bluuebunny/crossref_metadata_2025 huggingface dataset:
Three-Dimensional Stability Criterion of Integrated Locomotion and Manipulation
Authors: Yoneda Kan ,   Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguroku, Tokyo 152, Japan, Hirose Shigeo
Published: April 2016

This article discusses judging robot stability in manipulation and locomotion. The conventional relationship between center-of-gravity projection points and grounding points is easy to use but gives no consideration to counterforce manipulation. Theoretically, the ZMP concept of standard dynamic stability can handle counterforce manipulation, but moments considered are limited to two-dimensional planes, making it applicable only to flat land or areas which have two or more ground points at the same height and therefore not applicable to ordinary uneven land. We propose a ""tumble stability"" concept that deals with three-dimensional stability, taking into consideration tumble directions when grounding points, other than a certain pair, disappear virtually. If any such ground points can generate support for controlling tumbling, the locomotive mechanism would not tumble. If no such single grounding point can generate support for curbing tumbling, then the mechanism would tumble in a way similar to reality. Given this, stability during manipulation can be judged by handling counterforce manipulation as external, for flat land and for manipulation in three-dimensional uneven contours, walls, and ceilings. We introduces the counterforce manipulation limit concept as an index for indicating manipulability. This is the limit of counterforce against which manipulation can be stably effected and an effective method for raising manipulative capability may be to take grounding points opposed to manipulation at far areas.
Development of the Intelligent Mobile Robot for Service Use Report 1: Environmental-Adjustable Autonomous Locomotion Control System
Authors: Tanaka Takayuki ,   Department of Mechanical and Control Engineering, the University of Electro-Communications, 1-5-1 Chofugaoka, Chofu Tokyo, 182 Japan, Yamafuji Kazuo , Takahashi Hidenori
Published: April 2016

We have developed an intelligent mobile robot for use as an office “secretary/ helper” by day and “security maintenance guard” by night. The robot’s autonomous locomotion control system (ALCS) plans its paths, recognizes absolute positions and learns navigation control. To aid the robot in moving more appropriately and smoothly among human beings and obstacles in an office environment, we studied learning by a fuzzy neural network that tunes membership functions for fuzzy locomotion control, i.e., the intelligent robot learns to move autonomously through its surroundings. Results obtained by computer simulation show the proposed method is useful in autonomous robot locomotion control.
Automapping by Autonomous Mobile Robot using Ultrasonic Range Sensor
Authors: Kimura Shogo ,   School of Science and Engineering, Aoyamagakuin University, 6-16-1 Titosedai, Setagaya-ku, Tokyo 157, Japan, Tanaka Hisaya , Ide Hideto
Published: April 2016

For an autonomous mobile robot, how make and describe a environment map is very important problem. I made a robot that using ultrasonic range sensor and autonomous mapping by this robot at wall following algorithm. This experiment shows only using ultrasonic range sensor Mapping problem.
A Learning Control Application for a Pneumatic Manipulator on Impact Motion
Authors: Altuncu Ismail ,   Faculty of Engineering, Okayama University, 3-1-1 Tsushima-naka, Okayama 700, Japan, Noritsugu Toshiro
Published: April 2016

Pneumatic actuators are soft actuators that provide quick impacts that are not observed in other actuator types. Moreover, they absorb impact during tasks with collision. The emphasis of this study is to make use of the properties of pneumatic actuators. One of the control uses planned for the pneumatic robot link is a PD controller enhanced with a disturbance observer for maintaining reference angular velocity tracking. Another use is as a learning controller that updates the input term of the reference velocity for the velocity controller according to the impact force detected during each collision. Experiments were carried out in order to validate the velocity tracking and impact control performances of the control systems designed. Additional experiments tested the impact absorption feature of the pneumatic system. It was found that pneumatic actuators can absorb shock and vibration effects, resulting from impacts, that are undesirable in mechanical systems.
Bending and Torsional Vibration Control of a Flexible Structure Using H-infinity Based Approach
Authors: Kar Indra N. ,   Department of Mechanical Engineering, College of Science and Technology, Nihon University, 1-8 Kanda Surugadai, Chiyoda-ku, Tokyo 101, Japan, Seto Kazuto
Published: April 2016

This paper presents a method of controlling the bending and torsional vibration mode of a flexible structure using H-infinity optimal control. A new idea is proposed in order to reduce the unmodeled system uncertainties by placing actuators in the nodes of certain neglected vibration modes. Then, the controller is designed based on the reduced order model and is capable of attenuating vibration without causing spillover instability. For this purpose, a three degree of freedom lumped parameter mass model of a plate structure is considered to control its vibrations using a dynamic output feedback controller. The actuator dynamics and the placement of the actuators are considered for a effective controller design method. The efficacy of the controller is shown through simulations.
Studies on Cardinality of Solutions for Multilayer Nets and a Scaling Method in Hardware Implementations
Authors: Gotanda Hiromu ,   Faculty of Engineering, Kinki University in Kyushu, Shiratsuchi Hiroshi , Inoue Katsuhiro , Kumamaru Kousuke ,   Faculty of Computer Science and Systems Engineering, Kyushu Institute of Technology
Published: April 2016

