bluuebunny/crossref_metadata_2025 huggingface dataset:
A Progressively Advancing Curriculum for Robotics Education – The Case of Toin University of Yokohama –
Authors: Hayashibara Yasuo ,   Toin University of Yokohama, 1614 Kurogane-cho, Aoba-ku, Yokohama, Kanagawa 225-8502, Japan, Agui Takeshi , Ito Takahiro , Ohaba Motoyoshi , Koyanagi Eiji , Sekine Toshiharu , Takeuchi Masaaki , Kudo Seishi
Published: April 2016

We detail an educational program implemented at Toin University of Yokohama in which lab and workshop courses on automated mechanics, from basics to applications, are offered consecutively during the first three undergraduate years. Engineering is a discipline concerned with practical real-world problems, but students rarely have the chance to gain enough practical experience to effectively understanding engineering. At our department, first- to third-year students may take several hands-on courses for fabricating machines – first-year students build an automatic mobile machine, second-year students write computer programs to control the position of a robot, and some third-year students design and fabricate an entire robot from the bottom up. An elective course on robot fabrication enables students to choose individual theme. Students experience failures and discover better ways by trial and error through these processes.
Thermal Tactile Presentation Based on Prediction of Contact Temperature
Authors: Yamamoto Akio ,   Department of Precision Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Yamamoto Hiroaki , Cros Benjamin , Hashimoto Hironori , Higuchi Toshiro ,   Hitachi Co., Ltd., Japan
Published: April 2016

The thermal sensation corresponding to the touching of an object is one of the most important factors in material recognition. In virtual reality or tele-operation systems, thermal display functions should be embedded in order to obtain satisfactory realism. Since our skin sensors are sensitive to rapid changes in temperature, thermal sensations are thought to arise mainly from the rapid temperature decrease that occurs at the moment of contact between our fingers and an object. Based on this consideration, the present paper proposes a new control method for thermal tactile display to simulate the temperature decrease at the moment of contact. The proposed method controls a thermal tactile display based on the prediction of contact temperature, so that the correct temperature decrease can be produced at the fingertip surface. In addition, we herein report an additional method by which to optimize the thermal rendering for individual subjects. In the optimization, the thermal property of each subject is estimated immediately prior to thermal presentation. The experimental results reveal that the tendency of material discrimination for the thermal tactile display is similar to that for real objects, indicating the validity of the proposed method.
Electromechanical Conversion Mechanism of a Tactile Sensor Using Carbon Micro Coil Inside an Elastic Material
Authors: Homma Masato ,   School of Integrated Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan, Morita Hiroshi , Maeno Takashi , Konyo Masashi , Motojima Seiji ,   Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai 980-8579, Japan,   Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Published: April 2016

Carbon Micro Coil (CMC) tactile sensor, containing CMCs in elastic component, is considered to have LCR circuit. When the sensor is transformed by mechanical force, LCR circuit changes. In consequence, the sensor is considered to be able to detect various kind of tactile information by measuring impedance. In this paper, we focused on LCR circuit formed by distribution of CMCs. By changing CMC weight percent, we made the sensors that CMCs are in contact and not in contact. When the sensor is under unloaded condition, we measured the relationship between frequency of alternating voltage and impedance. As the result, we found that electrical parameters change with CMC weight percent. When the sensor is under transformed condition, we measured relationship between thrust displacement and impedance. As the result, we found that impedance changes by deformation of CMC and change in distance between CMCs.
Development of Robotic Forceps for Laparoscopic Surgery
Authors: Jinno Makoto ,   Corporate R&D Center, Toshiba Corporation, 1 Komukai Toshiba-cho, Saiwai-ku, Kawasaki 212-8582, Japan, Sunaoshi Takamitsu , Miyagawa Toyomi , Hato Takehiro , Matsuhira Nobuto , Morikawa Yasuhide , Ozawa Soji , Kitajima Masaki ,   School of Medicine, Keio University
Published: April 2016

Minimally invasive surgery accelerates postoperative recovery, but can only be applied by surgeons having advanced conduct skills. We developed a master-slave manipulator, i.e., robotic forceps for laparoscopic surgery that enhances surgical skill. Robotic forceps consists of a master-slave manipulator, a support component, a controller, an operating conditions display, and a foot switch for changing operating conditions. This paper details specifications and components of robotic forceps and evaluates conductance, such as measurement of the slave hand’s grip and suturing and ligaturing, conducted on a sponge stomach model. A comparison of support function in experiments demonstrates their effectiveness.
Micro Manipulator and Forceps Navigation for Endoscopic Fetal Surgery
Authors: Harada Kanako ,   Waseda University, Iwase Kentaro , Tsubouchi Kota , Kishi Kousuke , Nakamura Tetsuya , Chiba Toshio , Fujie Masakatsu G. ,   Department of Strategic Medicine, National Center for Child Health and Development,   Mechanical Engineering Research Laboratory, Hitachi, Ltd.,   PENTAX Corporation
Published: April 2016

