bluuebunny/crossref_metadata_2025 huggingface dataset:
Special Issue on Crisis Management and Recovery Following Tokyo Metropolitan Near Field Earthquake Disaster
Authors: Hayashi Haruo , Tamura Keiko , Inoguchi Munenari
Published: April 2016

It is expected that Tokyo Metropolitan area and her vicinity may be jolted by a devastating earthquake with a 70% chance for the next 30 years. The worstcase scenario for Tokyo Metropolitan earthquake is a M7.3 earthquake beneath northern Tokyo Bay. According to the Central Disaster Prevention Council, A total of 12,000 people will be dead and economic losses will exceed 112 trillion yen. Areas with a seismic intensity of JMA 6 – and more will include Tokyo, Chiba, Saitama, and Kanagawa, resulting in 25 million victims – 20% of Japan’s total population. No country has not experienced such a large-scale earthquake in recorded history, but it does not mean such a disaster will not occur. In order to cope with such an unprecedented disaster, we must face and solve a lot of new problems in addition to all of existing problems appeared in the past disasters. Thus it is mandatory to take a holistic approach to implement effectively and seamlessly emergency response, relief, and long-term recovery.

With the severity of possible consequences due to this earthquake, a special project, entitled as “Special Project for Earthquake Disaster Mitigation in Tokyo Metropolitan Area” (2007-2011), is commissioned by the Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT), This special project consists of three subprojects; Seismology, Earthquake Engineering, and Crisis Management and Recovery. This subproject considers Tokyo Metropolitan Earthquake as a national crisis occurred in the Tokyo metropolitan area. All the available knowledge of disaster researchers should be gathered from nationwide, including both emergency response and long-term recovery to minimize damage and losses. This project examines measures for improving the capacity for the people from disaster management organizations to react to crisis and help rebuilding life recovery of disaster victims. An information-sharing platform will be proposed to comprehensively manage individual disaster response and recovery measures. “Training and exercise systems” will be introduced to empower local capacity to mitigate and recover from disaster by integrating all of the project achievements among stakeholders. The final goal of this project is to make ourselves prepared for help the anticipated 25 million victims at most due to Tokyo Metropolitan earthquake.

In this issue of JDR, we will introduce 10 papers from the subproject on Crisis Management and Recovery as a part of the achievements of this subproject for the last five years.
Extreme Weather and Water-Related Disasters: A Key Issue for the Sustainability and Survivability of Our Society
Authors: Takara Kaoru
Published: April 2016

1. Extreme Weather and Water-Related Disasters

Extreme weather events frequently take place in many parts of the world, causing various kinds of water-related disasters such as windstorms, floods, high tides, debris flows, droughts, and water-quality issues. This is a key issue for the sustainability and survivability of our society.

The Asian and Pacific region is one of the most disaster-prone areas in the world. It is very adversely affected by natural hazards such as cyclones and typhoons and tsunami caused by earthquakes and volcanic eruptions under the sea. These natural hazards bring severe disasters to all countries in the region where social change, in terms of population and economic growth, is the most dynamic in the world.

Growth in this region of the world has not, however, led to advances in disaster risk management. The situation is getting worse because infrastructure development cannot keep up with growth. Policies for poverty reduction and alleviation are insufficient and the difference between being rich and being poor is increasing.

Vulnerable populations are often those hit worst by hazards and disasters. As the world’s cities expand to occupy ever greater portions of the world’s flood plains, riversides and shorelines, the risk of flooding will continue to outpace both structural and nonstructural mitigation efforts.

“A natural hazard strikes when persons lose their memory of the previous one.” This quotation is from Dr. Torahiko Terada (1878-1935), a former Professor of the University of Tokyo who influenced many Japanese persons as an educator, physicist and philosopher. Persons tend to forget bad memories if they do not experience a similar event for a long time. This lack of experience and ignorance increases the vulnerability of society to disasters.
The Potential of Fijian Traditional Housing to Cope with Natural Disasters in Rural Fiji
Authors: Fujieda Ayako ,   Graduate School of Global Environmental Studies, Kyoto University, Yoshida Honmachi, Sakyo-ku, Kyoto 606-8501, Japan, Kobayashi Hirohide
Published: April 2016

Fiji is, as an island country in the Pacific Ocean widely recognized to be vulnerable to natural disasters due to its location and characteristics. Recent studies show the increasing emphasis on a capacity of disaster affected people and communities rather than their vulnerability and on what they can do for themselves. In the light of resilience, indigenous knowledge that has been generated and accumulated over years in adapting to the local environment has the potential to enhance the capacity of the local people to cope with natural disasters. Despite the increasing recognition of the advantages of such indigenous knowledge, its potential use in present day is little known. This paper explores the potential use of Fijian traditional housing as an alternative in restoring the living environment in rural Fiji where housing reconstruction depends heavily on the external assistance. Field study was carried out to understand current conditions and the potential of traditional housing construction in the modern context. Although traditional housings hardly exists in Fiji, field study results show the availability of natural resources, skills and knowledge, communal work and challenges in knowledge transfer and challenges brought by the life-style changes.
Estimation of Wave Force Acting on Bridge Superstructures due to the 2011 Tohoku Tsunami
Authors: Kataoka Shojiro ,   National Institute for Land and Infrastructure Management, Ministry of Land, Infrastructure, Transport and Tourism, 1 Asahi, Tsukuba 305-0804, Japan, Kaneko Masahiro
Published: April 2016