This paper shows that multilayer nets of equal structure allow the same cardinality of admissible solutions for learning tasks whose input patterns are related by affine transform, even if their sigmoid functions are different in polarity and range. This result can be applied to a scaling problem arising in building nets in analog hardware. In input patterns and sigmoid functions multiplied by scaling factor k, separation and generalization can be preserved if weights are set to 1/k times the original while keeping bias values intact. With such initial weights and biases as above, the converging behavior of back propagation (BP) learning in the scaled environment becomes equivalent to that in the original environment, provided that learning coefficients are multiplied by 1/k2 for bias and by 1/k4 for weight updates. In BP learning in an ordinary way with both weights and biases initialized by uniform random numbers of identical distribution and with the learning coefficient adopted for both weight and bias update, it is shown by simulation that initial values resulting in good convergence decease with increasing k.
A Study on Quantification of Weight Sensation by EMG
Authors: Tanaka Hisaya ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan, Nakazono Yoshimi , Ide Hideto
Published: April 2016

Weight sensation should be evaluated using physical measurement which also relates to subjective evaluation. It is therefore necessary to find a new method of physical measurement. This study shows the relationship between weight sensation and electric signals (electromyogram: EMG) generated in the living body. Stevens' power law is R = kS,n where our experiments show that n = 1, if R is EMG, k is a constant, and S is the stimulation level (weight lead S ≥ 1000g). The value of constant k is dependent on the finger e.g.k = 1.6 x 10-2μV at the thumb and k = 7.4 × 10-2μV at the middle finger).
Design and Evaluation of a New-Type Multifunctional Machine Tool - Functional Requirements and Design -
Authors: Sugimura Nobuhiro ,   College of Eng., Osaka Prefecture University, 1-1 Gakuen-sho, Sakai-shi, Osaka 599, Japan, Ueno Shigeru , Mishima Nozomi , Hachiga Soichi ,   Technical Research Institute of JSPMI, 1-1-12 Hachiman-cho, Higashikurume-shi, Tokyo 203, Japan,   Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tsukuba-shi, Ibaragi 305, Japan,   Japan Machine Tool Builders' Association, 3-5-8 Shibakoen, Minato-ku, Tokyo 105, Japan
Published: April 2016

The objective of this research is to develop a new type of flexible and multifunctional machine tool which can be integrated into such manufacturing processes as machining, inspection and the heat treatment of mechanical products. The functional requirements of the multifunctional machine tools were initially analyzed based on a questionnaire given to both the users and the designers of machine tools. The basic configuration of the machine tool is proposed to conform to the functional requirements. The configuration designed has two main spindles, for both the tool and the work, one subspindle, and eight rotational and linear feed axes. All the machining processes of turning, milling, 5-axis machining of sculpted surfaces, grinding, slotting gear shaving and laser processing can be carried out using the proposed machine tool without the need for manual set-ups. A simulation model and a scale model are developed that simulate the manufacturing motion processes and the set-up processes of the machine tool.
Experimental Assessment for Examination of Curves and Surfaces by Auditory Sense
Authors: Takahashi Hidetomo ,   Department of Mechanical Engineering & Science, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152, Japan, Kanai Satoshi ,   Department of Systems & Information Engineering, Hokkaido University, Kita-13, Nishi-8 kita-ku, Sapporo, Hokkaido 060, Japan
Published: April 2016

The purpose of this research is to assess the ability of the auditory sense to examine curves and free-form surface models in order to verify their appearances. In this paper, the authors will first show how to display a curve and a surface model using an acoustic wave, i.e., the information about curves and surfaces that is needed, the kinds of acoustic waves that should be displayed, and how to relate the geometric information from curves or surfaces to the acoustic waves that are to be displayed. Next, the authors will discuss their newly developed experimental system. Finally, the ability of the auditory sense to examine curves and surfaces will be assessed experimentally. It will be demonstrated that the auditory sense can examine curves and surfaces.
Development of CAM System Based on Simulation of the Copy Operation - An Application to the Boundary Representation Method and High Efficiency Machining -
Authors: Kohya Masahide ,   Industrial Technology Center of Fukui Prefecture, 3-6-1 Norimatu, Hatimannishi-ku, Kitakyusyu-shi 807, Japan, Narahara Hiroyuki , Suzuki Hiroshi ,   Faculty of Information Engineering, Kyusyu Institute of Technology, 680-4 Kawatsu, Iizuka-shi, Fukuoka 820, Japan
Published: April 2016

A CAM system, based on a simulation of the servo data generation method of a copy milling machine, was developed. In this system, the tool path data can be calculated directly using the coordinates of the contact point between the defined shape and an imaginary stylus, without the preceding processes of generating an offset surface and checking the tool interference. For application of this algorithm to a model which is expressed using the boundary representation method, the algorithm was modified slightly. Since the contact point is regarded as the point nearest to the center of the imaginary stylus, which is on the model surface, all the intervals between the center of the imaginary stylus and the constructing surfaces which are close to it are calculated. The point which has the shortest interval is the nearest representative point of the model data and the contact point, in the case in which the interval is equal to the radius of the tool. A rough tool path, which is composed of an imaginary block and a spiral finishing tool path, which enables tools to feed with smooth cutting has been developed using this algorithm. Toolpath simulations and cutting tests show that the CAM system developed was able to generate appropriate CL data with high accuracy and reliability.
The Programming/Execution Environment for Distributed FA Control Systems (1st Report) - The Design and Implementation of the Glue Logic -
Authors: Takata Masayuki ,   Information Processing Center, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182, Japan, Arai Eiji ,   Graduate School of Engineering, University of Osaka, 2-1 Yamadaoka, Suita-shi, Osaka 565, Japan
Published: April 2016