In this report, we propose newly devised surgical assistance for endoscopic fetal surgery using a micro manipulator and a new forceps navigation system. For this purpose, we fabricated a prototype of a micro manipulator 2.4mm in diameter. The manipulator on which a laser fiber is mounted bends in any direction using ball joints driven by four wires. We also developed a forceps navigation system in which computer graphics can indicate forceps positions even when they stay outside the endoscopic view. This navigation is expected to make endoscopic surgery much more feasible.
New Biped Foot System Adaptable to Uneven Terrain
Authors: Hashimoto Kenji ,   Department of Mechanical Engineering, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan, Sugahara Yusuke , Lim Hun-ok , Takanishi Atsuo ,   Department of Mechanical Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama-shi, Kanagawa 221-8686, Japan,   Humanoid Robotics Institute (HRI), Waseda University, 17-41-2-04A Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Published: April 2016

Many types of control have been studied assuming that soles of a biped robot’s feet contact the ground at four points. The rigid, flat soles of most such robots rarely maintain four-point contact on uneven terrain, however, and may lose balance. Solving this problem requires that both control and the foot itself be studied. We developed a new foot system, Waseda Shoes - No.1 (WS-1) to maintain four-point contact on uneven terrain, followed by Waseda Shoes - No.1 Refined (WS-1R), which solved problems with WS-1. Hardware experiment confirmed WS-1R feasibility.
Water-Rescue Robot Vehicle with Variably Configured Segmented Wheels
Authors: Okada Hironao ,   Graduate School of Science and Technology, Ryukoku University, 1-5 Yokoya, Seta Oe-cho, Ohtsu, Shiga 520-2194, Japan, Iwamoto Taro , Shibuya Koji ,   Department of Mechanical and Systems Engineering, Faculty of Science and Technology, Ryukoku University
Published: April 2016

The highly maneuverable water-rescue robot vehicle we propose has variably configured segmented wheels (VCSW) that propel it over rough or muddy terrain, on water, or even underwater. The VCSW consist of six segments, a hub and spokes, and a drive wheel. The ends of segments are supported by the drive wheel and are pushed and towed by the spokes and eccentric hub based on wheel rotation. The direction and maximum deployment of segments are controlled by an eccentric vector of the hub, which is controlled by the combination of rotational angles of duplicate eccentric shafts. This motion catches on a slippery surface, e.g., a wet road, and produces a strong thrust on and under water. Under water, the vehicle must control forward and reverse speed, direction, depth, and inclination. The newly designed semiautomatic control automatically controls depth and inclination via the feedback of pressure and inclination information, and speed and direction are controlled manually by joysticks. Data required for control is acquired, calculated, and converted by a computer to rotation speed and eccentric vectors for each VCSW.
Development of Rockfall Prevention Net Climbing Robot Using a Quadric Chain
Authors: Kajiwara Hidekazu ,   Kushiro National College of Technology, Nishi 2-32-1, Otanoshike, Kushiro, Hokkaido 084-0916, Japan, Arai Makoto , Noguchi Takafumi , Nakamura Takashi
Published: April 2016

We developed a robot that moves freely over rockfall prevention nets along national roads in Hokkaido. We start by discussing functions required of robots for rock mass investigation. We propose two robots - a climbing robot that climbs to install wires on rockfall prevention nets and an investigation robot that uses these wires to move to the investigation locations to be checked. We then introduce our climbing robot (prototype V), which uses a quadric chain driven by a single motor to climb rockfall prevention nets at 5m/min.
Development of Quadruped Walking Robot TITAN XI for Steep Slopes - Slope Map Generation and Map Information Application -
Authors: Doi Takahiro ,   School of Life System Science and Technology, Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota city, Aichi 470-0393, Japan, Hodoshima Ryuichi , Fukuda Yasushi , Hirose Shigeo , Okamoto Toshihito , Mori Junichi ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology,   Department of Mechanical Systems, Faculty of Engineering, Tamagawa University,   Taisho Kensetu Corporation
Published: April 2016

We discuss the generation of maps of steep slopes covered with concrete frames and map information application for a quadruped walking robot, TITAN XI. Suspended by a pair of tethers, the robot requires map information of the environment, localization for walking and tether control for weight compensation. After introducing TITAN XI, we propose map generation using Topcon’s Total Station range-finder, robot self localization, and weight compensation by tether control based on map information using one Total Station. We conclude with a review of the results of walking experiments on an undulated slope using TITAN XI.
Robot Platform Architecture for Information Sharing and Collaboration Among Multiple Networked Robots
Authors: Tezuka Hirohisa ,   Human Interaction Project, NTT Cyber Solutions Laboratories, Katafuchi Norifumi , Nakamura Yukihiro , Machino Tamotsu , Nanjo Yoshito , Iwaki Satoshi , Shimokura Ken-ichiro ,   3-9-11 Midori-cho, Musashino-shi, Tokyo, Japan,   1-1 Hikarinooka, Yokosuka-shi, Kanagawa, Japan
Published: April 2016

