bluuebunny/crossref_metadata_2025 huggingface dataset:
Grafting Robot
Authors: Kobayashi Ken ,   Biotechnology Engineering Laboratory, Bio-oriented Technology Research Advancement Institution (BRAIN), -Institute of Agricultural Machinery (IAM), 1-40-2, Nisshin-cho, Omiya, Saitama, 331-8537, Japan, Suzuki Masato , Sasaya Sadao ,   Department of Production and Envirionment Science, Faculty of Agriculture, Niigata University, 8050, Ikarashi-ninocho, Niigata 950-2181, Japan
Published: April 2016

An aging farm population, increase of plant purchases, and a shortage of skilled workers have made it necessary to automate grafting in Japan. Development of a grafting robot targeted efficient mass production of seedlings, especially cucumbers. After surveying current grafting, we designed a device for studying the mechanical functions of grafting based on grafting techniques and mechanical grafting technology. To improve functions, we developed an experimental model and two demonstration models. The grafting robot produced 815 plants/h (about 3 times manual grafting) at a success rate of 97.1%. To further automate the process, we devloped the grafting robot with an automatic seedling feeder. An improved demonstration grafting robot was marketed in 1993.
Special Issue on Assistive Device Technologies
Authors: Noritsugu Toshiro ,   Professor, Faculty of Engineering, Okayama University, 3-1-1,Tsushimanaka, Okayama 700-8530, Japan
Published: April 2016

Mechatronics is one of the most powerful technologies to overcome various industrial and social problems arising in the 21st century, for example, realization of the recycle manufacturing system, global consideration on the environment, development of human-oriented technology. The 3rd International Conference on Advanced Mechatronics (ICAM’98)-Innovative Mechatronics for the 21st Century hass been held in Okayama August 3-6, 1998, following the 1st and 2nd held in Tokyo in 1988 and 1993, sponsored by the Japan Society of Mechanical Engineers. The purpose of the conference is to promote the creation of new technologies and industries such as advanced robotics and human-oriented technology for the coming 21st century. Two plenary talks and 35 technical sessions including 11 specially organized sessions were opened. In technical sessions, a total of 149 papers was presented, of which 61 papers were in organized sessions and 88 papers in general sessions. Some 47 papers came from 17 countries abroad and 102 papers from Japan. A number of registered participants excluding invited guests was 40 from other countries and 163 from Japan. After the technical program, the Advanced Robotics and Mechatronics symposium was held for tutorial reviews of future robotics and mechatronics, mainly focusing on ""human collaboration"" technology. More than 100 persons attended the symposium. Organized sessions included Analysis and Control of Robot Manipulators, Modeling and Control of Nonholonomic Underactuated Systems, Human Perspective Characteristics and Virtual Reality, Robotic Hand Design Grasping and Dexterous Manipulation, Healthcare Robotics, Advanced Fluid Power Control Technology, Advanced Robot Kinematics, Human Directed Robotics, Computer Support for Mechatronics System Design, Robotic Control, and Motion Control of Special Motors. Robotics was a main subject, but fluid power technology, fundamental motion control technology, and so on were also discussed. “Human collaboration” technology dealing with interaction between humans and robots attracted great attention from many participants. General sessions included Manufacturing, Vision, Micro Machine, Electric Actuator, Human-Robot Interface, Processing Technology, Fluid Actuator, Legged Locomotion, Control Strategy, Soft-Computing, Vehicle, Automation for Agriculture, Robot Force Control, Vibration, and Robot Application. Many studies have been presented over comprehensive subjects. This special issue has been organized by editing the papers presented at ICAM’98 for widely distributing the significant results of the conference. I would like to thank the authors in this special issue who have contributed their updated papers. Also, I would like to thank to Prof. Makoto Kaneko (Hiroshima University), whose work has been indispensable in organizing this special issue.
Development of a Multi-Degree-of-Freedom Micromotion Device Consisting of Soft Gel Actuators
Authors: Tadokoro Satoshi ,   Department of Computer and Systems Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657 Japan, Yamagami Shinji , Kimura Tetsuya , Takamori Toshi , Oguro Kesuke ,   Osaka National Research Institute, AIST, MITI
Published: April 2016

A multi-degree-of-freedom micromotion device was developed using a soft high polymer gel actuator to realize softness in a micromanipulator. This paper describes why an ICPF actuator is suitable and introduces device structure and manufacturing. Experiments showed that this device can provide 2-dimensional dynamic micromanipulation at high speed. Joystick control by an operator demonstrated its applicability to micromanipulation.
Mechanism Design of Anthropomorphic Robot Hand: Gifu Hand I
Authors: Kawasaki Haruhisa ,   Department of Mechanical Systems and Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Komatsu Tsuneo
Published: April 2016

This paper presents an anthropomorphic robot hand Gifu Hand I, to be used as a platform of robot hand for the study of dexterous manipulation. To perform grasping and manipulation like a human, the Gifu Hand I includes five fingers whose actuators are servomotors built in the palm and fingers. A thumb has four degreeof-freedom (DOF) and four joints, and fingers have three DOF and four joints. Two axes of joints near the palm cross orthogonally at one point like the human hand. The design concept of the anthropomorphic robot hand is presented and mechanisms and specifications of the developed robot hand are shown.
Stability Analysis of Planar Grasp with 2D-Virtual Spring Model
Authors: Yamada Takayoshi ,   Department of Mechanical Engineering, Nagoya Institute of Technology, Gokiso, Showa, Nagoya 466-8555, Japan, Saha Sushanta Kumar , Mimura Nobuharu , Funahashi Yasuyuki ,   Department of Biocybernetics, Niigata University, Ninomachi, Igarachi, Niigata 950-2181, Japan
Published: April 2016

