms for the robot's posture and measuring methods are also detailed. By virtue of the one-point contact with the ground and the aforementioned rotation principle of rotations, the robot can perform unique rotational actions. Furthermore, we confirmed that the postural stability control of the arched body shown in the previous papers contributed to speeding up the rotation of the robot. The experimental results show that the cooperative controls of the arched body, the controlling arch and the wheel make the robot travel in all directions and adds to the maneuverability of the robot. Therefore, it is expected that the robot has great capabilities not only in service applications but also as an amusement robot for personal and other applications.
A Simplified TDT Sensor for Wire Driven Joint
Authors: Yoshinari Satoshi ,   Electronics Research Laboratory of Kobe Steel, Ltd., 1-5-5, Takatsukadai, Nishi-ku, Kobe, Hyougo 651-22, Japan, Imamura Nobuaki , Kaneko Makoto ,   Kyushu Institute of Technology, 680-4, Kawatsu, Iizuka, Fukuoka 820, Japan
Published: April 2016

A simple torque sensor for tendon-driven manipulators is proposed. The finger joint torque around a drive pulley is proportional to the.difference in tension between the two ends of the pulley. By using a coupling mechanism between tendons, this difference in tension can be measured directly, without sensing individual tendon tensions. The tension differential type torque (TDT) sensor is based on this idea and is useful for compensating friction existing in a transmission such as a manipulator. However, present TDT sensors require at least one tension pulley to support a driving tendon. This paper shows that it is able to design a TDT sensor without any tension pulley while its principle is maintained. A torque sensor installation on a movable link makes it possible to eliminate the tension pulley and downsize it.
Mechatronics Drive for Intelligent Wall Climbing Robot
Authors: Yamafuji K. ,   University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan, Gradetsky V , Rachkov M. , Semenov E. ,   Institute for Problems in Mechanics, Russian Academy of Sciences, 117526 Moscow, pr. Vernadskogo, 101, Russia
Published: April 2016

A new type of mechatronics drive is proposed for an intelligent wall climbing robot in order to satisfy strong load characteristics with velocity and force control on a large scale. The mechatronics drive consists of a pneumatics force piston-cylinder system, electromechanical subcontrol system, and electronic microprocessor control system. The power of mechatronics drive is achieved by means of a pneumatic force piston, and control is attained by internal and external feedback loops of the electromechanical system. The microprocessor system is intended for programming motion. The control moment transmitted from the electromechanical system to the self-braking worming mechanism and gears to the pneumatic piston. The sensory system measures the required parameters as position, pressure, and force. The pneumatic cylinder is mounted on the board of mobile robot. Data of the simulation and experimental investigation of the drive are presented. As the result of investigations, the drive realized the application for the intelligent wall climbing robot for the transportation the loads of more than 100kg on vertical surfaces.
Virtual Force Feedback Lessons, Challenges, Future Applications
Authors: Burdea Grigore C. ,   Department of Electrical and Computer Engineering, Langrana Noshir A. ,   Department of Mechanical and Aerospace Engineering Rutgers -The State University of New Jersey, CORE Bldg, CAIP Center, P.O. Box 1390, Piscataway, NJ, 08855-1390, U.S.A.
Published: April 2016

Virtual force feedback prototypes have been developed in the last couple of years. Their number of degrees of freedom and range of motion are limited by present (bulky) actuator technology. Lessons from these first prototypes point to possible solutions in the future. Several applications of virtual reality with force feedback are then described.
Development of Actuator Using Metal Hydride for Force Display to Elbow Joint
Authors: Shimizu Shunji ,   Research Institute for Electronic Science, Hokkaido University, Nishi-6, Kita-12, Kita-ku, Sapporo, Hokkaido 060, Japan, Ino Shuichi , Izumi Takashi , Takahashi Makoto , Ifukube Tohru
Published: April 2016