Wave forces acting on the superstructures of two highway bridges affected by the 2011 Tohoku tsunami, the Shin-Aikawa Bridge and the Yanoura Bridge, are estimated combining 2-D FDM and a numerical wave flume (CADMAS-SURF) analysis. The superstructure of the Shin-Aikawa Bridge was washed out and swept 500 m away by the backwash. The Yanoura Bridge suffered no damage even though it was completely submerged in the tsunami. Time histories of the tsunami wave height and flow velocity are calculated using 2-D FDM, based on the nonlinear long wave theory. Lateral and uplift forces acting on the superstructures due to the simulated tsunami are then analyzed by the numerical wave flume. Comparisons between the analytical wave forces and corresponding loading capacities account for the differences in damage to the two bridges.
Special Issue on Dual Use
Authors: Yoshikura Hiroshi
Published: April 2016

“Dual use” can be defined as potential use of science and technology for destructive purpose as well as for constructive purposes. While the history of the dual use is long (such as, debate on atomic energy), after the anthrax incident in the wake of the terrorist attack of World Trade Center in New York on September 2001, “dual use” issue surfaced as the matter of “biosecurity.” The debate on biosecurity was further ignited by the US National Science Advisory Board for Biosecurity’s recommendation on the publication of experiments dealing with the host range expansion of the avian influenza virus H5N1.

The present special issue deals with the “dual use” mainly from the “biosecurity” view point, including the bioweapon and its history, biosecurity negotiation in the Biological Weapon Convention, regulatory framework of use of pathogens and its implementation, ethical issues, education of the “dual use” issues for life scientists, the feasibility of direct application of the published data to the dual use and the recent progress of synthetic biology and its biosecurity implication.

The present guest editor wishes that these articles will stimulate debate on “dual use” issues in various branches of science and technology, as he realizes that “dual use” issue is becoming prominent not only in microbiological researches but also in other activities, such as, IT, robotics, neuroscience, psychology, economics, etc. He extends his sincere thanks to all of the contributors and reviewers involved with these articles.
Biosecurity, Dual Use and Research Ethics
Authors: Yoshikura Hiroshi ,   National Institute of Infectious Diseases, 1-23-1 Toyama, Shinjuku-ku, Tokyo, Japan
Published: April 2016

Issues treated in this essay are security concern on science and technology on one hand and research freedom, public health needs and innovation on the other. They are not necessarily compatible with each other, which is called “dual use dilemma.” An important question is how the dilemma can be addressed appropriately in a civil society.
Special Issue on “Urban Resilience” for Mega Earthquake Disasters
Authors: Hayashi Haruo , Suzuki Shingo
Published: April 2016

Tokyo Metropolitan Earthquake and Nankai Trough Earthquakes predicted to hit Japan in the near future makes it urgent that the impact of urban earthquake disasters be reduced by every means possible.

To promote research to this end, the Ministry of Education, Culture, Sports, Science and Technology (MEXT) of Japan launched a Special Project for Reducing Vulnerability for UrbanMega Earthquake Disasters in 2012 as a five-year R&D effort embracing three academic disciplines – earth and physical sciences, structural engineering, and social sciences. This project in turn consists of three subprojects – Subproject on the earthquake hazard mechanism and risk evaluation of southern Kanto region, Subproject to develop rapid damage assessment and recovery technology of urban function, and Subproject to develop resilient society improving disaster management competence.

This special issue features findings and achievements from this last subproject, whose goal is to enhance society’s resilience based on the experiences and lessons of the 1995 Great Hanshin-Awaji Earthquake Disaster that crippled Kobe, the 2011 Great East Japan Earthquake Disaster that prostrated Japan’s northeastern Pacific coast and other such disasters.

Concretely speaking, by integrating the wisdom of disaster management researchers nationwide and collaborating with other subprojects, this subproject proposes disseminating disaster information technologies and training methodologies to build up disaster preparedness. This, in turn, is aided by improving disaster literacy and competence among both the general public and disaster management personnel.

Focusing on the three major metropolitan areas of Tokyo, Nagoya, and Osaka, where two-thirds of Japan’s population and three-fourths of the nation’s total assets are concentrated, Web-based disaster information management and dissemination services are being proposed and examined for effectiveness through demonstration experiments and social implementation.