We analyze stability of planar grasp using a 2D virtual spring model. A 2D virtual spring model is widely used to explore frictionless grasp, but the direction of contact force has not been studied for a grasped object displaced by external disturbance. Finger displacement is restricted to the normal at initial contact. We introduce a 2D spring model for a frictionless case. The direction of contact force is explicitly formulated. Using potential energy, we analyze stability of frictionless grasp and show that the 1D-spring model is a special case of our proposed 2D-spring model. Frictional grasp stability is also studied using rolling contact. Numerical examples of 2-fingered grasp demonstrate the effects of parameters such as spring stiffness and contact force. It is shown that an optimum force exists for stabilizing frictionless grasp. It is proved that friction enhances grasp stability from the relationship between frictionless and frictional stiffness matrices. Stiffness conditions for stabilizing 3-fingered grasp is clarified.
Assembly Sequence Planning Using Inductive Learning
Authors: Murayama Takeshi ,   Department of Machine Design Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-hiroshima, Hiroshima 739-8527, Japan, Takemura Bungo , Oba Fuminori ,   Energy and Industrial Systems Center, Mitsubishi Electric Corporation, 6-14 Maruo-Machi, Nagasaki, 850-91, Japan
Published: April 2016

The authors propose acquiring heuristic rules automatically for generating assembly sequences efficiently. Heuristic rules are reduced from training examples by inductive learning. Additional training examples are made from information on assembly sequences and used for modifying heuristic rules. As the assembly sequence generation and modification of heuristic rules are executed more, heuristic rules are refined and assembly sequences are generated efficiently. An experiment demonstrated the effectiveness of the approach.
Fruit Harvesting Robotics
Authors: Kondo Naoshi ,   Laboratory of Agricultural Systems Engineering, Faculty of Agriculture, Okayama University, 1-1-1, Tsushima-Naka, Okayama 700-8530, Japan, Monta Mitsuji
Published: April 2016

Many robotics techniques have been applied in agriculture in Japan, including fruit harvesting robots for tomatoes, cherry tomatoes, cucumbers, strawberries, and grapes. Work at Okayama University has Involved manipulators, end-cffcctors, visual sensors, and traveling components based on biological objects to give robots robustness and flexbiliy. Horticultural approachcs such as selecting plant varieties and changing training systems adaptable to robot use arc needed, however. We studied components and functions for fruit-harvesting robots.
Modeling and Feedback Control for Vibratory Feeder of Electromagnetic Type
Authors: Doi Tomoharu ,   Osaka Prefectural College of Technology, 26-12 Saiwai-cho, Neyagawa, Osaka 572-8572, Japan, Yoshida Koji , Tamai Yutaka , Kono Katsuaki , Naito Kazufumi , Ono Toshiro ,   Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan,   Ishida Co., Ltd. 959-1 Shimomagari, Ritto-cho, Kurita-gun, Shiga 520-3026, Japan,   Osaka Prefectural University, 1-1 Gakuen-cho, Sakai, Osaka 599-8531 Japan
Published: April 2016

Modeling and Feedback Control for Electromagnetic Vibratory Feeder The electromagnetic vibratory feeder is a typical transport device used on production lines. Existing feeders are driven by feed-forward control, firing angle control of the driver cannot cancel sudden disturbances. We applied feedback control to such a feeder, proposing 2 detailed models – a dynamic model for a vibratory mechanical element useful to mechanical design and another for an electromagnetic actuating element. Taylor's expansion of these 2 models yields a linear dynamic model useful in feedback control theory. The feasibility of the model was confirmed through simulation. In a preliminary experiment, we applied PI control to the feeder because the driver is nonlinear, and results confirmed that PI control improves transport of the feeder.
Laser Detection and Fast Negotiation of Steps with Unknown Position and Height by a Variable-Structure-Type 4-Wheeled Robot
Authors: Kikkawa Takeshi ,   Hokkaido Industrial Reasearch Institute, N19, W11, Kita-ku, Sapporo 060-0819, Japan, Matsumoto Osamu , Tani Kazuo ,   Department of Robotics, Mechanical Engineering Laboratory, MITI, Namiki 1-2, Tsukuba, Ibaraki 305-8564, Japan,   Department of Information Science, Gifu University, Yanagido, Gifu 501-1193, Japan
Published: April 2016

We are developing a simple variable-structure-type 4-wheeled robot that maneuvers over steps, having enabled it to step dynamically over steps of known height and of unknown height within a known small range. We consider cdntrol enabling it to negotiate steps whose height and position are unknown by detecting step position and height using a laser range sensor. We propose in-process planning of a dynamic trajectory during an experiment, enabling the robot to quickly negotiate steps whose position and height are both unknown.
In-pipe Mobile Micromachine Using Fluid Power Adaptable to Pipe Diameters
Authors: Yoshida Kazuhiro ,   Precision and Intelligence Laboratory, Takahashi Ken , Yokota Shinichi ,   Graduate School, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan
Published: April 2016

