bluuebunny/crossref_metadata_2025 huggingface dataset:
Construction of Cooperative Space Robot Systems and Analysis of Their Working Abilities
Authors: Kobayashi Jun ,   Department of Control Engineering and Science, Kyushu Institute of Technology, Kawazu 680-4, Iizuka, 820-8502, Japan, Katoh Ryozo , Ohkawa Fujio
Published: April 2016

This paper deals with two cooperative and one non-cooperative space robot systems, and formulates the differential kinematic equations for the systems. Their working abilities are evaluated based on a workspace and a manipulability measure, and the results show that the working abilities of the cooperative space robot systems are superior to those of the non-cooperative space robot system. Consequently, it is verified that the cooperative space robot systems are effective.
Emerging Intelligence for Next-Generation Intelligent Systems and Control
Authors: Sawaragi Tetsuo ,   Department of Precision Engineering, Graduate School of Engineering, Kyoto University
Published: April 2016

This paper presents a general survey on ""intelligence"" from broad perspectives of living organisms including insects, animals, and humans. After current paradigm shifts commonly occurring in interdisciplinary academic areas are reviewed, we show that the commonly focused interest therein is reconsideration about mutual and inseparable relationships between the external environment and the internal of the agent, that is an actor, an observer, a cognizer, and an interpreter. We emphasize the fact that autonomous systems can be characterized by their self-organizing capabilities driven mainly by internal coherence produced by internal mutual relations among components, rather than described by inputs from an external environment. Then, we introduce the subject of semiotics, a new interdisciplinary branch of science, and its potential contribution to bridging between biological intelligence and machine intelligence. We also describe its relationships with current hot topics of embodiment and symbol grounding often discussed by robotics researchers. Finally, we present our ongoing series of work related to the above topics.
A New Fuzzy Inference Method for Symbolic Stability Analysis of Multigranular Intelligent Control System
Authors: Yamamoto Hidehiro ,   Department of Information Electronics of Nagoya university, Furo-cho, Chikusa-ku, Nagoya 464-8630, Japan, Furuhashi Takeshi
Published: April 2016

Fuzzy inference has a multigranular architecture consisting of symbols and continuous values, and has worked well to incorporate experts' know-how into fuzzy controls. Stability analysis of fuzzy control systems is one of the main topics of fuzzy control. A recently proposed stability analysis method on the symbolic level opened the door to the design of stable fuzzy controller using symbols. However the validity of the stability analysis in the symbolic system is not guaranteed in the continuous system. To guarantee this validity, a nonseparate condition has been introduced. If the fuzzy control system is asymptotically stable in the symbolic system and the system satisfies the nonseparate condition, the continuous system is also asymptotically stable. However this condition is too conservative. The new condition called a relaxed nonseparate condition has been proposed and the class of control systems with guaranteed discretization has been expanded. However the relaxed condition has been applicable only to controf systems having symmetric membership functions. This paper presents a new fuzzy inference method that makes the relaxed condition applicable to fuzzy control systems with asymmetric membership functions. Simulations are done to demonstrate the effectiveness of the new fuzzy inference method. The proof of the expansion of the relaxed nonseparate condition is also given.
Fault Detection of Automobile Transmission Gears Using General Parameter Methods
Authors: Dote Yasuhiko ,   Department of Computer Science and Systems Engineering, Muroran Institute of Technology, 27-1, Mizumoto-cho, Muroran 050-8585, Japan, Ovaska Seppo J. , Gao Xiao-Zhi ,   Institute of Intelligent Power Electronics, Helsinki University of Technology, Otakaari 5 A, FIN-02150 Espoo, Finland
Published: April 2016

This paper compares the performance of nonlinear Radial Basis Function Network-based (RBFN) and linear AutoRegressive (AR) model-based General Parameter (GP) methods in a fault detection application. We use the efficient GP approach for initializing the weights of the RBFN model in the beginning of the off-line system identification phase, as well as for fine-tuning the modeling accuracy of RBFN and AR models on-line. Our fault detection scheme is based on monitoring the expectation value of the scalar general parameter. This provides improved robustness and detection sensitivity over such methods where the on-line prediction error is used directly in the decision making process. In order to illustrate the performance of the proposed nonlinear and linear schemes, they are applied to fault detection of automobile transmission gears. As the acoustic sound level time-series, providing the necessary basis information for fault detection, is slightly nonlinear, the GPRBFN outperformed the linear methods: the GP-AR method and conventional AR inverse filtering. Both of the GP-based methods provide competitive solutions for real-world fault detection and diagnosis applications.
The Evaluation Method of Arousal Level by Local Fractal Analysis of Facial Skin Temperature
Authors: Tanaka Hisaya ,   Aoyama Gakuin University, Ide Hideto
Published: April 2016