We present a framework for creating an open platform where a variety of robots collaborate via communication networks to provide us with our daily life support. We describe the architecture of the network robot platform, which consists of a connection unit to connect robots to the platform, an area management gateway to manage multiple robot resources, and a robot-user interaction database to share user, robot, and service information, to provide advanced services through multiple robot collaboration. We confirmed its functions using an announcement service as an example of application on the platform.
Non-Dimensional Analysis Based Design on Tracing Type Legged Robots
Authors: Higashimori Mitsuru ,   Graduate School of Engineering, Hiroshima University, 4-1 Kagamiyama 1-Chome, Higashi-Hiroshima 739-8527, Japan, Ishii Idaku , Kaneko Makoto
Published: April 2016

We discuss the optimum design issue for tracing type legged robots in the sense that it can jump as high as possible. By applying dimensional analysis techniques, we introduce four non-dimensional parameters that control the jump ratio (=h/l ) for a tracing type jumping robot. An interesting observation is that there exists the optimum design point where the jump ratio becomes maximum. Through experiments, we found that the robot with the optimum design specification can achieve the jump ratio of 3.6, while the jump ratio decreases for other design points. This paper is the full translation from the transactions of JSME Series C, Vol.71, No.704, 2005.
Special Issue on Haptics: Interfaces, Applications, and Perception
Authors: Kawasaki Haruhisa ,   Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Halabi Osama ,   Iwate University, 4-3-5 Ueda, Morioka 020-8551, Japan
Published: April 2016

The last decade has seen significant advances in research on haptics and haptic interfaces. Device performance has improved, and the many commercial devices now available at reasonable prices indicate how haptic research will grow and new applications involving haptics will touch all aspects of daily life. Sophisticated systems require research beyond physical devices, such as modeling the physical properties of virtual objects, human physiology, and haptic evaluation. This special issue focuses on state-of-the-art design and development of haptic interfaces and explores potential applications of this technology and related issues such as tactile display, haptic rendering, physiology, and evaluation methodologies. The 15 papers were selected after a rigorous peer review from around the world and include diverse topics such as haptic device design and technology, tactile display and tactile sensing, collaborative multiuser haptic environments, haptic cognition, haptic rendering, tele-existence and multimodal interaction, and medical and rehabilitation applications. We thank the Editorial Board of JRM Journal for making this special issue possible. We also thank the authors for contributing their fine work and revising their papers for this issue, and extend our thanks and appreciation to the reviewers for their constructive comments and suggestions.
Transparent Tactile Switch for Touch Screen Interface
Authors: Arai Fumihito ,   Dept. of Bioengineering and Robotics, Tohoku University, 6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan, Iwata Naoya , Fukuda Toshio ,   Dept. of Micro-Nano Systems Engineering, Nagoya University, 1 Furo-cho, Chikusa, Nagoya 464-8603, Japan
Published: April 2016

We designed and fabricated a transparent switch using silicone elastomer to create a tactile “click” on a generic touch screen. We ensured good visibility by introducing a solvent having the same reflective index as silicone in the gap between the cover and display. The “click,” produced by buckling, was evaluated quantitatively by measuring its keystroke and reaction on the key top. To enhance the click, we used a hard transparent plate on the silicone. We implemented the switch on a life supporting robot as a human-machine interface.
Development of 2-DOF Haptic Device Driven Directly by Shaft Motors
Authors: Ogawa Hironori ,   Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan, Shimojo Makoto
Published: April 2016

Human beings acquire information such as surface conditions, hardness, temperature, and smoothness through feel. The texture of materials and other tactile sensations greatly affect tactile perception such as feelings of comfort and discomfort. We developed a haptic device using direct drive by shaft motors capable of simultaneous horizontal and vertical direct drive. This enables texture to be presented realistically. We introduce the structure and features of the haptic device and present basic experiments verifying its feasibility.
Development of Directional Display Using Forearm Twisting and Human Navigation Experiments
Authors: Sakaguchi Masamichi ,   Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan, Kanuka Utako , Shimachi Shigeyuki , Hashimoto Akira ,   Department of Mechanical Engineering, Iwate University, 4-3-5 Ueda, Morioka, Iwate 020-8551, Japan
Published: April 2016

Advances in sensors, computers, and telecommunications enable us to accurately determine our location and direction in real time when walking. The development of man-machine interfaces that effectively transmit data to the user on position and direction obtained using sensors and computers remains a challenge. Image and voice transmit large amounts of complex information quickly, but distract the user’s attention when images or voice must be interpreted while walking. Users can also acquire information by touching rotating or vibrating objects, although these transmit comparatively little information at a time to user. The tradeoff is that they are intuitive and easy to understand. Hence we consider them suitable for information transmission in walking. Inspired by the seeing-eye dog harness, we conducted direction and walking guidance control by showing twist to the user’s forearm via wearable rotating handle. We outline the development of direction-indicators using forearm twisting, and conduct recognition experiments on this motion. We then propose a feedback control method for directional guidance, and conduct directional guidance experiments. We verify the effectiveness of our proposal in walking navigation control experiments – an application of directional guidance control – and compare it to walking guidance control using a vibrating sensor.
Rigidity Distribution Rendering for a Tool-Handling Type Haptic Interface
Authors: Yano Hiroaki ,   University of Tsukuba, 1-1-1 Tennoudai, Tsukuba-shi, Ibaraki 305-8573, Japan, Nudejima Masaki , Tomiyoshi Masaki , Iwata Hiroo ,   Fuji Xerox Printing Systems Co., Ltd., 3-7-1 Funai, Iwatsuki-ku, Saitama-shi, Saitama 339-8509, Japan
Published: April 2016