To realize maintenance microrobots for low-diameter pipes of nuclear reactors and electric power plants requires high-power in-pipe mobile micromachines. We proposed a bellows microactuator using fluid power and applied actuators to in-pipe mobile micromachines. Previous papers have described mobile inchworm prototypes 25mm in diameter and travel performance. To miniaturize the in-pipe mobile machine and adapt it to pipe diameters, a support mechanism using a toggle and adaptable to pipe diameters was proposed and support force clarified. We proposed a simple rubber-tube microactuator constrained with a coil spring and described static features. We fabricated a mobile micromachine for pipes 4-5mm in diameter that traveled at 7mm/s both forward and backward.
New Fabrication of Multiple-Layer Microcoil Using Anodic Oxidized Aluminum
Authors: Muraki Kenichi ,   Yamaguchi University, 2-16-1 Tokiwadai, Ube, Yamaguchi 755-8611, Japan, Kuribayashi Katsutoshi
Published: April 2016

A multiple-layer microcoil is a promising candidate for micromagnetic sensors for probing cracks in pipes in power stations and plants. We proposed fabrication of multiple-layer microcoils combining Al anodic oxidation and photolithography, and conducted experiments with the following results: 1) Sputter-deposited Al was anodically oxidized and thickness of Al2O3 formed controlled by anodic-oxidation time. 2) A pattern with Al and Al2O3 was made by masking Al with photoresist to prevent anodic oxidation. 3) A multiple-layer Al and Al2O3 was fabricated by combining Al anodic oxidation and photolithography. 4) As these results shown, multiple-layer microcoils having both high inductance and low resistance were fabricated as proposed using a simple process and having a high potential application to smaller multiple-layer microcoils.
Robot Hand and Finger Motion Using EMG
Authors: Uchida Masafumi ,   Wakayama University, Tanaka Hisaya , Ide Hideto , Yokoyama Syuichi ,   College of Science and Engineering, Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157, Japan,   Kogakuin University
Published: April 2016

Concerning a measurement of finger motion with a view to controlling of a robot hand and an artifical arm, we studied how to distinguish a finger motion by EMG with a continuous motion. A distinction system is a neural network. However, a process in front of in front of input to neural network, so-called a pre-process, is important before everything in the extraction of a characteristic of EMG with each finger motion. In this study, as a result of the application of a principal component analysis by way of pre-process, we could find a characteristic in computed eigen vector. As a result of experiment of distinction between each fingers concerning a continuous motion of finger, we could confirm an effectiveness of a proposed system.
Design Methodology of Drive Guide for Crawl Stair Lift
Authors: Hashino Satoshi ,   Human Support Technology Division, Robotics Department, Mechanical Engineering Laboratory, Namiki 1-2, Tsukuba, lbaraki 305, Japan
Published: April 2016

Wheelchair users have been hindered from participating in society by obstacles such as indoor and outdoor steps and staircases, leading to the development of many stair lifts. We developed a ""crawl"" lift whose disk rotation was converted to linear motion using a drive guide. To confirm feasibility, we fabricated a prototype. The design methodology for the drive guide is presented here.
Computer Interface Developed for the Person with Disabled Upper Limb
Authors: Ochiai Tsumoru ,   Intelligent System Engineering, Ube National College of Technology, 2-14-1 Tokiwadai, Ube 755-8555, Japan, Fukuda Yoshio , Takami Osamu , Matsui Ryouji ,   Department of Mechanical Systems Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki 852-8521, Japan,   Electronics Division, Technology Center of Nagasaki Prefecture, 2-1303-8 Ikeda, Ohmura, Nagasaki 856-0026, Japan
Published: April 2016

For the physically disabled, computers offer convenient tools for communicating with others, operating equipment, and living a better life. We propose a computer interface for those disabled with upper limb disability that enables the user to move a cursor on a CRT using head movement detected by image processing. To ensure accurate image processing, the user wears glasses with 3 LED marks. Data on head movement is used to position the cursor on the CRT. Blinking of the user's eye corresponds to pressing of keys. Experiments confirmed system applicability.
Presentation of Assembly Condition and Subassembly Function Using Two Force Feedback Displays
Authors: Furusawa Ryoko ,   Faculty of Computer Science, Kyushu Institute of Technology, 680-4 Kawazu, Iizuka-shi, Fukuoka prefecture 820-8502, Japan, Tanaka Kazuaki , Abe Norihiro , Matsunaga Katsuya , Taki Hirokazu ,   Graduate School of Information Sciences and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581, Japan,   Department of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama City 640-8510, Japan
Published: April 2016

Assembling is one of the important factors in our daily life. The aim of assembling is to obtain a particular function from the subassembly which is generated by putting some parts together. This fact shows that assembling machine parts is possibily the most appropriate example to exeute. If we assemble some machine parts, we decide the positions by their shapes, and then, make sure both the state of parts by reaction force fed back to the hand when a part touches other parts and the behavior of the subassembly. In addition, it is advisable to use both hands for assembly. In this research, we constructed a virtual work space using a force display which gives us haptic sensation returned from not only assembling operation but collaboration with both hands.
Operation Supporting System of Tools in Virtual World
Authors: Annoura Kazuhiro ,   Department of Mechanical System Engineering, Faculty of Computer Science and System Engineering, Kyushu Institute of Technology, Abe Norihiro , Tanaka Kazuaki , Taki Hirokazu ,   Faculty of System Engineering, Wakayama University
Published: April 2016