In this issue of JDR, we are introducing 11 papers and reports from researchers involved in this subproject to present initial interim findings and progress during the first half of this five-year effort. In doing so, the authors and editors of this issue gratefully acknowledge the generous financial support of MEXT in these studies.
Housing Renovation After the 2011 Thailand Flood in Ayutthaya
Authors: Sararit Titaya ,   Department of Architecture, Graduated School of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan, Kondo Tamiyo
Published: April 2016

This study investigates characteristics of the damage to housing caused by the 2011 Thai flood and explores recovery processes. There are three research objectives. The first objective is to compile financial losses and support for residents affected by the 2011 flood. The second objective is to classify the types of reconstruction that residents chose to renovate their own homes. The third objective is to estimate residents’ capability for coping with future floods. Huntra, a sub district in Ayutthaya province, was chosen as the site for this study. The research results indicate that the disaster recovery budget provided by national government was too small, and was not enough for all of the reconstruction that the affected residents needed. Renovation that offers better protection against floods is classified into two groups. Type A is called elevated houses, in which the used spaces are elevated higher than before flood. Type B is called extended houses, in which the used spaces that are considered safe in a disaster are extended. Most residents could not afford this type of renovation. However, so far the most widely used option is painting the house in order to erase the watermark from the flood. In the three years since the flood occurred, residents have gained a greater awareness of flood evacuation; however, only a small number of residents decided to reconstruct their house using measures for flood protection. Flood relief policy that focuses on providing money for the affected homeowners has therefore not been successful. Our study suggests that the government should establish more systematic support, such as provision of construction materials or craftsmen/labor to communities or residents.
The Impact of Disasters on Japan’s Inbound Tourism Demand
Authors: Wu Lihui ,   Graduate School of Informatics, Kyoto University, 36-1 Yoshida-Honmachi, Sakyo-ku, Kyoto 606-8501, Japan, Hayashi Haruo ,   Disaster Prevention Research Institute (DPRI), Kyoto University, Gokasho, Uji, Kyoto 611-0011, Japan
Published: April 2016

The purpose of this study is to explore the impact of disasters on international tourism demand for Japan by applying Autoregressive Integrated Moving Average (ARIMA) intervention models that focus on evaluating change patterns and the duration of effects by observing variations in parameters. Japan suffered a variety of disasters, especially natural disasters due to its geographical location, so we have divided these disasters into three types: geological disasters, extreme weather events and “others” such as terrorist attacks, infectious diseases, and economic crises. Based on the principle of preparing for the worst, we selected 4 cases for each disaster type, for 12 in all. Results suggest that (1) large-scale disasters such as great earthquakes impacted negatively on inbound tourism demand for Japan; (2) not all disasters resulted in an abrupt drop in inbound tourist arrivals, extreme weather events, for example, did not decrease inbound tourism demand significantly; (3) impact caused by disasters was temporary.
Development of a Seismic Microzoning Map for Lima City and Callao, Peru
Authors: Calderon Diana ,   Japan Peru Center for Earthquake Engineering and Disaster Mitigation (CISMID), Faculty of Civil Engineering, National University of Engineering, Av. Tupac Amaru No 1150, Lima 25, Peru, Aguilar Zenon , Lazares Fernando , Alarcon Silvia , Quispe Selene ,   Department of Environmental Science and Technology, Tokyo Institute of Technology, Kanagawa, Japan
Published: April 2016

The location of Lima city and El Callao in the Pacific coast and the long history of seismic activity were the main reasons to develop a seismic microzoning map. The microzoning study was based on large numbers of geotechnical and geophysical exploration points distributed around the study area. The geotechnical exploration consisted of borehole tests and pits, from which soil samples were taken to the laboratory to determine the soil mechanical characteristics. The geophysical exploration consisted of onepoint microtremor measurements and various methods to estimate the S-wave velocity profile. The results of both, the geotechnical and geophysical exploration were combined to develop a seismic microzoning map for Lima city and El Callao. This map shows five zones, where the zone with the best soil mechanical and dynamic characteristics covers most of the study area.
Coseismic Displacement and Recurrence Interval of the 1973 Ragay Gulf Earthquake, Southern Luzon, Philippines
Authors: Tsutsumi Hiroyuki ,   Department of Geophysics, Kyoto University, Kitashirakawa-oiwake-cho, Sakyo-ku, Kyoto 606-8502, Japan, Perez Jeffrey S. , Marjes Jaime U. , Papiona Kathleen L. , Ramos Noelynna T. ,   Philippine Institute of Volcanology and Seismology (PHIVOLCS), C. P. Garcia Avenue, Quezon City 1101, Philippines,   National Institute of Geological Sciences, University of the Philippines, Diliman, C. P. Garcia Avenue, Quezon City 1101, Philippines
Published: April 2016