We discuss haptic rendering for the perception of rigidity distribution using a tool-handing type haptic interface and a surface type haptic interface. Since rigidity distribution data differs from cardinal number data measured with Computed Tomography (CT) or Magnetic Resonance Imaging (MRI), we perceive rigidity only when we deform it. We developed rigidity data mapping, gradient mapping, torque mapping, viscosity mapping, and a spring model and applied them to tasks for perceiving rigidity distribution, confirming that our data mapping is effective for rigidity distribution perception.
Multiaxis Capacitive Force Sensor and its Measurement Principle Using Neural Networks
Authors: Aoyagi Seiji ,   Department of Systems Management Engineering, Faculty of Engineering, Kansai University, 3-3-35 Yamate-cho, Suita, Osaka 564-8680, Japan, Kawanishi Masaru , Yoshikawa Daiichiro
Published: April 2016

We propose a multiaxis capacitive force sensor consisting of one movable upper electrode on a plate and fixed lower electrodes on a substrate. The plate moves both vertically and horizontally when force is applied, and capacitance between upper and lower electrodes changes. This sensor uses the main electrical field between two directly facing electrodes and the fringe electrical field between diagonally opposed electrodes, making capacitance difficult to analyze. We simulated changes in nonlinear capacitance based on the upper electrode’s movement using the finite element method (FEM) and proved that capacitance is a function of the upper electrode’s displacement. We used a neural network to calculate the upper electrode’s displacement from capacitance. The neural network operates appropriately and calculated displacement error is within 0.5% of the full range. We proposed fabricating a practical force sensor consisting of planar capacitors making it compatible with surface micromachining and not requiring 3-D bulk micromachining, which simplifies fabrication, making it economical.
A Study of Perceptual Performance in Haptic Virtual Environments
Authors: O’Malley Marcia K. ,   Mechanical Engineering and Materials Science, Rice University, 6100 Main Street, MEMS - MS 321, Houston, TX 77005-1892, USA, Upperman Gina
Published: April 2016

The performance levels of human subjects in size identification and size discrimination experiments in both real and virtual environments are presented. The virtual environments are displayed with a PHANToM desktop three degree-of-freedom haptic interface. Results indicate that performance of the size identification and size discrimination tasks in the virtual environment is comparable to that in the real environment, implying that the haptic device does a good job of simulating reality for these tasks. Additionally, performance in the virtual environment was measured at below maximum machine performance levels for two machine parameters. The tabulated scores for the perception tasks in a sub-optimal virtual environment were found to be comparable to that in the real environment, supporting previous claims that haptic interface hardware may be able to convey, for these perceptual tasks, sufficient perceptual information to the user with relatively low levels of machine quality in terms of the following parameters: maximum endpoint force and maximum virtual surface stiffness. Results are comparable to those found for similar experiments conducted with other haptic interface hardware, further supporting this claim. Finally, it was found that varying maximum output force and virtual surface stiffness simultaneously does not have a compounding effect that significantly affects performance for size discrimination tasks.
Loose Guide for Passive Omnidirectional Mobility Aid
Authors: Nejatbakhsh Naemeh ,   Sonic/Automation Discipline, Schlumberger K. K., 2-2-1 Fuchinobe, Sagamihara 229-0006, Japan, Kosuge Kazuhiro ,   Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University, 6-6-01 Aobayama, Sendai 980-8579, Japan
Published: April 2016

This paper details the design and control of an intelligent mobility aid for the elderly and gait-disabled, called Omni RT Walker (ORTW). Omni RT Walker-II, version 2 of ORTW, consists of an omnidirectional platform and uses magneto-rheological brakes for passive control. ORTW-II enables the elderly to use the driving skills they possess while supplementing movement that may have declined due to their age or fatigue. We choose indoor navigation as the task to be realized by shared control of ORTW-II. Unlike most path tracking methods, which attempt to lead an objective system on a desired trajectory, our new algorithm restricts mobility to a pathway called thePotential Canal, while mobility is conducted by the user. In systems with direct human interaction similar to mobility aids, our proposal is expected to increase user-dependability in system operation while increasing user freedom and safety. A collision-free Potential Canal is maintained using realtime modification based on environmental information. Experimental results are included to demonstrate path tracking accuracy and quality.
Program Development Environment for Multiple Robot-Multiple Application System
Authors: Kyousou Tsukasa ,   Graduate school of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Aiyama Yasumichi
Published: April 2016