Because tools in real world operate the object in order to attain a specific purpose, it is possible to forecast the movement to some extent. So action of hands to operate the tool to attain a purpose is measured beforehand and the data are stored in computer classified by the purpose. When operating the tool with virtual hand in virtual space, in the case that the system detects that the user is going to perform the operation defined for the tool, playback of the movement of the hand stored in the system enables the user to get operation feeling with more delicate reality.
Measuring Device for Large Piping Structures
Authors: Ichimura Kazuo ,   Nagasaki Shipyard & Machinery Works, Mitsubishi Heavy Industries Ltd., 1-1 Akunoura-machi, Nagasaki, Japan, Yui Kiyohide , Ishimatsu Takakazu ,   Department of Mechanical System Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki, Japan
Published: April 2016

The 3-D noncontact measuring device we developed for large piping structures consists of a 3-axis gantry robot and 3-axis rotation using a vision sensor consisting of a CCD camera and a slit laser. Center points of pipes are calculated by fitting ellipses to each section curves using the least squares method. We used this device to measure 3-D pipe structures. Tests verified device accuracy using ellipse fitting.
Three-D Measurement Using Laser Theodolite
Authors: Ichimura Kazuo ,   Nagasaki Shipyard & Machinery Works, Mitsubishi Heavy Industries Ltd., 1-1 Akunoura-machi, Nagasaki, Japan, Fujii Mitsuyoshi , Tasaki Youichi , Ishimatsu Takakazu ,   Department of Mechanical System Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki, Japan
Published: April 2016

Large structures are measured many ways. Meters providing high accuracy require jigs such as special targets. Targetless measurement usually provides low accuracy. Measurement using targets requires time at the work site for setting targets, which may require elevated spot work that is not always safe. We developed measurement incorporating laser theodolite and a CCD camera.
Modular Distributed Control Architecture for Cooperative Soccer-Playing Robot Agents
Authors: Yasuda Gen'ichi ,   Department of Mechanical Engineering, Nagasaki Institute of Applied Science, 536 Aba-machi, Nagasaki 851-0193, Japan
Published: April 2016

We describe the concept and implementation of modular distributed control architecture for cooperative soccer-playing robot agents. Overall complete autonomous control for robotic soccer consists of the host and several onboard control systems. Onboard control for an autonomous mobile robot with intelligent sensors and actuators is constructed on microcontrollerbased flexible, extendable architecture whose microcontrollers are dedicated to low-level control for navigation based on multiaxis and multisensor cooperation. Operations of autonomous actuators are integrated through a serial-bus communication network. Distributed implementation reduces difficulties in complex hardware and software design of the control system. We evaluated basic control executed on microcontrollers. The host conducts high-level decision-making and cooperative action planning for robot agents. The implementation of basic skills and strategies for robotic soccer is discussed.
Construction of Virtual Reality System for Arm Wrestling with Interactive Evolutional Computing
Authors: Kamohara Sinichi ,   Nagasaki Institute of Applied Science, Ichinose Yutaka , Takeda Takashi , Takagi Hideyuki ,   ATR Human Information Processing Research Laboratories,   Kyushu Institute of Design
Published: April 2016

We developed arm wrestling between users and virtual robots and are working on control rule acquisition. For control human-like rules, we use interactive evolutional computing (EC) in which control rules are interactively acquired by computer and control is calculated by the user arm wrestling with the robot. We evaluated arm wrestling with interactive EC and acquiring human-like rules during virtual arm wrestling.
Rehabilitation Support by Multiaxis Force Display
Authors: Kamohara Shinichi ,   Nagasaki Institute of Applied Science, 536 Aba-machi, Nagasaki 851-0193, Japan, Yamada Takashi , Ichinose Yutaka , Takeda Takashi , Takagi Hideyuki ,   Yuge National College of Maritime Technology, 1000 Shimoyuge, Yuge-cho Ochigun, Ehime 794-2593, Japan,   ATR Human Information Processing Research Laboratories, 2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto 619-0288, Japan,   Kyushu Institute of Design, 4-9-1 Shiobaru, Minami-ku, Fukuoka 815-8540, Japan
Published: April 2016

We developed a force display for artificial reality feeling and studied it for rehabilitation in virtual environments. Our previous force display moves on 2 axes and arm-wrestling and moves dumbbells. Only 2 axes limits movement and restricts rehabilitation and training. We made a force display with 5 axes for more complex training. We also made a smaller, lighterweight, multiaxis force display. We discuss the construction and applications of these 2 displays.
Special Issue on ROBOMEC'99
Authors: Yokoi Kazuhito ,   Senior Researcher, Mechanical Engineering Laboratory 1-2 Namiki, Tsukuba, Ibaraki 305-8564, Japan
Published: April 2016