The 1973 Ragay Gulf earthquake produced an onshore surface rupture approximately 30 km in length along the Guinayangan segment of the Philippine fault in southern Luzon Island. Through geologic mapping and paleoseismic trenching, we have characterized the amount of coseismic offsets, the average recurrence interval, and the slip rate of the segment. The coseismic offsets we identified in the field were fairly constant along the fault, ranging from 1 to 2 m. Paleoseismic trenching at the Capuluan Tulon site exposed stratigraphic evidence for three or possibly four surfacerupturing events after the deposition of strata dated at AD 410–535. The average recurrence interval was calculated to be 360–780 years, which is close to that for the Digdig fault, the source fault of the 1990 central Luzon earthquake. The slip rate, based on the calculated recurrence interval and offsets during the 1973 earthquake, has been calculated to be 2.1–4.4 mm/yr. This rate is significantly smaller than the geodetic slip and creep rates of 20–25 mm/yr estimated for the Philippine fault on the islands of Masbate and Leyte. The slip rate deficit may be explained by the possibilities of underestimation of the recurrence interval due to possible missing paleoseismic events within the stratigraphic records, the occurrence of larger earthquakes in the past, and the aseismic fault creep between the surface-rupturing earthquakes.
Geometry and Structure of the Philippine Fault in Ragay Gulf, Southern Luzon
Authors: Yasuda Hirotake ,   Department of Geophysics, Kyoto University, Kitashirakawa-oiwake-cho, Sakyo-ku, Kyoto 606-8502, Japan, Bacolcol Teresito , Daag Arturo , Bariso Ericson , Mitiam Emmanuelle , Marjes Jaime , Nakata Takashi ,   Philippine Institute of Volcanology and Seismology (PHIVOLCS), C. P. Garcia Avenue, Quezon City 1101, Philippines,   Department of Geography, Hiroshima University, Kagamiyama, Higashi-Hiroshima 739-8522, Japan
Published: April 2016

A 15 km southward offshore extension of the Philippine Fault in the Ragay Gulf near the east coast of the Bondoc Peninsula is recognized and described with 150 newly acquired, high-resolution acoustic reflections. The vertically dipping fault strikes roughly NWSE and exhibits pressure ridges and depression structures indicative of strike-slip movement. The southern portions of the fault exhibit particularly sharp breaks on the seafloor that were probably produced by the 1973 Ragay Gulf Earthquake. Offsets of distinct acoustic layers are interpreted to indicate the strikeslip fault has slipped in earthquakes at least four, and likely more than 11 times during Holocene.
Special Issue on Selected Papers from TIEMS Annual Conference in Niigata
Authors: Tamura Keiko , Hayashi Haruo
Published: April 2016

TIEMS – The International Emergency Society founded in 1993 – is a global forum for education, training, certification and policy in emergency and disaster management. TIEMS is dedicated to developing a safer world by bringing the benefits of modern emergency management tools, techniques and good industry practice. The Japan Chapter of TIEMS was established in 2011 when Japan members agreed on the great worth of the Society’s mission.

The Japan Chapter organized the Oct. 20-23, 2014, TIEMS Annual Conference in Niigata. Niigata was chosen because the year 2014 had a special meaning in the history of disasters in Japan. That is, the memorials of four major disasters had memorial anniversaries in that year – the 50th anniversary of the 1964 Niigata Earthquake, the 40th anniversary of the 1974 Niigata Yakeyama Volcano eruption, and the 10th anniversaries of the 2004 Niigata-Fukushima flood and Niigata-Chuetsu earthquake. The event brought over 1,000 domestic and international participants together to discuss risk management and resilience against disasters. The event also provided many opportunities for participants to share their scientific knowledge learn about the lessons from past experience of practitioners in the disaster management field and view the industry exhibition emerging to a wide variety of experience in disaster response.

With so many experts and practitioners willing to make presentations at the Conference, the JDR has brought together selected 17 papers and other output from them. My colleagues and I am honored to make these TIEMS 2014 achievements known to the broadest possible audience, and we are assured that this will create many fruitful outcomes for our reading audience.
Challenges of Implementing Climate Change Adaptation Policy for Disaster Risk Reduction – Implications from Framing Gap Among Stakeholders and the General Public –
Authors: Baba Kenshi ,   Center for Regional Research, Hosei University 2-17-1 Fujimi, Chiyoda-ku, Tokyo 102-8160, Japan, Tanaka Mitsuru ,   Faculty of Social Sciences, Hosei University 4342 Aihara, Machida, Tokyo 194-0298, Japan
Published: April 2016

Local governments are expected to play a significant role in making cities resilient, especially in reducing disaster risks and adapting to climate change. To obtain the relevant actors’ understanding and cooperation in implementing adaptation measures, it is essential that the potential framing gaps which may arise between them in terms of the impacts and risks of climate change be filled in. In this study, we have identified the framing gaps between stakeholders and the general public. We analyzed the questionnaire data obtained from the general public and the stakeholder data obtained by means of a case study carried out in Tokyo. We then integrated the results and derived three implications: i) it is effective to implement climate change adaptation policy that local governments obtain an understanding of multi-benefit of the the policy as well as climate change risk from the public through community-based groups, avocational groups and other organizations in the local community. ii) as for a firmly locked-in view of climate change policy that the policy means just reducing greenhouse-gas emissions, communication strategies for accurately explaining the relationship between adaptation measures and mitigation measures is required, and iii) as for the challenges of agenda setting for incorporating climate change risk into administrative plans, the department of the environment who is in charge of climate change policy is required to take a leadership in a coordinating function, for example, raising the awareness of other departments in terms of adaptation measures and providing them with scientific knowledge of climate change risk.
Compensation of Transfer Deviation on Symmetry Type Bilateral Servo Mechanism
Authors: Kanzaki Kazuo ,   Kanazawa Institute of Technology, Kobayashi Nobuaki , Yamada Tadashi ,   Tokyo Electric Co., Ltd.(Presently Seiko Epson Corporation)
Published: April 2016