We propose and develop an application development environment for a robot with components such as multiple manipulators and hands. Each component is treated as a module to build the robot efficiently, easy application development targets robot diversity. The mechanism we propose manages modules and work space, enabling easy cooperative programming and efficient robot operation. To ensure application safety, we implemented the prior confirmation of robot operation and the avoidance of execution conflict.
Gain Scheduling Controller Design for Two-Rotor Hovering System and its Experimental Verification
Authors: Yamashita Makoto ,   Morita Corporation, 1-11-1 Akashiadai, Sanda, Hyogo 180, Japan, Saeki Masami , Wada Nobutaka , Masubuchi Izumi ,   Department of Mechanical System Engineering, Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
Published: April 2016

We propose two design methods of a gain scheduling controller for flight control of two-rotor hovering system. We first propose a method of converting whole dynamics of the hovering system to a linear parameter-varying (LPV) system at once. Secondly, we propose a method of linearizing longitudinal dynamics of the system exactly and converting remaining dynamics to an LPV system. In both cases, the state feedback gain scheduling controller is designed for the obtained LPV system by solving a convex optimization problem with linear matrix inequality (LMI) constraints. Experimental results show the effectiveness of the proposed methods.
Impedance Control of Free-Flying Space Robot for Orbital Servicing
Authors: Nakanishi Hiroki ,   Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan, Yoshida Kazuya
Published: April 2016

One of the most important phases of orbital servicing by a space robot is capturing a target satellite. In this phase, there is the risk that contact will push the target and robot away from each other. Controlling the impedance of the manipulator effectively prevents this. For a free-flying space robot, however, conventional methods used for fixed base robots cannot be used because the motion of the base interferes with the manipulator motion. An impedance control method for a space manipulator arm is proposed, where the end tip of the manipulator is controlled as if a mass-damper-spring system fixed in inertial space. Possible applications in orbital servicing are also discussed.
Estimation of Bounded Model Uncertainties
Authors: Adrot Olivier ,   Laboratoire d’Automatique de Grenoble - UMR 5528, ENSIEG, BP 46, 38402 St Martin d’Hères Cedex, France, Flaus Jean-Marie , Ragot José ,   Centre de Recherche en Automatique de Nancy - UMR 7039, ENSEM, 2, avenue de la Forêt de Haye, 54516 Vandœuvre-lès-Nancy Cedex, France
Published: April 2016

We identify parameters of a given input-output model so that estimated model output is consistent with the measured output of the system modeled. Parameter estimation based on a set-membership approach is a nonprobabilistic method for characterizing the uncertainty with which each model parameter is known. The model is consistent with data if the estimated output domain contains measured system output at each instant. Dynamic linear Multi-Input Multi-Output (MIMO) models are considered in this paper. Every equation error is bounded while model parameters fluctuate within a time-invariant domain represented by a zonotope. Our proposal helps find the characteristics of this domain, e.g., center, shape, size, by taking into account coupling between bounded variables of output equations to increase model accuracy.
Time-Series Forecasting Using Fuzzy-Neural System with Evolutionary Rule Base
Authors: Thammano Arit ,   Computational Intelligence Laboratory, Faculty of Information Technology, King Mongkut’s Institute of Technology Ladkrabang, Ladkrabang, Bangkok 10520, Thailand, Palahan Sirinda ,   School of Science, University of the Thai Chamber of Commerce, 126/1 Vibhavadee-Rangsit Road, Dindaeng, Bangkok 10400, Thailand
Published: April 2016

This paper proposes a new hybrid time-series forecasting system which is the fusion of fuzzy systems and artificial neural networks. The proposed fuzzy-neural system consists of 5 layers: an input layer, fuzzification layer, rule layer, hidden layer, and output layer. The artificial neural network is used as the fuzzy inference engine and the genetic algorithm is used to optimize the fuzzy rule base. This proposed system was tested with 20 time-series datasets. The results obtained were very encouraging.
Special Issue on Optomechatronics
Authors: Kaneko Shun'ichi ,   Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan, Cho Hyungsuck , Umeda Kazunori , Tanaka Takayuki ,   Korea Advanced Institute of Science and Technology, 373-1, Guseong-dong, Yuseong-dong, Daejeon, Korea,   Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
Published: April 2016

Many researchers in optomechatronics face the globalization of technologies they developed and implemented on production lines such as optical lithography, fiber optics, optical sensors and communication, micro/nano-optical engineering, intelligent and smart technologies, machine vision, optics-based control, visual servoing, vision-based control, microrobotics, and optics-based navigation and sensing. Optomechatronics is an active research field in which many types of optical technologies are combined with mechatronics, including mechanisms, electronics, and information technologies. Optomechatronics thus develops new technical, smart, embedded functions and systems for very broad applications. We have organized several international conferences for optomechatronics and optomechatronic systems sponsored by SPIE during this decade. At Sapporo in 2005, the SPIE international symposium on optomechatronic systems, ISOT2005, was held as a joint symposium of five conferences: actuators and manipulation, sensors and instrumentation, micro/nano-devices and components, machine vision, and systems control. The organization attracted 174 papers from around the world, and provided a fruitful forum for discussions on the status and future issues in optomechatronics. This special issue was planned partly to include many of the qualified papers presented at the symposium and to promote other researchers in peripheral fields of optomechatronics to submit their research to encourage researchers interested in it to develop systems and technologies more skilled, smarter, and more robust in the real-world environment. We thank the authors for their invaluable contributions and the reviewers for their valuable time and effort.
Actuators Based on Photomechanical Polymer
Authors: Huey LaQuieta ,   Department of Physics, Alabama Agricultural and Mechanical University, Normal, Alabama 35762, USA, Sarkisov Sergey S. , Curley Michael J. , Adamovsky Grigory ,   SSS Optical Technologies, LLC, Huntsville, Alabama 35816, USA,   NASA Glenn Research Center, Cleveland, Ohio 44135, USA
Published: April 2016