This special issue is proposed in honor of the Journal of Robotics and Mechatronics authorized as the International Journal of the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers from 1999. The 1999 JSME Conference on Robotics and Mechatronics (ROBOMEC’99) was held in Tokyo, on June 11-13, 1999, sponsored by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers. The purpose of the conference was to aid establishment of new industries using advanced Robotics and Mechatronics technologies. In the technical sessions, 81 sessions were held and a total of 579 papers presented to 946 participants. This special issue has been organized by editing papers presented at ROBOMEC'99 to distribute the significant results of the conference. I thank the authors who have contributed their papers to this special issue and thank Editor in Chief Prof. Makoto Kaneko (Hiroshima University), who has been indispensable in organizing this special issue. I also thank the Editors for the selection of papers.
Development of an Omnidirectional Rolling Leg Mechanism for Application in a Locomotion Machine
Authors: Yamazaki Nobutoshi ,   Faculty of Science and Technology, Keio University, 3-14-1 Hiyosi, Kouhoku-ku, Yokohama 223-8522, Japan, Nishiie Takehiro
Published: April 2016

The wheelchair is a superior assistive apparatus in open and flat spaces; however, in Japanese style houses, the conventional wheelchair has several drawbacks, including difficulty in negotiating tight corners and moving over obstacles such as thresholds, as well as damage to delicate surfaces such as Tatami mats. Therefore, we developed a new six-legged mobility assisting machine. The individual legs are designed to have a semi-circular arced sole, which can be made to roll like a wheel in the stance phase using a cam and crank mechanism. Therefore, the machine can move efficiently without vertical sway and can pass over step-like obstacles twice as high as those that can be passed over in a wheelchair having wheels with the same radius of curvature. Furthermore, the machine can move in any direction while keeping the passenger facing in the same direction. This is accomplished by simultaneously rotating all six legs around their respective vertical axes at the sole contact point. A 2/3-scale prototype machine (hexagon side: 232mm, height: 222mm, leg length: 100mm, and total weight: 8kg) produced smooth movement. The prototype has a velocity of 2.7m/min and a turning speed of 90degree/sec and has a passable step height of 13mm. The machine is easy to control because it is driven by only two motors: one for propulsion and one for turning.
Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics
Authors: Itoh Tomotaka ,   Dept. of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku Hamatsu, Shizuoka, 432-8561 Japan, Ando Akitaka , Omura Fumiyoshi , Matsui Takashi , Kosuge Kazuhiro , Fukuda Toshio ,   Nagoya Machinery Works, Mitsubishi Heavy Industries Ltd. Takamich-1, Iwatsuka-cho Nakamura-ku Nagoya, 453-8515 Japan,   Dept. of Machine Intelligence and Systems Eng. Aramaki-Aoba Aobaku Sendai, 980-8579 Japan,   Center for Cooperative Research in Advanced Science and Technology Furou-cho, Chigusa-ku Nagoya, 464-8603 Japan
Published: April 2016

This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm, the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.
Walking Microrobot Mechanism with an Exoskeleton
Authors: Dohi Tetsuji ,   Department of Engineering Synthesis, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Kishi Kousuke , Yasuda Takashi , Shimoyama Isao ,   Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

A walking robot, 40mm × 25mm × 15mm, with an exoskeleton like the structure of an insect has been developed. This exoskeletal mechanism consists of several copper plates and polyimide hinges, and is fabricated using a micromachining technology and a paper folding technique. The electromagnetic actuators permit the hinges of the exoskeleton to bend elastically without friction. This results in converting the vertical motion of the electromagnetic actuators into the lateral walking motion of the robot. Both the electromagnetic force of the actuators and the elastic force of the hinges are proportional to the square of the characteristic length of a robot. This means that an exoskeletal mechanism is suitable for downsizing a movable robot.
A Control Method for Gathering Patterns of Multiple Micromachines
Authors: Shimomura Yoshiki ,   Research Department of Electronic and Control Technology Development Center, Technology Group, Kawasaki Heavy Industries Ltd., 118 Furatsuzuka, Noda, Chiba 278-8585, Japan, Hasunuma Hitoshi , Makino Kazunori , Koyama Masataka , Nakano Yasuo , Otsuki Yasuo
Published: April 2016

To use micromachines as intelligent actuators for operations in narrow places, it is desirable to endow micromachines with functions to move individually and to work cooperatively in a group. The objective of our research is to develop a control system for multimicromachines to construct desired work patterns. In this paper, we propose an algorithm to generate desired patterns and show some experimental results.
Analysis of Swimming Properties and Design of Spiral-Type Magnetic Micromachine
Authors: Sendoh Masahiko ,   Research and Institute of Electrical Communication, Tohoku University, 2-2-1 Katahira, Aoba-ku, Sendai, Miyagi 980-8577, Japan, Ajiro Noriyuki , Ishiyama Kazushi , Inoue Mitsuteru , Hayase Toshiyuki , Arai Ken Ichi ,   Department of Electrical and Electronic Engineering, Toyohasi University of Technology, Toyohashi, Aichi 441-8580, Japan,   Institute of Fluid Science, Tohoku University, 2-2-1, Katahira, Aoba-ku, Sendai, Miyagi 980-8577, Japan
Published: April 2016