There are two types of bilateral servo mechanisms utilized in force reaction type manipulators. The simple symmetry type has the larger transfer deviation. The force feedback type with the smaller transfer deviation requires troublesome force sensing devices. This paper describes a simple compensation method of transfer deviation on the symmetry-type. We found that transfer deviation of the torque decreases by means of subtracting tachometer generator output through a PD circuit from the driving input of the opposite motor. The system is unstable when the gain constants in compensation circuits are over the limits, which are determined as equivalent mechanical inertia moment and viscous damping factor. The transfer deviation of the compensated symmetry type system is near to that of the force feedback system.
Effect of Exposure to RF of Fertilized Chicken Eggs and Pregnant Mice on Hatchability, Organ-Weight, and Locally Delayed Hypersensitivity
Authors: Saito Kenichi ,   Nippon Veterinary and Animal Science University, 1-7-1 Kyonan, Musashino, Tokyo 180, Japan, Tsuchida Yukari , Yamada Kouichiro , Goto Masahiro Sugiyamaand Nobuo ,   Faculty of Agriculture, Kobe University, 1, Rokkodai, Nada-ku, Kobe 657, Japan
Published: April 2016

The present study consists of two experiments. The first experiment investigates the influence of chronic exposure of 428MHz radio frequency (RF) with an incident power density of 4mW/cm² on the development of chick embryos. Prolonged incubation was found in exposured eggs as compared to the non-exposured (22 vs 21 days). The average thymus weight in both sexes was smaller than that of the control. RF exposure also led to a significant decrease in the thymic cell density of female chicks. The second experiment was conducted in order to reveal the effects of chronic exposure of the immune system of mice exposed to 428MHz-RF with an incident power density of 1mW/cm² during pregnancy. It was found that RF exposure alters the immune system of mice. RF suppressed the cell-mediated immune-competence by local delayed hypersensitivity. These results suggest that chronic exposure of 428MHz-RF radiation induce biological effects on chick embryo and mice.
Questions and Answers Among Multiple Robots for Dynamically Enhancing Each Robot’s Capability
Authors: Morita Tooru ,   Kinki University, Kyushu Campus, 11-6 Kayanomori, Iizuka-shi, Fukuoka, 820 Japan, Aramaki Shigeto , Kurono Shigeru , Kagekawa Kouu ,   Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka, 813 Japan
Published: April 2016

The importance for performing a work through the cooperation of multiple robots is also being emphasized over many tasks done by granting various functions to a single robot. In the past, the research has mainly been done on the algorithm when multiple robots behave cooperatively. In addition, such a method has also been taken in many cases that a human issues instructions and work skills to a robot. However, a human's burden can be greatly alleviated if a robot can issue the instructions and transmit the knowledge to another robot. The present study considers the case in which a robot teaches the knowledge to another robot through questions and answers. In this case, the expression format of the necessary knowledge and the knowledge transmission method are proposed. The robot that teaches the knowledge must know what type of knowledge the taught robot holds. On the other hand, the taught robot must previously hold the minimum level knowledge to understand what is taught. First of all, the same format of knowledge possessed by the respective robots must be shared for the sake of standardization of knowledge. Next, the transmission of knowledge means writing the character string into the counterpart robot's database. The processing inside the counterpart robot's database is entirely done in CD form (conceptual dependency form). Using this CD form simplifies the transmission and processing of knowledge and the translation into a lower level robot language. Furthermore, the conformity with various robots which are being developed using the CD form can also be improved. A teacher robot could teach the procedures of assembling work to a worker robot using this system.
Special Issue on Intelligent Manufacturing Systems
Authors: Mizugaki Yoshio
Published: April 2016