New light-driven actuators based on films of polymer polyvinylidene fluoride are described. The actuators employ the photomechanical bending of the polymer film caused by low power (10mW and less) laser radiation. The photomechanical effect combines various physical mechanisms, such as anisotropic thermal expansion, converse piezoelectric mechanism along with photovoltaic and pyroelectric ones, while the mechanism of thermal expansion is dominant for slow motion. Mechanical vibrations of the strips of the photomechanical polymer were observed with periodic pulsed laser excitation. The resonance frequency is inversely proportional to the square of the length of the strip, in full agreement with the theory. Resonance frequency measurements were used to determine the modulus of elasticity of the films, which was close to 3.0x109Pa. Two possible applications were discussed: photonic switch and adaptive mirror. The proposed actuators have a potential of being used as the components of future light-driven micro/nano systems.
Optical 3D Manipulation and Observation in Real-Time
Authors: Glückstad Jesper ,   Risø National Laboratory, Optics and Plasma Research Department, PO Box 49, DK-4000 Roskilde, Denmark, Rodrigo Peter John , Perch-Nielsen Ivan
Published: April 2016

Three-dimensional light structures can be created by modulating the spatial phase and polarization properties of the laser light. A particularly promising technique is the Generalized Phase Contrast (GPC) method invented and patented at Risø National Laboratory. Based on the combination of programmable spatial light modulator devices and an advanced graphical user-interface the GPC method enables real-time, interactive and arbitrary control over the dynamics and geometry of synthesized light patterns. Recent experiments have shown that GPC-driven micro-manipulation provides a unique technology platform for fully user-guided assembly of a plurality of particles in a plane, control of particle stacking along the beam axis, manipulation of multiple hollow beads, and the organization of living cells into three-dimensional colloidal structures. These demonstrations illustrate that GPC-driven micro-manipulation can be utilized not only for the improved synthesis of functional microstructures but also for non-contact and parallel actuation crucial for sophisticated opto- and micro-fluidic based lab-on-a-chip systems.
Development of a Multi-Ball-Cantilever AFM for Measuring Resist Surface
Authors: Liu Shujie ,   Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Nagasawa Shuichi , Takahashi Satoru , Takamasu Kiyoshi
Published: April 2016

Semiconductor processing must be fast and highly accurate when measuring the surface profile of soft thin films such as photoresists. We propose doing so using a multi-ball-cantilever AFM, which covers a wide area at high speed. Each cantilever has a ball stylus with a diameter that does not plastically deform measured surfaces. We studied resist profiles and the influence of the AFM stylus on the resist surface. To verify our proposal’s feasibility, we simulated the relationship of the indenter shape, size, and load and resist surface deformation using the finite element method (FEM). We discuss the influence of the AFM stylus based on the force-displacement curve. Experiments using the multi-ball-cantilever AFM confirmed its feasibility for measuring surface profiles highly accurately.
Particle Detection for 100-nm Patterned Wafers by Evanescent Light Illumination – Analysis of Evanescent Light Scattering Using Finite-Difference Time-Domain Method –
Authors: Yoshioka Toshie ,   Department of Mechanical Engineering and Systems, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan, Miyoshi Takashi , Takaya Yasuhiro
Published: April 2016

Patterned wafer inspection technique is essential to high productivity and reliability in high-yield semiconductor manufacturing. Since circuit features are below 100nm, conventional imaging and light scattering methods cannot be applied to patterned wafer inspection technique due to the diffraction limit and the low S/N ratio. We propose a new particle detection method using annular evanescent light illumination. In this method, a converging annular beam used as a light source is incident to a micro-hemispherical lens. When the converging angle is greater than the critical angle, annular evanescent light is generated on the bottom surface of the hemispherical lens. Evanescent light is localized near the bottom of the hemispherical lens and decays exponentially away from it, so the evanescent light selectively illuminates a particle on the patterned wafer surface because it cannot illuminate the patterned wafer surface. The proposed method evaluates a particle on a patterned wafer surface by detecting scattered evanescent light pattern from the particle. To analyze the fundamental properties of the proposed method, the computer simulation was performed using the finite-difference time-domain (FDTD) method. It is found that the proposed method is effective for detecting 100nm sized particle on a patterned wafer consisting of 100nm lines and spaces, when the evanescent light illumination is done using P-polarized light and line orientation parallel to the incident plane. Finally, the experimental results suggest that 220nm sized particle can be detected on a patterned wafer consisting of about 200nm lines and spaces.
Human and Object Detection in Smoke-Filled Space Using Millimeter-Wave Radar Based Measurement
Authors: Aoki Yoshimitsu ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo, Japan, Sakai Masaki
Published: April 2016