The swimming properties of spiral-type magnetic micromachines were analyzed theoretically by 2-dimensional finite volume. Good agreement between experimental and theoretical results was obtained. Swimming properties of micromachines depend strongly on the operational environment, including the flow field and machine structure. We analyzed the effect of machine shape on swimming properties. The optimum design of the blade shape was obtained by simulation. Based on optimum design, the micromachine was fabricated by stereolithography. Machine swimming agreed well with results.
Real-time FEM Control System for Connected Piezoelectric Actuators
Authors: Isobe Daigoro ,   Institute of Engineering Mechanics and Systems, University of Tsukuba, 1-1-1 Tennodai Tsukuba-shi, Ibaraki 305-8573 Japan, Nakamura Hiroshi , Shimizu Ryuta ,   Enterprise Server Division, Hitachi Ltd., 1 Horiyamashita Hatano-shi, Kanagawa 259-1392 Japan,   Yamaha Co., 10-1 Nakazawa-cho Hamamatsu-shi, Shizuoka 430-8650, Japan
Published: April 2016

In this paper, the Finite Element Method (FEM) and the previously proposed inverse theory for bimorph piezoelectric actuators are applied into a real time control algorithm of connected piezoelectric actuators. Most control schemes handle an entire system in series, which becomes a drawback when some elements lose their function in a higher redundant system. On the other hand, the FEM can handle the system in parallel by subdividing it into discrete finite elements, and can cope with flexibility in the change of form and material properties. Noncompatible finite elements are used to express the actuators in the control algorithm, and empirical formulae considering time-dependent characteristics such as creep and residual strain, are also implemented. A real-time FEM control system, which consists of a PC, a bipolar DC unit and a signal-distributing controller, is developed. The system is verified by experiments on quasi-static displacement control of connected piezoelectric actuators. The results show the possibility of highly accurate, realtime control of the actuators using the FEM.
Computational Intelligence for Mobile Robotic Systems - Decision Making, Learning, and Planning -
Authors: Fukuda Toshio ,   Center for Cooperative Research in Advanced Science and Technology, Dept. of Mechano-Informatics and Systems, Dept. of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan, Kubota Naoyuki ,   Department of Human and Artificial Intelligent Systems, Fukui University, 3-9-1 Bunkyo, Fukui 910-8507, Japan
Published: April 2016

This paper describes recent topics of computational intelligence. The intelligent capabilities will be required for the various systems to adapt to dynamically changing environments. First, we introduce the computational intelligence including evolutionary computing, neural computing, and fuzzy computing. Next, some of the important problems including the system architecture, structured intelligence, emerging system, and implementation methods are discussed for mobile robotic systems from the viewpoint of coevolution.
Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor
Authors: Hirata Yasuhisa ,   Department of Machine Intelligence and Systems Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan, Kosuge Kazuhiro , Oosumi Tomohiro , Asama Hajime , Kaetsu Hayato , Kawabata Kuniaki ,   Biochemical Systems Laboratory, The Institute of Physical and Chemical Research, RIKEN, Hirosawa 2-1, Wako-shi 351-0198, Japan
Published: April 2016

In this paper, we propose a new mobile robot architecture with a body force sensor. The body force sensor is the force/torque sensor, which is located between the drive mechanism and the body of the mobile robot. The use of the body force sensor almost realizes the collocation of sensor and actuators, and makes the whole body of the mobile robot sensitive to external force/moment. Decentralized motion control algorithm for handling a single object by multiple mobile robots in coordination is implemented in each omni-dirctional mobile robot and multiple mobile robots with the body force sensor realize stable handling of an object. Experimental results illustrate the validity of the proposed architecture.
Development of the Quadruped Walking Robot for Humanitarian Demining (Proposal of the System and Basic Experiment of Several Foot-end-effectors)
Authors: Kato Keisuke ,   Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Oo-okayama, Meguro-ku, Tokyo 152-8552, Japan, Hirose Shigeo
Published: April 2016

This paper proposes a quadruped-walking robot which performs mine detection and removal tasks. Because there are many antipersonnel mines remaining from wars, it is desirable to provide a safe, inexpensive tool which civilians can use to remove these mines The robot has a tool changing system on its back, so by utilizing the legs as manipulation arms and connecting various tools to the feet, it can perform mine detection and removal tasks. We devised several conceptualized tasks for mine detection and removal using a robot system. For these tasks, we developed three kinds of end effectors to attach a walking robot system with the shape-feedback master-slave arm as a kind of basic technology. We discuss the basic design concepts of the robot system and develop it by way of trial experiment.
Development of Vital Sign Sensor by Using Fiber-optics
Authors: Toba Eiji ,   Department of Textile System Engineering, Faculty of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda City, Japan, Shimada Takahiro , Kamoto Tuyoshi , Nishimatsu Toyonori , Ishizawa Hiroaki
Published: April 2016

The main aim of this paper is to present a new sensing method of vital sign for simultaneously monitoring heart and respiratory rates. A new method, which uses a fiber-optic probe to monitor heart and respiratory rates simultaneously, has been developed and discussed. As a result, measurement accuracy of this sensor is ±1.50bpm in heart rates and ±0.93bpm in respiratory rates. A new type of health monitoring vital sign sensor can be used at hospital as well as in other environments, and the method is convenient to use.
Moving Method of Space Robot Pushing Walls
Authors: Iwata Toshiaki ,   Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Murakami Hiroshi
Published: April 2016