Production engineering and manufacturing industries face difficulties in developing a new paradigm to cope with the post mass-production era. Consumers' preferences change very quickly and vary over a wide range of taste. A product's life cycle becomes shorter than shorter. Thus, rapid prototyping techniques have been requested, and some new concepts on manufacturing have been presented including Flexible Manufacturing System, Factory (or Flexible) Automation, Computer Integrated Manufacturing System, and Concurrent Engineering. After the termination of the cold war, many regional economies combined through international trade and dynamically evolved into global economies. Such change had significant effects on manufacturing industries and consequently on production engineering. As a new paradigm in the post mass-production era, the creation of manufacturing culture has been advocated by Prof. Hiroyuki Yoshikawa, President of University of Tokyo. It contains not only the movement towards standardization of conventional manufacturing knowledge but also the development of a global manufacturing system with use of computerization. At his advocation, the international research project of Intelligent Manufacturing Systems (IMS) was initiated. This bimonthly journal is a special issue on the IMS project and similar topics widely covering intelligent manufacturing systems. The former part of the contents is the description of the IMS project. It consists of the commentary articles quoted from the IMS news and the latest reports of IMS international test cases. The Japan IMS center publishes the IMS news and strongly supports the IMS project itself with collaboration of Ministry of International Trade and Industry of Japan (MITI). The authors of these reports are primarily enrolled in the actual responsibility to promote their projects and newly write the articles for this journal. I would like to thank the IMS center and each author for their contributions to this special issue on the IMS project. The latter part of the contents consists of the articles on the STandard for the Exchange of Product model data (STEP) and some technical papers on manufacturing. A conference report on the 2nd Japan-France Congress on Mechatronics is also provided in this issue. I would like to thank all contributors for their cooperation in creating this special issue. As can be easily seen, this issue focused on the forthcoming advancement on production engineering and manufacturing through the movement of Intelligent Manufacturing Systems. As the editor of this special issue on Intelligent Manufacturing Systems, I hope that the readers pay attention to this new movement and become involved in the near future.
Modeling of Knee Joint in The Human Lower Extremity by Using Cam-Follower and Revolute-Translational Composite Joint
Authors: Purwanto P. Eko ,   Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Tokyo, 184 Japan, Toyama Shigeki , Kamijima Atsuhiko
Published: April 2016

This paper presents a musculoskeletal model of the human lower extremity for computer simulation studies of the knee joint during movement. In this model, we developed a knee joint model by using a combination of cam-follower joint and revolute-translational composite joint. The cam-follower joint is used, where femur is the cam and tibia is the follower, to determine the reaction force as well as the reaction torque (the reaction torque cannot be calculated in the revolute joint). Furthermore the revolute-translational composite joint is used to represent the movement of the knee joint that undergoes revolute motion as well as translational motion. The estimation of muscle force is then developed from the moment of the joint that consists of moment of inertia, moment of external force, and moment resulting from the effect of gravity. In the walking motion analysis, simulation results then indicate the validity of the knee joint model and the estimation of muscle force. We therefore conclude that the use of cam-follower and revolute-translational composite joint in the knee joint model is useful to express the motion in the knee joint and to estimate force in the muscles in the lower extremity.
Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –
Authors: Endo Gen ,   Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.
Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy
Authors: Yoshida Eiichi ,   Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tskuba-shi, Ibaraki, 305-83564 Japan, Murata Satoshi , Kokaji Shigeru , Tomita Kohji , Kurokawa Haruhisa
Published: April 2016

This paper presents a micro self-reconfigurable modular robotic system using shape memory alloy (SMA) actuators. Composed of identical robotic modules, the system can actively configure various structures. The motion of module is based on 2-dimensional rotation using an actuator mechanism with 2 SMA torsion coil springs. The micro-module measures 2cm cube and weighs 15g, half the size of the previous model. The feasibility of reconfiguration was demonstrated using micro-robotic modules. We also show an extended 3-dimensional (3D) model and discuss a distributed self-reconfiguration algorithm for large modular structures.
Construction of Control Algorithm for an Autonomous Vehicle
Authors: Im Hyung-Eun ,   Dept. of Mechanical Engineering, College of Industry, Nihon University, 1-2-1 Izumi-cho, Narashino-shi, Chiba 275-8575, Japan, Kageyama Ichiro , Nozaki Yoshiyuki
Published: April 2016

In this study, a control algorithm of an autonomous vehicle is proposed on the basis of risk level to simulate control motion of a real driver. The normal traffic situation can be expressed by risk level. The risk level is affected by several risk elements: roadside edges, curves, the other vehicles, obstacles, and so on. Each risk element is represented by an exponential function. The risk elements make risk potential field on the road. It is assumed that the desirable course to follow is determined as the point of minimum risk potential in the cross section of the road. Tree prediction models are examined to predict the future position of vehicle. The change of preview time is considered on the curved road. A lateral and longitudinal control algorithm with the prediction model proposed in this study shows similar control motion to that of a real driver.
Generation of Observation Arrangement in Distributed Autonomous Robotic Systems
Authors: Kaga Tomoyuki ,   Dept. of Microsystem Engineering, Nagoya University, 1, Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan, Fukuda Toshio
Published: April 2016