This paper describes the design and implementation of the Glue Logic, which is intended to be an infrastructural element integrated into the Programming/Execution Environment in FA Control Systems. The Glue Logic coordinates multiple application processes by means of message passing. Using this system, users can easily implement data-sharing and task-interlocking amongst multiple application programs. Furthermore, this system includes event notification and condition monitoring features in order to eliminate the need for data polling. In this paper, the requirements of glue logic are discussed first, then the structure of glue logic is presented. Finally, implementation of the glue logic is described.
Robot contest ""Robocon Yamanashi""
Authors: Kiyohiro Noriaki ,   Faculty of Engineering, Yamanashi University, 4-3-11, Kofu-shi, Yamanashi, Japan, Makino Hiroshi , Mori Hideo
Published: April 2016

This paper describes the robot contests in Yamanashi prefecture. Since the first robot contest took place on November, 1994, the robot contest has taken place every year. There are four competition events, l event for junior high school students, 2 events for high school student; the remote control and egomotion robots, and 1 event for university students and enterprise.
Machine Design Education to Stimulate Student Imagination and Originality at Department of Mechanical Engineering, Kyushu University
Authors: Yamamoto Motoji ,   Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 821-8581, Japan
Published: April 2016

In the recent years, university departments of mechanical engineering are attempting to implement the educational method of practicing manufacturing, intending to let students demonstrate creativity and originality. This paper introduces such education recently conducted at the Department of Mechanical Engineering, Kyushu University. The importance of the education of practicing product manufacturing or creative education in engineering education has come to be widely appreciated. This paper first discusses the points that must be studied to have it incorporated in the curriculum and then introduces examples of practice at our department. In this experimental education, manufacturing assignments were presented to students, and each student was asked to construct a machine under a chosen theme, because importance was attached to the imagination and originality of individual students. The primary objective of this experiment was to encourage students to have interest and confidence in manufacturing by having them experience the whole process of imagination, design, construction, and evaluation using themes they had selected themselves.
Graduation Thesis on the Manufacture of Mechanism Arts - Educational Reactions on the History of Technology from Students and Effects of Creative Education -
Authors: Tsutsumi Ichirou ,   Oyama Polytechnic College, 612-1 Yokokura-Mitake, Oyama-shi, Tochigi 323-0813, Japan
Published: April 2016

Mechanism arts made in the Edo era of Japan are the origin of modern robots, and we are able to find many creative ideas from them. In spite of poor student experience in making articles in childhood, they manufactured this product through their graduation thesis. In this report, reactions on the history of technology from students and effects of creative education are discuss.
Remote Maintenance Development for ITER
Authors: Tada Eisuke ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 319-1195, Japan, Shibanuma Kiyoshi
Published: April 2016

This paper describes the overall ITER remote maintenance design concept developed mainly for in-vessel components such as diverters and blankets, and outlines the ITER R&D program to develop remote handling equipment and radiation hard components. Reactor structures inside the ITER cryostat must be maintained remotely due to DT operation, making remote handling technology basic to reactor design. The overall maintenance scenario and design concepts have been developed, and maintenance design feasibility, including fabrication and testing of full-scale in-vessel remote maintenance handling equipment and tool, is being verified.
Development of Standard Components for Remote Handling
Authors: Taguchi Kou ,   Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirone, Tokai-mura, Naka-gun, Ibaraki 319-1195, Japan, Kakudate Satoshi , Nakahira Masataka , Ito Akira
Published: April 2016

The core of Fusion Experimental Reactor consists of various components such as superconducting magnets and forced-cooled in-vessel components, which are remotely maintained due to intense of gamma radiation. Mechanical connectors such as cooling pipe connections, insulation joints and electrical connectors are commonly used for maintenance of these components and have to be standardized in terms of remote handling. This paper describes these mechanical connectors developed as the standard component compatible with remote handling and tolerable for radiation.
Study of Stress Analysis Using Facial Skin Temperature
Authors: Tanaka Hisaya ,   College of Science and ENgineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan, Ide Hideto
Published: April 2016

The facial skin temperature of a living body under stress is said to decrease, indicating that stress and facial skin temperature are correlated. Thermography and digital infrared image are used to measure facial skin temperature. Results of experiments show that nasal skin temperature declines. Nasal skin temperature is thus considered important in evaluating stress. We studied decreases in nasal skin temperature by using digital infrared images to evaluate stress.
Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances
Authors: sato Kazuya ,   Department of Advanced Systems Control Engineering, Graduate School of Scienced and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan, Watanabe Keigo , Oya Masahiro , Kobayashi Toshihiro ,   Department of Control Engineering, Faculty of Engineering, Kyushu Institute of Technology, Tobata, Kitakyushu 804-8550, Japan
Published: April 2016