A method of motion wherein a space robot pushes against walls is proposed. This method is commonly used by astronauts during intravehicular activity (IVA). In the case of extravehicular activity (EVA), the method can be applied by pushing, for example, the trusses of a space station instead of walls. The proposed method does not require the use of thrusters, so that efficient motion is realized. To select experimental methods, it is noted that training on the ground is effective for astronauts so that they can carry out activities in an actual microgravity field. The robots were first trained in virtual microgravity, and the training effect was verified in real microgravity. As the virtual microgravity method, two-dimensional microgravity experiments using an air table was adopted. The robot was levitated above the flat table by compressed air. As the real microgravity method, three-dimensional microgravity experiments using a drop shaft were adopted. To train the robot, the relationships between motions and sensory changes and neural network techniques, rather than a computational model of the robot, were used.
Precise In-Orbit Servicing by Multisensory Hand-Connected with Long Arm
Authors: Machida Kazuo ,   Electrotechinical Laboratory, MITI, 1-1-4 Umezono, Tsukuba, Ibaraki, 305-8568, Japan, Toda Yoshitsugu , Oda Mitsushige ,   National Space Development Agency of Japan, 2-1-1 Sengen, Tsukuba, Ibaraki, 305-8505, Japan
Published: April 2016

This paper presents the space experiment of in-orbit servicing from a chaser satellite to a target satellite, using a multisensory hand connected with a long arm. The experiment is carried out to acquire the technology that enables a long robot arm to perform highprecision tasks through the smart hand. A three-finger multisensory hand, ARH (Advanced Robotic Hand), is connected to the 2.4m length manipulator arm, ERA (ETS RobotArm), in orbit, and sample retrieving from ""Orihime"" to ""Hikoboshi"" is achieved in this configuration. The work environment is measured by sensor fusion of the range sensors, hand-eye camera and contact sensors, and the world model is precisely calibrated before the task. The sample retrieving is successfully performed due to the position/force hybrid control of the arm and fine compensation by the hand mechanism under multisensory monitoring.
Teleoperation Techniques for Assembling an Antenna by using Space Robots – Experiments on Engineering Test Satellite VII –
Authors: Kimura Shinichi ,   Communications Research Laboratory, 4-2-1 Nukui-kitamachi, Koganei, Tokyo 184-8795, Japan, Tsuchiya Shigeru , Nagai Yasufumi , Nakamura Kazuo , Satoh Kenichi , Morikawa Hajime , Takanashi Nobuaki ,   Electro-Communication University, Chofu, Tokyo 182-8585, Japan,   NEC Corporation, 4035 Ikebecho, Midori-ku, Yokohama, Kanagawa 224-8555, Japan,   Functional Devices Research Laboratories, NEC Corporation, 4-1-1 Miyazaki, Miyamae-ku, Kawasaki, Kanagawa 216-8555, Japan
Published: April 2016

Large, precise space antennas are important for space infrastructures. The Communication Research Laboratory (CRL) has developed an assembly-type antenna for future space communication infrastructures and has been studying the techniques that control space robots used to assemble this type of antenna. The first on-board experiments for assembling the developed antenna have been scheduled to take place on Engineering Test Satellite VII (ETS-VII), which was launched in November 1997. The most important concerns in using space robots are safety and reliability. Teleoperation of space robots is very stressful for operators, who work under significant time constraints. This is especially true since space robots cannot be repaired during operation. We tested two teleoperation technologies control techniques designed to reduce the operational load while allowing flexible and dexterous operation during the upcoming ETS-VII experiments. The first is audio feedback. The second is virtual bilateral control. Both techniques were found to significantly improve efficiency and reduce the risks associated with space assembly.
Development of Magnetic Recording to GOV-Rope
Authors: Tanaka Hisaya ,   Aoyama Gakuin University, Sudou Nobuyuki , Ide Hideto , Uchida Masafumi ,   Wakayama University
Published: April 2016

The governor rope of elevators is marked with paint corresponding to each floor level. The trouble has been that the mark fades away in a few months in highspeed elevators or those with high working ratios. In this paper, we propose magnetic marking on steel rope to take the place of paint marking. We also developed a recording unit. We report magnetic recording and reproduction on the governor rope.
Determination of Meat Quality by Image Processing and Neural Network Techniques
Authors: Shiranita Kazuhiko ,   Applied Electronics Division, Industrial Technology Center of Saga Prefecture, Japan, Hayashi Kenichiro , Otsubo Akifumi
Published: April 2016

We study the implementation of a meat-quality grading system, using the concept of the marbling score, and image processing, neural network techniques and multiple regression analysis. The marbling score is a measure of the distribution density of fat in the rib-eye region. We identify five features used for grading meat images. For the evaluation of the five features, we propose a method of image binarization using a three-layer neural network developed based on inputs given by a professional grader and a system of meat-quality grading based on the evaluation of three of five features with multiple regression analysis. Experimental results show that the system is effective.
Autonomous Formation of Transportation Order under Dynamical Environment
Authors: Higashi Toshimitsu ,   Automated Systems Division, Murata Machinery, LTD., 2, Nakajima, Hashizume, Inuyama, Aichi 484-8502, Sekiyama Kosuke , Fukuda Toshio ,   Department of Management and System Science, The Science University of Tokyo. Suwa College, 5000-1 Toyohira, Chino, Nagano 391-0292,   Center of Cooperative Research in Advanced Science and Technology, Nagoya University
Published: April 2016