With the objective of developing the techniques of artificial reality sense and the tele-existence, this paper describes force display for presenting the sense of force to an elbow joint. The attempted to develop an actuator which is compact (20mmø), lightweight (300g), and has adequate compliance utilizing a metal hydride (MH). In addition, they tried to practically apply it to a force display. This actuator can raise a substance of 10kg up to a height of 50mm at a speed of 9mm/sec using a MH alloy of 6g, and its compliance characteristics have almost same trend as those of a man's elbow joint. The authors actually fitted this actuator to a man's elbow joint and confirmed that the actuator can present the force sense information with a realistic feeling.
A Musculo-skeletal Mechanism Simulating Human Forearm and Its Control Method
Authors: Endo Hiroshi ,   Industrial Products Research Institute, AIST, MIITI 1-1-4 Higashi, Tsukuba, Ibaraki 305, Japan, Wada Mitsuo
Published: April 2016

In the human muscular system, each muscle can regulate its compliance, all of the muscles act in opposition to each other, and certain muscles act on several joints. This mechanism serves for skillful human motions. To realize an improved manipulator, we implemented this mechanism into our manipulator which has a musculo-skeletal mechanism similar to a human forearm. The manipulator is driven by the tendon-driven system where the actions of the tendon-driven system are similar to those of the human muscular system. The manipulator has 2 D.O.F and is driven by three contending wires. In addition, the manipulator control method referring to the human muscular control system is investigated.
Sliding Characteristics in the Copper Contacts
Authors: Watanabe Yoshitada ,   Faculty of Engineering, Kogakuin University, 1-24-2 Nishi-Shinjuku, Shinjuku-ku, Tokyo 163-91, Japan
Published: April 2016

A low rotational frequency sliding tester which could measure electrical contact resistance and coefficient of friction simultaneously was trially fabricated. Relations between electrical contact resistance and coefficients of friction were investigated by making sliding test on clean copper and surface oxidized copper contacts respectively, which were used relatively frequently in industries. As far as the measurement work made this time, of which rotational frequency was low, was concerned, it was found that the heat generation due to mechanical friction was low and the heat generation due to Joule's heat in the case of sliding clean contact surfaces was also low because of low contact resistance. It was, however, found that CU²0, etc. were formed due to rapid progress of oxidation by the generation of Joule's heat at the contact surfaces, of which real contact areas were extremely small, being roughened along with the increase of the sliding frequency. On the other hand, it was further found that although the existence of oxides in advance at the sliding surface extremely lowered the coefficient of friction (0.07 for example) in which the oxidized film indicating contrarily (70mΩ for example). It was presumed that formations and destroys of oxidation film were repeated by flow of electric current at the contact spot to cause Fritting Phenomenon.
Special Issue on Precision Mechanism and Control
Authors: Kawasaki Haruhisa ,   Professor, Department of Mechanical Systems Engineering, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Kanazawa-South,Ishikawa, 921 Japan
Published: April 2016

Research institutions have been aggressively working on the following issues in the world of precision machines: micromechatronics, aiming at super downsizing of mechanisms; optomechatronics, aiming at the technological fusion among light, electrons, and machines; and control technology to implement the precise motion or task of a machine. This special issue introduces the recent research activities in these fields in Japan. Micromechatronics suddenly began to receive attention since invisible micro-machines were realized in the latter half of the 1980's. Initially, drawbacks were cited such as the available material limited only to silicon, the limitation to the planar structure, and no applications due to its small power. In recent years, these problems have been gradually overcome, and some applications can be viewed. Some articles in this issue introduce many examples to which micromechatronics is expected to be applied. Optomechatronics is a technology that aims at the fusion among optical, electronics, and mechanical technologies. It was originated early in 1980 and has been recently linked to micromechanism, attracting attention as the technology of integrating mechanism, light, and control. In particular, this issue contains the focusing mechanism for optical disc units, the actuator for microoptical heads, and the optical servo system. Control or mechanism technology plays an important role in the precision motion of machines. Even if this technology is common to precision machines, its problems must often be solved as topics specific to the system under the restrictions of whether or not sensors are present and of actuator performance. This issue discusses the table feed mechanism that is driven by the hydraulic motor for high-speed driving and the servo motor for precision driving, the servo motor driving system by cam curve entry to suppress residual vibration, and the paper feed mechanism by ultrasonic vibration. These approaches take the restrictions of the system into account and provide an effective means for solving actual problems. This issue will provide useful information to researchers and engineers who are interested in this field.
Study on High Speed Feed Drive System for Machine Tools -Improvement of PID Control Parameter-
Authors: Tateno Toshitake ,   Tokyo Metropolitan University, Minami Ohsawa 1-1, Hachiohji, Tokyo, 192-03 Japan, Nakazawa Hiromu ,   School of Science & Engineering, Waseda University, Ohkubo 3-4-1, Shinjuku-ku, Tokyo, 169 Japan
Published: April 2016