This paper describes simple adaptive control for plants with bounded nonlinear disturbances. The proposed controller is applicable to all plants whose relative degree is less than four, in which the upper bound of the high-frequency gain and the function type of disturbances must be known. Results of experiments demonstrate the controller’s effectiveness.
Task Understanding for the Beam-in-Hole Task with Initial One-Point Contact
Authors: Matsuno Fumitoshi ,   Department of Computational Intelligence and Systems Science,  Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Nagatsuta, Midori-ku, Yokohama, 226-8502 Japan, Kisoi Motohiro
Published: April 2016

This paper discusses task understanding and control strategy for the Beam-in-Hole task as a simple example of the assembly of flexible parts. The Beam-in-Hole task means insertion of a flexible beam into a hole. We assume that the wall around the hole is rigid. Initially, we assume that only the tip of the flexible beam contacts the side of the hole. In the Beam-in-Hole task, the beam is regarded as a constrained flexible beam with axial force. A distributed parameter model is derived to analyze the Beam-in-Hole task, and a condition for achieving insertion found. Simulation was done to ensure task understanding.
Sheet Sticking and Jamming Caused by Creases and Curling
Authors: Yoshida Kazushi ,   Mechanical Engineering Research Laboratory, Hitachi Ltd., 502 Kandatsu, Tsuchiura-shi, lbaraki 300-0013, Japan, Hagiwara Noriaki , Aida Masaaki ,   Mechatronics Systems Division, Hitachi Ltd., 1 lkegami, Owariasahi, Aichi 488-8501, Japan,   Oaza Tomioka 46-1, Nakajo-cho, Kita-Kabahara-gun, Niigata 959-2608, Japan
Published: April 2016

Paper-processing devices such as printers, copiers, and automated teller machines are finding wide application in the modern community. A common problem they have is paper jams, which can only be avoided by understanding paper behavior in the feed path. In our technique for predicting paper stick and jamming, we introduce a formulation for deformed paper using a spring-mass-beam model, Lagrange multipliers, and functions expressing the guide plate configuration. Results for curling deformation in a sheet moving in the feed path of a printer indicate that our method predicts sticking and jamming in creased or curled sheets.
Study on Single Sheet Separation from Stacked Flexible Sheets
Authors: Nakazawa Masaru ,   Dept. of Functional Machinery and Mechanics, Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Uedashi, Nagano 386-8567, Japan, Kawamura Takashi , Ishikawa Hirotaka ,   R&D Office 8, Hioki E.E. Corporation, 81 Koizumi, Ueda, Nagano 386-1192, Japan
Published: April 2016

We presents a study on separating a single sheet from stacked flexible sheets such as paper, conducted to develop a higher-performance page turner for the disabled. The page turner must separate a single sheet of paper from stacked multiple sheets each time a page is turned. Human dexterity separating sheets using two fingers when turn page was considered, the mechanical principle involved discussed, and experiments and theory compared.
Long-Distance Optical Fiber Cable Installation System Using Automatic Control Puller
Authors: Morimitsu Takenori ,   Institute of Systems & Information Technologies Kyushu, 2-1-22 Momochihama, Sawara-ku, Fukuoka 814-0001, Japan, Terasawa Masao ,   Access Network Systems Laboratories, NTT Corp., 1-7-1 Hanabatake, Tukuba-shi, Ibaraki 305-0805, Japan
Published: April 2016

To fully use optical fiber cable features such as low loss, small diameter, and light weight, cables are installed over the longest possible unit distance using pullers installed in intermediate manholes to distribute cable pulling force. An optical fiber cable pulling system has been developed that measures loading tension on the cable using tension sensors and automatically controls pulling speed so that tension is appropriate.
Service Robot for Housekeeping - Clothing Handling -
Authors: Kabaya Takashi ,   Tokyo Denki University, 2-2 Nisiki-cho, Kanda, Chiyoda-ku, Tokyo 101, Japan, Kakikura Masayoshi
Published: April 2016

We propose a mechanical hand and grasping techniques for manipulating clothing. The eventual target is for this hand to arrange laundry. The task requires hand and manipulator's maneuvering patterns. This report introduces techniques for separating one piece of clothing from others in laundry.
Development of Oxygen Sensor Using Fiber-optics Coupler
Authors: Toba Eiji ,   Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Uedashi, Nagano 386-8567, Japan, Ichikawa Masahiro , Kazama Junji , Nishimatsu Toyonori , Aizawa Hiroaki ,   Ohkura Electric Corp., 2-9-20 Shirako, Wako-City, Saitama 351-0101, Japan
Published: April 2016

This paper describes a fiber-optic oxygen sensor using fluorescence and its application to clinical examinations. The quenching ratio of fluorescence is proportional to oxygen partial pressure by Stern-Volmer's formula in which oxygen concentration is estimated from measured emission intensity. We fabricated a microscopic luminous probe using a Solvent Green 5 doped plastic optical fiber coupler. The probe was studied as an oxygen sensor in visible light. We also clarified sensor characteristics.
Position Estimation of Vehicle Using GPS Data and Internal Sensor Data
Authors: Aono Toshihiro ,   Mechanical Engineering Research Laboratory, Hitachi Ltd., 502 Kandachi, Tsuchiura-shi, Ibaraki 300-0013, Japan
Published: April 2016