One of the greatest problems in rescue operations during fire disasters is the blocking of firefighters’ view by dense smoke. Assuming that a firefighter’s most important task is to understand the situation within a smoke-filled space. We developed a way to do so, starting by scanning space using millimeter-wave radar combined with a gyrosensor. To detect persons and objects, we constructed a 3D map from signal reflection datasets using 3D image processing. We detail our proposal and report results of measurement experiment in actual smoke-filled areas.
HM-ICP: Fast 3-D Registration Algorithm with Hierarchical and Region Selection Approach of M-ICP
Authors: Okuda Haruhisa ,   Advanced Technology R&D Center, Mitsubishi Electric Corp., 8-1-1 Tsukaguchi-Honmachi, Amagasaki, Hyogo 661-8661, Japan, Kitaaki Yasuo , Hashimoto Manabu , Kaneko Shun’ichi ,   Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan
Published: April 2016

This paper presents a novel fast and highly accurate 3-D registration algorithm. The ICP (Iterative Closest Point) algorithm converges all the 3-D data points of two data sets to the best-matching points with minimum evaluation values. This algorithm is in widespread use because it has good validity for many applications, but it extracts a heavy computational cost and is very sensitive to error. This is because it uses all the data points of two data sets and least mean square optimization. We previously proposed the M-ICP algorithm, which uses M-estimation to realize robustness against outlying gross noise with the original ICP algorithm. In this paper, we propose a novel algorithm called HM-ICP (Hierarchical M-ICP), which is an extension of the M-ICP that selects regions for matching and hierarchical searching of selected regions. This method selects regions by evaluating the variance of distance values in the target region, and homogeneous topological mapping. Some fundamental experiments using real data sets of 3-D measurement demonstrate the effectiveness of the proposed method, achieving a reduction of more than ten thousand times for computational costs. We also confirmed an error of less than 0.1% for the measurement distance.
Design of a Precision Linear-Rotary Positioning Actuator
Authors: Gao Wei ,   Nanosystems Engineering Laboratory, Department of Nanomechanics, Tohoku University, 6-6-01 Aramaki Aza Aoba, Sendai 980-8579, Japan, Sato Shinji , Sakurai Yasumasa , Kiyono Satoshi
Published: April 2016

We designed a prototype linear-rotary (Z-θ) dual-axis actuator for precision positioning in which an aluminum rotor (moving element) moves along and rotates around the axis (Z) of a ceramic cylinder (drive rod). The Z-θ actuator consists of a Z-piezoelectric actuator (Z-PZT) (maximum stroke: 12µm) for linear Z-motion, two θ-piezoelectric actuators (θ-PZTs) (maximum stroke: 9.1µm) for rotational θ-motion, a drive rod, and a rotor. θ-PZTs are attached to the drive rod via a clamp. The rotor’s inner side contacts the drive rod with a certain friction. Z-axis positioning uses a smooth impact drive to achieve a long stroke by applying periodic saw-toothed voltage to the Z-PZT. Sinusoidal voltage is applied to θ-PZTs for rotary positioning, not based on a smooth impact drive. The prototype actuator stroke along the Z-axis, limited by the drive rod length, is 10mm and rotary motion is unrestricted. Positioning resolution is a few nanometers and maximum speed in the Z-direction is approximately 2.4mm/s. The maximum revolution speed is 50rpm.
Rotational Speed Control by Optical PWM Operation for Single Cells
Authors: Yoshida Makoto ,   Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396, Japan, Ishimaru Ichirou , Ishizaki Katsumi , Yasokawa Toshiki , Inoue Yusuke ,   Fuji Xerox Corporation, 2-17-22 Akasaka, Minato-ku, Tokyo 107-0052, Japan
Published: April 2016

To rotating single cells, we harness light pressure generated by light absorption as a rotating torque, illuminating the two proximal points from different directions using two beams. Rotational speed is controlled by optical pulse width modulation (PWM) that controls the amount of light received per unit of time by controlling the time of illumination. To change the illumination time, the pencil of rays is scanned by a galvanometric mirror.
Novel Computed Tomography for Reconstructing Three-Dimensional Phase Contrast Images of Single Living Cells
Authors: Inoue Yusuke ,   Fuji Xerox Corporation, 2-17-22 Akasaka, Minato-ku, Tokyo 107-0052, Japan, Ishimaru Ichirou , Yasokawa Toshiki , Ishizaki Katsumi , Yoshida Makoto ,   Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa 761-0396, Japan
Published: April 2016

We proposed using spectroscopy-tomography of single cells as a diagnostic tool for improving early cancer detection and treatment. This technology potentially obtains the 3D distribution of cellular components at high spatial resolution. We used spectroscopy-tomography to generate and analyze a series of cross-sectional images of a borosilicate glass microsphere 10µm in diameter, easily determining the distribution of internal submicron defects in the microsphere. We also used this to estimate the 3-dimensional refractive index distribution in a single human breast cancer cell. The nucleus, which has a high refractive index, is clearly distinguishable.
Development of a Real-Time Tunable Spring - Toward Independent Control of Position and Stiffness of Joints -
Authors: Umedachi Takuya ,   Department of Electrical and Communication Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan, Yamada Yasutake , Ishiguro Akio ,   Logistic & Automation Division, Murata Machinery, Ltd., 2 Nakajima, Hashizume, Inuyama, Aichi 484-8502, Japan
Published: April 2016