This paper proposes a system, that realizes collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large-scale distributed autonomous system in a dynamic environment feasibly. However, if we use a global evaluation function in order to control each agent, it is necessary to rewrite the global evaluation function of the system whenever the environment changes. If we use such a method, the system cannot be called a real distributed autonomous system. In this paper, we propose two ideas in order to realize dynamically reconfigurable formation in the dynamic environment, namely, learning based on the agent's own action and interaction with other agents by relative evaluation. By use of these ideas, it is shown that dynamically reconfigurable formation emerges as an autonomous conveyance order formation of AGV transportation in the dynamic environment.
Special Issue on Intelligent Integrated Systems for Human-Oriented Information Society
Authors: Kameyama Michitaka ,   Graduate School of Information Science, Tohoku UniversityAoba 05, Aramaki, Aoba-ku, Sendai 980,	Japan
Published: April 2016

Recent advance in the information technology makes our society very convenient from the viewpoint of human-to-human information communication. However, our new living style will require not only human-tohuman communication but also autonomous intelligent applications that support human beings such as an intelligent robot system, an intelligent transportation system, and a security/safe system as shown in Figure. These applications will contribute to human-oriented information society.Intelligent vehicle Home service robot Security The use of special-purpose VLSI processors capable of processing a large amount of real-world data is essential to make such applications realistic. In recent industrial trend, the special-purpose processors are called ""System LSIs"". One of the most important environmental informations in real-world applications is a vision information. The factor common to the applications is to catch an environment information moment by moment and to respond quickly with it. Therefore, it is important to make the response time from inputs to outputs very small. In this case, sensor data transfer bottleneck is not allowed as well as memory-to-PE (Processing Element) data transfer bottleneck. An image sensor signal processing VLSI together with image sensor devices is a key issue in such applications. From the above point of views, this special issue was planned to demonstrate the recent results of this area. Finally, I would like to express my appreciation to the authors for their efforts and contributions to this special issue and also the members of the Editorial Board for their cooperation.
Device and System Development of General Purpose Digital Vision Chip
Authors: Komuro Takashi ,   School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan, Kagami Shingo , Ishii Idaku , Ishikawa Masatoshi
Published: April 2016

We have been developing a VLSI device called vision chip in which photo detectors are integrated with paralled processing elements and that realizes high speed robot control using visual feedback. Using a 0.35μm CMOS process, we have developed a 16 × 16 prototype chip and have demonstrated some image acquiring and processing experiments. A vision system which includes the vision chip has also been constructed.
Stereo Vision VLSI Processor Based on Pixel-Serial and Window-Parallel Architecture
Authors: Hariyama Masanori ,   Graduate School of Information Sciences, Tohoku University, Aoba 05, Aramaki, Aoba-ku, Sendai 980, Japan, Kameyama Michitaka
Published: April 2016

This article presents a stereo-matching algorithm to establish reliable correspondence between images by selecting a desirable window size for SAD (Sum of Absolute Differences) computation. In SAD computation, parallelism between pixels in a window changes depending on its window size, while parallelism between windows is predetermined by the input-image size. Based on this consideration, a window-parallel and pixel-serial architecture is proposed to achieve 100% utilization of processing elements. Performance of the VLSI processor is evaluated to be more than 10,000 times higher than that of a general-purpose processor.
Robot Manipulation Using Virtual Compliance Control
Authors: Hirabayashi Hisaaki ,   Production Engineering Research laboratory, Hitachi, Ltd., 292 Yoshida-cho, Totsuka-ku, Yokohama 244-0817 Japan, Sugimoto Koichi , Enomoto Atsuko , Ishimaru Ichirou ,   Faculty of Engineering, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa 760-0016 Japan
Published: April 2016

Experimental results proved that a unified method of impedance control, already presented as virtual compliance control, can make a robot manipulator without any special mechanism perform various patterns of motion, corresponding to the specified software parameters of the control method. Outcomes demonstrated are as follows. (1) The proposed control method can change the characteristics of spring constant and dashpot constant, that is impedance, of 6 degree of freedom (translational: 3 , rotational: 3) of the robot hand. (2) The change of characteristics mentioned above in (1) can be treated equivalently in both translational and rotational. (3) The change of characteristics mentioned above in (1) and (2) can be implemented in real time. (4) The proposed control method can change the characteristics of transient response in velocity control of 6-d.o.f. of the robot hands. (5) The change of characteristics mentioned above in (4) can be treated equivalently both translationally and rotationally. (6) The change of characteristics mentioned above in (4) and (5) can be implemented in real time. (7) The proposed control method can make impedance control applied to one axis, and position control applied to other axis simultaneously, as to 6-d.o.f. of the robot hands. (8) Experimental results mentioned above in (1) - (7) imply the following advantage and disadvantage; advantage: a unified control method that can perform various patterns of motion by specifying software parameters, disadvantage: control response is not necessarily precise that is because proposed control method is base on not dynamics but kinematics.