This paper deals with an estimation method of vehicle position using differential GPS, a fiber optic gyro and wheel encoders. The estimated position must be accurate enough to be used for vehicle control. To realize this accuracy, the following factors must be considered. (1) The delay and scarcity of GPS data. (2) The drift of the gyro. (3) The inconstancy of the travel distance per encoder pulse due to the differential mechanism and slip of wheels. (4) The effect of the position of the GPS antenna on position estimation. We propose an observation model of GPS, a fiber optic gyro and wheel encoders, which considers these four factors. A position estimation method is developed on the basis of this observation model. A prototype of autonomous mower was produced to evaluate the position estimation method. The relation between the performance of the mower and the GPS accuracy is discussed in terms of the parallelism, the uniformity of the space, and the straightness. The experimental results show that the merit of using GPS data is remarkable for maintaining the parallelism. If GPS is more accurate than lm, it is shown that using GPS improves the uniformity of the spaces. We can have the prospect for mowing all over the ground if the overlap is allowed to be 0.2m and the GPS accuracy is lm.
Set Representation Using Schemata and its Constructing Method from Population in GA
Authors: Hanajima Naohiko ,   Dept. of Mechanical Systems Engineering, Muroran Institute of Technology, 27-1, Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan, Yamashita Mitsuhisa , Hikita Hiromitsu
Published: April 2016

When we invoke genetic algorithms (GAs), we retrieve enormous numbers of individuals. If we can construct, simply, a set having some sense from individuals, it would make engineering applications easier. Schemata in GAs is a simple forms representing such a set. We define modified schemata where instances of a schema represent a continuous region assuming that the GA phenotype is real vector space. We induce expected and maximum numbers of schemata required to represent any continuous region. We show ways to construct a schema set from individuals in GA, constructing a Pareto optimum set on multiobjective optimization theory.
Velocity Measurement for Planar Motions of Machines Using the LM Measuring Device
Authors: Qiu Hua ,   Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka, 813-8503, Japan
Published: April 2016

This paper describes the results on velocity measurement for planar motions of machines using the LM measuring device, showing mainly that: (1) the velocity measurement precision is limited by resolution of rotary encoders used in the LM device; (2) the uncertainty of velocity measurement caused by the resolution of rotary encoders is formulated and confirmed by measurement experiments.
Mobile Operations Performed by Mobile Manipulators on Irregular Terrain - Torque Compensation Using Neural Networks for Disturbance Torques Produced by Irregular Terrain -
Authors: Minami Mamoru ,   Department of Mechanical Engineering, Faculty of Engineering, Fukui University, 3-9-1 Bunkyo, Fukui, 910-8507, Japan, Hatano Masatoshi , Asakura Toshiyuki ,   Department of Mechanical and Intellectual Systems Engineering, Faculty of Engineering, Toyama University, 3190 Gofuku, Toyama, 930-8557, Japan
Published: April 2016

In the present study, we propose a control system for mobile operations of mobile manipulators traveling on irregular terrain. Irregularities exist even in structures such as man-made floors of factories and buildings. Since the hand of a mobile manipulator is often required to operate precisely while traveling on irregular terrain and it is subject to disturbance torques caused by traveling on terrain, a method for decreasing control errors caused by disturbances due to terrain must be considered. In the present paper, an adaptive control system including a compensator that uses a neural network, i.e., a neuro adaptive control system, is proposed. In addition, we discuss the control performance of the proposed control system, and show that the control system can decrease control errors occurring on irregular terrain to the levels of errors that occur while traveling on a horizontal plane.
Acquiring Behavioral Rules for Action-Based Robot Environments
Authors: Yamada Koji ,   Dept. of information Engineering, University of the Ryukyus, 1 Senbaru, Nishihara, Okinawa 903-0213, Japan, Endo Satoshi , Miyagi Hayao
Published: April 2016

We propose a working environment frame for actionbased robots and describe learning for behavioral rule acquisition enabling robots to operate in such an environment. Robot geometric information is expressed in the frame, as the interaction of a potential distribution and robot behavior as potential energy. Potential representation for the multiple constraint satisfaction problem of multiple agents is described, then a simple soccer game situation applied as an example of simulation. In the potential distribution environment, the potential view is observed as sensor input to a robot. The robot decides its own behavior based on this view. To adaptively acquire behavioral rules, a classifier system is applied whose condition is an observed potential view, and a series of condition-action rules is acquired to attain the goal. The effectiveness of the proposed method is demonstrated by computer simulation.
Navigation for a Behavior-Based Autonomous Mobile Robot
Authors: Oikawa Kazumi ,   Graduate school of Engineering, Hokkaido University, North 13 West 8, Kita-ku, Sapporo 060-8628, Japan, Tsuchiya Takeshi
Published: April 2016