In order to realize feed rate of 20m/min for cutting operation of medium and large size machine tools, a new high speed and high accuracy feed drive system which has a servomotor and ballscrew combined with a hydraulic actuator has been developed. As stated in a previous paper this system can drive ten times faster than conventional rate with considerable accuracy. This paper describes a method for determining optimal PI control parameters of the electric servomotor and PD control parameters of the hydraulic actuator. In order to make the best use of the hydraulic actuator a new function which compares the force of electric servomotor with that of hydraulic actuator is proposed. The experimental results show that the controlling parameters determined by this method reduce motor power and the method is proved to be effective.
The Designing Principles and Methods of Mechatronics Device and Product System
Authors: Zhong-gan Zhu ,   University of Electronic Science and Technology of China Chendu, Sichuan, P.R. China, Kajitani Makoto ,   University of Electro-Communications 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan
Published: April 2016

The designing principles and methods of mechatronics have been expounded in some paper,1-3) which include, 1) the designing principles of device and product (i.e. D&P) system, 2) the designing principles of information flow, 3) the designing principles of establishing a unified physical model. This paper focuses on the designing principles and methods of mechatronic D&P system. There are four principles, 1) The function analysis of the D&P, 2) the realization of various functional blocks and determination of feasible designing plans, 3) comprehensive evaluation of various plans and optimization of designs, 4) the physical analysis and design of the D&P system.
Adjustable Compliant Motion of Ultrasonic Motor
Authors: Kato Atsuo ,   Department of Electronic Engineering, Aichi Institute of Technology, 1247 Yagusa-cho, Toyota, 470-03 Japan, Ito Koji , Ito Masami ,   Department of Information and Computer Sciences, Toyohashi University of Technology, Toyohashi, 441 Japan,   Department of Information Engineering, Nagoya University, Nagoya, 464-01 Japan
Published: April 2016

As actuators for a prosthetic arm, we used traveling wave ultrasonic motors. The arm must move in compliance with the environmental force around every joint of it as in the human arm. In order to realize the compliant arm, it is desired that the actuator have an adjustable compliance and damping characteristics without interaction force control. However, the traveling wave ultrasonic motors have no compliant characteristic in itself. Then, we developed an adjustable compliance and damping system. for the motor. The system was realized by a phase difference control loop of two-phase driving signals of the motor within the PD control loop of the shaft angle. This system acts much like an adjustable spring with an adjustable damper.
Powered Orthosis for Lower Limbs -Its Structure and Control-
Authors: Miyamoto Hiroyuki ,   Department of Computer Science, Chiba Institute of Technology, 2-17-1, Tsudanuma, Narashino-shi, Chiba-pref., 275 Japan
Published: April 2016

This paper describes a powered orthosis for lower limbs which restores the gait of locomotion of disabled persons, such as paraplegics, with its structure and control as well as its clinical experiments. The powered orthosis supports the patient's weight, and it has four electrohydraulic digital actuators to motorize hip and knee joints, as well as sensors to detect joint angles and plantar contacts. Each joint angle is controlled by a microcomputer such that an appropriate gait pattern is restored for a stable, powered level walk. This second prototype of the powered orthosis has been designed and developed for testing on patients in order to determine its effectiveness. For the control of this orthosis, the gait pattern is generated by a 16-bit master microcomputer using the preprogrammed pattern which is synthesized with 20 parameters; six 8-bit slave microcomputers measure and control joint angles. A new type of digital actuator was developed specifically for this purpose. In addition, a desktop microcomputer is used for the change of parameters as well as for the dialogue with the master computer. The orthosis weighs only 19.5kg, and the hydraulic power unit 68kg. Clinical experiments of this prototype are conducted on two paraplegics. A powered walk of 6.0 sec/step is realized for the first time, and then 4.5 sec/step for approximately 10 meters.