Distributed Autonomous Robotic System (DARS) copes with dynamic environments with generation of metalevel functions. This paper addresses such functional generation in distributed sensing. In distributed sensing, dynamically adaptable spatial distribution for observation is one of the most important capabilities of DARS. To realize this, we propose a method for dynamical generation of observation arrangement in a distributed manner. The proposed method is verified with computational simulation.
Bistable Fluidic Laminar Amplifiers for Optopneumatic Interfaces
Authors: Belforte G. ,   Dept. of Mechanics. Politecnico di Torino, Technical University, Corso Duca degli Abruzzi, 24 10129 Torino, Italy, Eula G. , Martinelli M. , Raparelli T. , Viktorov V.
Published: April 2016

Properties such as intrinsic security, low switching power, and the possibility of fabricating interfaces such as optopneumatic interfaces without electrical parts have greatly increased interest in fluidic elements. In fluidic elements, an optical signal is converted to a pressure signal that, when appropriately amplified, commands power stages suitable for environments having the risk of explosion or electromagnetic interference. The operation and use of bistables based on the wall effect has been known among digital elements for some time, but this component has mainly been studied and applied in turbulent systems. We focus on the study and realization of a fluidic bistable amplifier operating in the laminar range and therefore switchable by extremely low control power.
Voice-supported Active Touch Panel Using Micro Touch Sensor with PZT Thin Film
Authors: Kwon Gui Ryong ,   Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603 Japan, Arai Fumihito , Fukuda Toshio , Itoigawa Koichi , Tsukahara Yasunori ,   ITS Development Dept., R&D Div., R&D Center, Tokai Rika Co., Ltd., Oguchi-cho, Niwa-gun, Aichi, 480-0195 Japan
Published: April 2016

Today's automobiles serve not only as vehicles but also as mobile offices combining communication tools such as cellphones and car navigation systems providing online information services. The many switches are conventionally distributed on the dashboard. A move is under way, however, to combine them into a multifunctional touch panel. We propose a voice-supported active touch panel. Since information feedback to the operator is important in ensuring correct function selection, the panel we designed combines a vibrator and voice explanation. Touch sensors use PZT thin film sensors. The voice explanation uses a quick response system. This paper reports the features and configuration of the voice-supported active touch panel.
Development of a Hydraulic Parallel Link Force Display -Improvement of Manipulability Using a Disturbance Observer and its Application to a Master-slave System-
Authors: Kudomi Shigeki ,   Gifu Prefectural Research Institute of Manufacturing Information Technology, 4-179-19 Sue-cho, Kakamigahara, Gifu, 509-0108 Japan, Yamada Hironao , Muto Takayoshi ,   Department of Mechanical and Systems Engineering, Faculty of Engineering Gifu University, 1-1 Yanagido, Gifu, 501-1193 Japan
Published: April 2016

We previously developed a six-DOF parallel link force display that is actuated by six hydraulic cylinders. The manipulability of the display, however, was insufficient at first, because the dynamic performance of each cylinder was not necessarily the same as that of the others. To overcome this problem, in the present study we have applied disturbance compensation to improve manipulability. To demonstrate a practical application of this force display, we have also constituted a master-slave system in which the display is adopted as the master, and the same type of hydraulic manipulator is adopted as the slave. An operator manipulated the system so that the slave touched a flexible object serving as a load. Our experiments confirmed that the system was controlled with relatively good dynamic performance, and that the operator was able to feel the load force sensitively through the force display.
A Study of Active Cord Mechanisms -Biomechanical Consideration on its 3D Gaits-
Authors: Ohno Hidetaka ,   Tokyo Institute of Technology, 2-12-1 O-okayama, Meguro-Ku, Tokyo, Hirose Shigeo
Published: April 2016

In this paper, the meaning of active cord mechanism (ACM) is expanded as follows: a mobile robot having an articulated body consisting of serially connected units for active bending and stretching. We propose ACM 3-dimensional (3D) gaits to describe ACM locomotion in 3D space. In 3D gaits, the motion of every point on the body curve is expressed by combining 3 periodic functions for position and time. We show that ACM 3D gaits uniformly express limbless locomotion in long, thin bodies of creatures such as snakes, slugs, and earthworms. We also show that it is instructive to design new types of ACM.
Special Issue on Rescue Robots
Authors: Osuka Koichi , Tadokoro Satoshi
Published: April 2016

This special issue brings together the many achievements on rescue robots development beginning after the Hanshin-Awaji Great Earthquake in Kobe. The earthquake that laid waste to most of Kobe, Seattle’s sister city, early on the morning of January 17, 1995, was a wakeup warning to robotics researchers who realized that the potential of their studies had not been realized in its greatest and most challenging arena – a disastrous earthquake where robots and similar strategies could have rescued people in situations where no other help or support was possible. Japanese robotics researchers set up academic working groups to study and promote such R&D. The national project involving key next-generation urban disaster prevention technologies includes the subtheme of rescue robots, with robotics researchers introducing concrete achievements. A Japanese national project had never used the term of rescue robots before then. Rescue robots range from simple instruments powered by human operators to intelligent machines able to operate virtually on their own. Some advanced rescue robots have built-in prime motive power and others use the latest in artificial intelligence. This special issue brings to readers a dozen articles introducing the many and varied achievements by Japanese robotics researchers covering a wide range of rescue robots. With this field poised to enter the main stream, these robots are close to practical application, and knowledge of their capabilities is essential to those able to utilize this latest technology in their current and future re search. This issue is a must to all who are interested in exploring the new world of robot rescue.
Development of Four-Crawler Multilink Mobile Robot MOIRA for Searching Debris
Authors: Osuka Koichi ,   Department of Systems Science, Kyoto University, Uji, Kyoto, 611-0011 Japan, Kitajima Hiroshi
Published: April 2016