We propose an implemented architecture that integrates possession of environmental knowledge into a reactive, behavior-based autonomous robot. As an alternative to hybrid combinations of behavior- and model-based systems, we present a fully behavior-based system that takes reactive, deliberate behavior. To get knowledge, a robot makes a the World Image, gradually constructed through experience as higher animals with self-organization do, without symbolic representation in associative memory. Since our World Image changes in direct relation to behavior, a robot navigates adaptively and reactively to its destination following a path plan based on the World Image of a dynamic environment. The path plan a robot makes is not a sequence of routes as in conventional planning, but flexible as in reactive planning. If a robot detects a failure, it reaches its destination without replanning or error recovery. Our approach makes practical a behavior-based robot already adapted to the real world.
Chaotic Evolutionary Parallel Computation on Intelligent Agents
Authors: Kohata Naoki ,   Department of Information Science, Faculty of Engineering, Utsunomiya University 2753 Ishii-machi, Utsunomiya 321-8585, Japan, Yamaguchi Toru , Baba Takanobu , Hashimoto Hideki ,   Institute of Industrial Science, University of Tokyo 7-22-1 Roppongi, Minato-ku, Tokyo 106-8558, Japan
Published: April 2016

This paper proposes evolutionary computation using chaotic dynamics rather than the conventional genetic algorithm (GA) for such intelligent agents as welfare robots. Proposed evolutionary computation applies chaotic retrieval to associative memory. We applied evolutionary computation to multiagent robots moving side by side in step. Evolutionary computation is basically parallel processing, so we implement its parallel processing algorithm on A-NET (Actors NETwork) parallel objectoriented computer to show usefulness of parallel processing in evolutionary computation.
Evaluation of Slit Light System for Objects with Metallic Reflection and Application to Iron Wheels
Authors: Sasama Hiroshi ,   Railway Technology Research Institute, 2-8-38 Hikari-cho, Kokubunji-shi, Tokyo 185-8540, Japan
Published: April 2016

This paper divides slit light steps into slit light operation, image pickup, and cross-section profile restoration, and present calculations for each operation to evaluate measurement design using slit light for objects with metallic reflection. First, it present calculation for solid objects using simplified representation, particularly for objects with axially uniform sections such as rails and for the bodies of revolution with circumferentially uniform sections such as iron wheels. It presents an approximation model and specific parameters for obtaining the amount of reflected light based on tests using actual rails and iron wheels to evaluate the amount of reflected light, which has great significance in slit light evaluation for objects with metallic reflection. Last, it applies the above evaluation to concave abrasion inspection design for iron wheels using slit light to satisfy practical railway maintenance needs, and verifies the method's usefulness. A prototype of practical iron wheel inspection was realized and its practicality verified through field tests.
Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory
Authors: Jo Michisuke ,   Department of Systems Engineering, Faculty of Engineering, lbaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, 316-8511 Japan, Sasaki Tomoyoshi
Published: April 2016

The Kathri-Rao product of the circuit and pair-motor matrixes gives an exhaustive criterion of mechanism DOF. The pair-loop matrix with driving conditions determines relative angular velocities. Integration yields relative displacement angles, then transformed into a relative transformation matrix superposed on a tree path to determine absolute link and pair axis movement. We then show results of motion simulation including robot trajectory generation.
Network-Based Robot Simulator Using Hierarchical Graphic Icons
Authors: Morikawa Hajime ,   Functional Devices Research laboratories, NEC Corporation, 4-1-2 Miyazaki, Miyamae-ku, Kawasaki 216-8555, Japan, Takanashi Nobuaki
Published: April 2016

A network-based robot simulator was developed by modularizing simulator functions and representing them with hierarchical graphical icons. This enables functions to be added, changed, or modified as needed without programming for different uses such as offline teaching of robots, network distributed processing, robot teleoperation using command communication, and real-time computer graphics (CG) animators in virtual reality. We introduce examples of the simulator kinematically analyzing multiple robot arms, dynamically analyzing forestry machines, and teleoperating space robots.
Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis – First Dynamic Characteristics of Running Mouse –
Authors: Toyama Shigeki ,   Faculty of Engineering, Tokyo A & T University, 2-24-16 Nakamachi, Koganei-shi, Tokyo 184-8588, Japan, Murakuki Yasuo
Published: April 2016

This paper dynamically simulates a small running 2DW2C automobile (mouse) and simulates path tracking control. Our purpose was to optimize mouse design using simulation results. We added tire force and DC motor force to A1 Motion, a simulator for analyzing mechanical systems developed in our laboratory, and improved the simulator simulating a running automobile. Experiments with a small 2DW2C automobile compared experimental and simulation results involving dynamic characteristics of an actual mouse. We got correct simulation results using this model and simulator. We studied its running performance, affected by its wheelbase and caster length, and evaluated path tracking control using closoidal curves.
Development of 2-D Jaw Movement Simulator (JSN/S1)
Authors: Nakajima Shin-ichi ,   Department of Mechanical and Control Engineering, Niigata Institute of Technology, 1719 Fujihashi, Kashiwazaki, Niigata 945-1195, Japan, Hayashi Toyohiko , Kobayashi Hiroshi ,   Department of Biocybernetics, Faculty of Engineering, Niigata University, 2-8050 Ikarashi, Niigata 950-2181, Japan,   Department of Removable Prosthodontics, School of Dentistry, Niigata University, 2-5274 Gakko-cho, Niigata 951-8514, Japan
Published: April 2016