Traditionally, robot control has been done typically by “highly precise control algorithms”: their joint angle trajectories are accurately determined at any time with vast amount of computation. This, however, causes serious problems, particularly in terms of adaptability and energy efficiency. On the other hand, an extreme approach has been gaining a lot of attention recently. A good instantiation is the passive dynamic walker, driven only by exploiting the intrinsic dynamics of its mechanical system. However, mechanical system is not everything as well as control system is not everything: “well-balanced” coupling between control and mechanical systems should be considered. In addition, the “meeting point” between the two systems should be varied according to the environment encountered. In light of these facts, this study particularly focuses on the stiffness of robots’ joints, since this strongly contributes to tuning the dominance relationship between control and mechanical systems. More specifically, the aim of this study is to develop a “Real-time tunable spring” that can smoothly change its elasticity without changing its natural length, allowing robot’s joints to change their position and stiffness independently.
Detecting Feature of Haptic Interaction Based on Distributed Tactile Sensor Network on Whole Body
Authors: Noda Tomoyuki ,   Pioneering Integrated Engineering, Osaka University, Miyashita Takahiro , Ishiguro Hiroshi , Kogure Kiyoshi , Hagita Norihiro ,   Intelligent Robotics and Communication Laboratories, ATR,   Asada Synergistic Intelligence Project, ERATO, JST,   Knowledge Science Laboratories, ATR
Published: April 2016

To extract information about users contacting robots physically, the distribution density of tactile sensor elements, the sampling rate, and the resolution all must be high, increasing the volume of tactile information. In the self-organized skin sensor network we propose for dealing with a large number of tactile sensors embedded throughout a humanoid robot, each network node having a processing unit is connected to tactile sensor elements and other nodes. By processing tactile information in the network based on the situation, individual nodes process and reduce information rapidly in high sampling. They also secure information transmission routes to the host PC using a data transmission protocol for self-organizing sensor networks. In this paper, we verify effectiveness of our proposal through sensor network emulation and basic experiments in spatiotemporal calculation of tactile information using prototype hardware. As an emulation result of the self-organized sensor network, routes to the host PC are secured at each node, and a tree-like network is constructed recursively with the node as a root. As the basic experiments, we describe an edge detection as data processing and extraction for haptic interaction. In conclusion, local information processing is effective for detecting features of haptic interaction.
Master-Slave Control for Construction Robot Teleoperation - Application of a Velocity Control with a Force Feedback Model -
Authors: Yamada Hironao ,   Department of Mechanical & Systems Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Ming-de Gong , Dingxuan Zhao ,   Virtual System Laboratory, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan,   College of Mechanical Science and Engineering, Jinlin University, No.142, Renmin Street, Changchun 130025, China
Published: April 2016

Remote-control robotics using bilateral control is useful in restoring damaged areas and in extreme environments such as space, the seabed, and deep underground. This study deals with a master-slave system for a tele-operated construction robot. The system consists of an excavator, the construction robot, and two joysticks for operating the robot from a remote place. A fork glove on the front of the excavator acts as a hand for grasping objects. The master and slave correspond, to the joysticks and the fork glove controlled by the operator. In remote control, the operator must feel force from feedback force from the fork glove realistically. We propose a force feedback model based on velocity control of a cylinder to determine external force acting on the fork glove. Specifically, the operator manipulates a joystick to control piston velocity. Based on a bilateral force feedback model with velocity control results for one degree-of-freedom experiments demonstrate that our proposal has good stability and transparency in grasping both flexible and rigid objects.
Range Measurement Using a Digital Camera Flash
Authors: Ogawa Naoya ,   Graduate School of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Umeda Kazunori ,   Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
Published: April 2016

Most methods for range measurement or three-dimensional shape reconstruction have required large equipment or a special environment. This paper proposes a method which obtains a range image easily in a general environment using only an off-the-shelf digital camera. Distance is calculated based on irradiance of scene lighted by the digital camera's flash using the fact that the intensity of reflected light of the flash is inversely proportional to the square of the distance from the object. Irradiance is obtained by subtracting an image without the flash from an image with the flash. The image without the flash is used to obtain the reflectance ratio at each pixel. The intensity of reflected light of the flash is affected by the inclination of object surface. A method to estimate the inclination at each pixel is proposed which uses the changes in the irradiance of adjacent pixels. Inclination is formulated as the function of the rate of change, and is calculated based on this rate, which is obtained easily from the image. Color information is obtained simultaneously because visible light is used. Assumptions in the method are that the object surface has no specular reflection and the flash is set at the center of the lens. Experiments show that a range image is obtained roughly and that appropriate distance is obtained for inclined surfaces.