Finding victims in disaster debris is the priority in search-and-rescue operations. Attempts to use robots and other mobile devices instead of humans involve such problems as 1) operating when pressed from 4 sides, 2) difficulty in continuing operation or becoming inoperable when overturned, and 3) robot size restricting mobility on uneven terrain. We developed a robot overcoming these problems and surveying debris too closely packed and/or dangerous for human workers to enter. MOIRA, a linked crawler consisting of 4 linked modules, each having crawlers on 4 sides enabling the robot to solve the above problems and improve navigation on uneven terrain. We discuss the linked crawler and its 4-crawler systemuse and qualitatively demonstrate its feasibility. From experiments on operational performance, we quantitatively evaluated its feasibility.
A Novel Mobile Microrobot Fin for In-Pipe Inspection
Authors: Guo Shuxiang ,   Dept. of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, 761-0396, Japan, Sasaki Yasuhiro , Fukuda Toshio ,   Department of Micro System Engineering Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

Development of a microrobot fin for in-pipe inspection, that is, flexible, driven wirelessly, having good response, and being safe, is described. The microrobot uses an electromagnetic actuator as the servo actuator to realize movement. The structure, motion mechanism, and evaluation of a driving fin are discussed. The fin driven by a permanent magnet is controlled by frequency adjustment of an alternate magnetic field. Microrobot speed is measured by changing the frequency of input current from 5 Hz to 300 Hz. Experimental results showed that a maximum speed of 42 mm/s is possible. The microrobot is compact, responds quickly, it can correspond to the dirt adhering to the inner wall, or long distance movement, and running speed control can be easily performed by changing frequency. It is useful for in-pipe inspection in industrial application and for minimally invasive microsurgery.
Neural Networks for Redundant Robot Manipulators Control with Obstacles Avoidance
Authors: Daachi B. ,   Laboratoire d’Informatique Industrielle et d’Automatique, 122, rue Paul Armangot, 94400 Vitry sur Seine, France, Benallegue A. , Madani T. , Daachi M. E. ,   Laboratoire de Robotique de Versailles, 10-12, avenue de l’Europe, 78140 Velizy, France,   Universite Ferhat Abbas, 9000 Setif, Algeria
Published: April 2016

In this paper, neural networks of MLP type are used to control constrained redundant robot manipulators with obstacles. The proposed controller is determined using extended Cartesian space to minimise the joint displacements and to avoid obstacles. The neural networks have been used to approximate separately, the functions of the dynamic model of the robot manipulator expressed in the Cartesian space. The adaptation laws weights of each neural network, are obtained via stability study in Lyapunov sense of the system in closed loop. The performances of the proposed control approach are tested on a 3-degree of freedom robot manipulators involving in the vertical space.
Discrimination of Vascular Conditions Using a Probabilistic Neural Network
Authors: Sakane Akira ,   Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Tsuji Toshio , Saeki Noboru , Kawamoto Masashi ,   Graduate School of Biomedical Sciences, Hiroshima University, 1-2-3 Kasumi, Minami-ku, Hiroshima 734-8551, Japan
Published: April 2016

This paper proposes a new method to discriminate vascular conditions from changes of biological signals and arterial wall impedance using a neural network. Since strong individual differences cause difficulty in discriminating the vascular conditions, we introduce an impedance ratio of the arterial wall and attempt to discriminate the vascular conditions during surgical operations. From experimental results, it is shown that various stimulations during operations cause changes in the impedance parameters of the arterial wall, and vascular conditions such as vasodilation, vasoconstriction, and shock can be discriminated accurately using the proposed method. This method will be useful for monitoring the vascular conditions during operations.
Four-Wheeled Hopping Robot with Attitude Control
Authors: Shimoda Shingo ,   The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kubota Takashi , Nakatani Ichiro ,   The Institute of Space and Astronautical Science, 3-1-1 Yoshinodai, Sagamihara-shi, Kanagawa 229-8510, Japan
Published: April 2016

Because a hopping robot moves long distances at minimum energy and can observe its surrounding from high points when it jumps, it is expected to explore microgravity environments effectively. Despite the importance of attitude control in such exploratory robots, few attitude control mechanisms have been proposed. This paper proposes a four-wheeled hopping robot that hops horizontally and lands without bouncing. Its wheels are applied to attitude control in the air. A simulation study and free-fall experiments verified the feasibility of the proposed mobility and the applicability of the robot.