Human mastication is performed by coordinated activities of several jaw muscles. To clarify functions of these muscles, we developed a jaw movement simulator (JSN/Sl) consisting of a 2 degrees of freedom (2DOF) mechanism and five muscle actuators able to reproduce jaw movements on a sagittal plane. The actuator is a cable-tendon driven by a DC servomotor controlled by a compliance control scheme to obtain viscoelastic muscle characteristics. To simulate life-like clenching, we controlled occlusal position and force by incorporating position and force sensors, using neural network learning control. Occlusal force successfully converged to a desired value through learning. Tension patterns of muscle actuators during clenching well coincided with human jaw activities.
Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels
Authors: Hashimoto Masafumi ,   Department of Mechanical design engineering, Hiroshima Unversity, Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Oba Fuminori , Eguchi Toru
Published: April 2016

This paper presents a method for controlling an omnidirectional vehicle with multiple modular steerable drive wheels. Each wheel module has two independent drive wheels and a two-degree-of-freedom (2DOF) attachment consisting of an active prismatic joint and a free rotary joint. The attachment enables the wheel module under nonholonomic constraint to move the chassis better omnidirectionally. A controller consisting of vehicle-level and wheel-module controllers is designed to coordinate wheel modules to ensure correct vehicle movement. The vehicle-level controller determines the desired acceleration of the vehicle chassis to track its reference path, and each wheel-module controller controls its own actuator movement to generate the desired acceleration. If the prismatic joint on the wheel module approaches its mechanical limit, the vehicle-level controller corrects the acceleration to keep the joint position within the workspace. Simulation of a vehicle with four wheel modules confirmed the effectiveness of the proposed control.
Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor
Authors: Yamamoto Motoji ,   Department of Intelligent Machinery and Systems, Faculty of Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan, Ushimi Nobuhiro , Mohri Akira
Published: April 2016

Sensor-based navigation used a target direction sensor for mobile robots among unknown obstacles in work space is discussed. The advantage of target direction information is robustness of measurement error for online navigation, compared to robot location information. Convergence of navigation using target direction information is discussed. An actual sensor system using two CdS sensors to measure target direction is proposed. Using target direction information, we present a new sensor based navigation algorithm in unknown obstacle environment. The navigation algorithm is based on target direction information, unlike sensor-based motion planning algorithms based on mobile robot location information. Using a sensor-based navigation system, we conducted a navigation experiment and simulations in unknown obstacle environment.
Navigation Based on Vision and DGPS Information for Mobile Robots
Authors: Kotani Shinji ,   Faculty of Engineering, Yamanashi University, 4-3-11, Takeda, Kofu, Yamanashi 400-8511, Japan, Kaneko Ken’ichi , Shinoda Tatsuya , Mori Hideo ,   CANON Ltd., 3-16-1, Shimonoge, Takatsu, Kawasaki, Kanagawa 213-8512, Japan
Published: April 2016

This paper describes a navigation system for an autonomous mobile robot in outdoors. The robot uses vision to detect landmarks and DGPS information to determine its initial position and orientation. The vision system detects landmarks in the environment by referring to an environmental model. As the robot moves, it calculates its position by conventional dead reckoning, and matches landmarks to the environmental model to reduce error in position calculation. The robot's initial position and orientation are calculated from coordinates of the first and second locations acquired by DGPS. Subsequent orientations and positions are derived by map matching. We implemented the system on a mobile robot, Harunobu 6. Experiments in real environments verified the effectiveness of our proposed navigation.
Direct Mobile Robot Teleoperation via Internet
Authors: Kawabata Kuniaki ,   Biochemical Systems Lab., The Institute of Physical and Chemical Research (RIKEN), 2-1 Wako, Saitama 351-0198, Japan, Sekine Takeshi , Ishikawa Tatsuya , Asama Hajime , Endo Isao ,   Dept. of Industrial Chemistry, Science Technology of Tokyo, 1-3 Kagurazaka, Shinjuku, Tokyo 162-8601, Japan,   Dept. of Infromation and Computer Sciences, Toyo University, 2100 Kujirai-Nakanodai, Kawagoe, Saitama 350-8585, Japan
Published: April 2016

As networks such as the Internet go global, they become an important tool for everyone from engineers to the general public. This makes network-related technology an up-and-coming field. Conventional techniques should be applied for teleservice and teleoperation in global and general-purpose networks. Robots are a promising example of physical agent potentially useful via such networks in the near future. We describe direct teleoperation of a mobile robot via the Internet and experiments involving a real system and network.
Development of Mobile Robot Elevator Utility System
Authors: Mima Kazuhiro ,   University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Endou Masahiro , Ming Aiguo , Kanamori Chisato , Kajitani Makoto
Published: April 2016

This paper describes an elevator utility system that enables autonomous mobile robots to travel in office buildings. Attachments emulating the behavior of human fingers were developed to retrofit them to elevators without affecting elevators' inner workings. These attachments, consisting of button operation, controllers, and infrared ray communication, are remotely controlled by wireless commands from a robot. Mobile robots must use elevators without interfering with people using it, proposingcourses of robot action. A sensor system is presented for detecting people or objects in elevators. A prototype was developed, and its usefulness verified experimentally. The concept is expected to be useful for service robots working in office buildings.
Stochastic-Computational Approach to Self-Similarity Detection in Random Image Fields
Authors: Kamejima Kohji ,   Faculty of Engineering, Osaka Institute of Technology, 5-16-1, Omiya, Asahi, Osaka 535-8585, Japan
Published: April 2016

We present an integrated stochastic-computational scheme for detecting self-similarity in random image fields. By modeling imaging as a Brownian motion in a successively reduced domain, capture probability is induced on the image plane. Attractor distribution is simultaneously identified with fixed points corresponding to mapping sequences generated by imaging. The computational structure of local maxima of capture probability is extracted through invariance and observability analysis to match observed attractors with a preassigned mapping dictionary. Proposed scheme was implemented as digital algorithm and verified through simulation.
Automated Visual Inspection for Solder Joints of PCB Based on 3-D Image Analysis
Authors: Honda Toshifumi ,   Production Engineering Research Laboratory, Hitachi Ltd. 292 Yoshida-cho Totsuka-ku, Yokohama, 244-0817 Japan, Yamamura Hisae , Nomoto Mineo , Ninomiya Takanori , Horii Tomoharu , Miyawaki Yoshio ,   Telecommunications Division, Hitachi Ltd. 216 Totsuka-cho, Totsuka-ku, Yokohama, 244-8567, Japan
Published: April 2016

Automated visual solder inspection was studied for different printed circuit boards (PCBs) based on 3-D-image analysis. The optical 3-D scanner accurately detects height of a solder joint from differently focused images of a laser spot. Emitted laser light on the solder joint is detected simultaneously by plural sensors whose focal points are set at different height to realize high-speed height acquisition without secondary-reflection problems caused by the specular surface of the solder joint. An inspection algorithm was designed to recognize a solder joint using detected height and the intensity image so that different shapes of solder fillet do not affect inspection performance. A solder joint is classified based on extracted 3-D features of its fillet shape and 3-D location of the lead from its pad. Inspection parameters are automatically generated with inspection parameter autogeneration using electronic component and PCB design data. Evaluation showed the system gave 100% defect detection and very few false alarms (0.13%) using autogenerated inspection parameters. Results show the technique to be promising in actual production lines for different PCBs.
Cutting Tool Wear Detection and Tool Management Using Visual Sensors
Authors: Wei Liu ,   Fast Corporation, 2791-5 Shimo-tsuruma, Yamato-shi, Kanagawa 242-0001, Japan, Ishii Akira , Hata Seiji ,   Faculty of Engineering, Kagawa University, 1-1 Saiwai-cho, Takamatsu-shi, Kagawa 760-8526, Japan
Published: April 2016

It is vital to detect tool wear automatically and control tool life in unattended machining. We studied a vision system that detected wear of cutting tools and predicted tool life. The system targeted measuring cutting drills set in a usual machining center. The system involves 2 CCD cameras that monitor the top and side of a drill, and an image processor. Two image processing algorithms are presented – one to detect drill breakage by analyzing the drill side and one to detect wear including flank, chisel edge, and outer corner wear by matching the top views of new and worn drills.
Algorithm and Design of an Intelligent Digital Integrated Circuit for a Watermelon Harvesting Robot
Authors: Tokunaga Yusuke ,   Dept. of Electrical and Computer Engineering, Kumamoto University, 2-39-1 Kurokami, Kumamoto-shi, 860-8555 Japan, Hakukawa Toshihide , Inoue Takahiro ,   Teradyne K.K. Kumamoto Facility, 273-13 Heisei, Ohza-Takaono, Ohzu-cho, Kikuchi-gun, Kumamoto, 869-1232 Japan
Published: April 2016

We propose an algorithm and design of an intelligent digital integrated circuit for recognition of circular patterns in a binary image based on template matching using a modified matching degree. The proposed system consists of a preprocessor #1 (noise reduction, coarsening, and edge detection), a preprocessor #2 (noise filtering and location parameter detection), and a circular pattern recognition block. The proposed system is implementable onto field programmable gate arrays (FPGAs) and forming part of the vision system for a watermelon harvesting robot. Functional verification, logic synthesis, and implementation are detailed for the FPGA circular pattern recognition block.
Vision Intelligence for Mobile Agro-Robotic System
Authors: Noguchi Noboru ,   Bioproduction Enginering, School of Agriculture, Graduate School of Hokkaido University, Sapporo, Japan, Reid John F. , Zhang Qin , Tian Lei , Hansen Al C. ,   Department of Agricultural Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, U.S.A.,   Department of Agricultural Engineering, University of Natal, Scottsville, South Africa
Published: April 2016

We developed an intelligent vision system for mobile robot field operations. Fuzzy logic was used to classify crops and weeds. A genetic algorithm (GA) was used to optimize and tune fuzzy logic membership rules. Field studies confirmed that our method accurately classified crops and weeds throughout their growth cycle. After separating out weeds, an artificial neural network (ANN) was used to estimate crop height and width. The r2 for estimating crop height was 0.92 for training data and 0.83 for test data. A geographic information system (GIS) was used to create a crop growth map.