This paper proposes the method of objectively evaluating arousal level through facial skin temperature. There are two types in arousal level: one is based on circadian rhythm and the other is temporary depending on quantities of sensations. We tried to evaluate the latter. We applied local fractal dimension analysis to the thermogram. We examined the relationship between the thermogram and α rhythm amplitude of EEG, reflects arousal level. As a result, the local fractal dimension analysis of distribution of nasal temperature was valid for the system evaluation arousal level.
Maglev Systems Based on Combined Propulsion and Levitation Hybrid Technology
Authors: Wang Liang-Yuan ,   Department of Power Mechanical Engineering, National Tsing Hua University, No. 101, Sec. II, Kuang Fu Road, Hsinchu, 30013, Taiwan, R.O.C., Wang Pei-Jen
Published: April 2016

Maglev vehicles have been recognized as the transportation technology for the 21st century due to its advantage of being able to run on guides without wheels. However, applications of Maglev vehicles for material transportation have not been extensively studied in the past due to the technological limitations on achieving high energy efficiency. Recently, limitations have been circumvented with the advent of computer-aided engineering software tools and high-energy product permanent magnets. In this paper, a Maglev system employed for material transportation applications has been designed and analyzed based upon a novel concept by using hybrid levitation magnets for the rotor together with the linear synchronous motor for the stator. With the help of high retentivity of permanent magnets, the hybrid levitation magnets would consume little electrical energy when near-zero power control has been applied for levitation control. First, before going into design details, levitation stability of the hybrid magnets has been carefully investigated. Furthermore, possible responsive interactions between levitation and propulsion controllers have also been examined. This paper develops a fundamental approach to controller design and analysis on the Maglev system by going through simulations and experimental verifications. With the assistance of a commercial CAE package, the design and optimization of electromagnetic circuits has been accomplished for construction of a levitation controller. Simulated control results are compared to experimental results from a prototype built in-house. The future of the Maglev system is very promising and applicable in practice.
Desired Signal Planning of Flexible Arm for Reduction Control of Residual Vibration
Authors: Kojima Hiroyuki ,   Department of Mechanical System Engineering, Gunma University Kiryu, Gunma 376-8515, Japan
Published: April 2016

In this paper, first, the nonlinear equations of motion of a horizontal one-link flexible arm are obtained by use of mode functions of a cantilever beam with a mass. Then, the algorithm of the desired signal planning of the joint angle for the purpose of reducing control of residual vibration of the flexible arm is derived by using the initial and final conditions of the flexural displacement of the flexible link and the constraint conditions of the desired signal of the joint angle during the acceleration and deceleration terms as well as the linearized equation of motion of the flexible arm. The rotation control system of the flexible arm is constructed with the desired signal planning for the joint angle and the PD controller. Furthermore, numerical simulations of the rotation control of the flexible arm have been carried out, and it is confirmed that residual vibration of the flexible arm can be effectively reduced by the present desired signal planning for the joint angle.
Propulsion Mechanism Modeled on Bending Mechanism of Eukaryotic Flagellar Bending in Water
Authors: Kobayashi Shunichi ,   Department of Functional Machinery and Mechanics, Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan, Furihata Kozo , Morikawa Hirohisa ,   Shinano Kenshi Co. Ltd. 1078 Kami-maruko, Maruko, Nagano, Japan
Published: April 2016

Eukaryotic flagella possess 2 singlet microtubules and 9 outer doublet microtubules. Protuberances of protein called dyneins are placed along doublet microtubules to produce sliding of doublet microtubules. Bending of flagella is generated by the active sliding of doublet microtubules. We made an artificial propulsion mechanism in water imitating active sliding between 2 doublet microtubules in flagella. Electromagnets corresponding to the function of dyneins were placed along 2 flexible beams. Cyclic 2-dimensional bending movement and thrust force of the propulsion mechanism were generated in water. We discussed thrust forces of the propulsion mechanism.
Design and Implementation of Responsive Processor for Parallel/Distributed Control and Its Development Environments
Authors: Yamasaki Nobuyuki ,   Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan,   National Institute Advanced Industrial Science and Technology, 1-1-1, Umezono, Tsukuba, Ibaraki 305-8568, Japan
Published: April 2016

In this paper, Responsive Processor for parallel/distributed real-time processing, which can control various electronic control systems, is designed and implemented. Responsive Processor is integrates many functions into an ASIC chip, such as a RISC processing core (SPARC), Responsive Links that realize realtime communication, many peripheral functions including SDRMI/Fs, DMAC, PCI, USB, SIO, PIP, timers, pulse counters, PWM generators, A/D converters, D/A converters, etc. Its control boards and development environments are also designed and implemented.
Novel Device for Inputting Handwriting Trajectory
Authors: Sato Yasuhiro ,   1st Office System Development Department, Office System Research and Development Center, Research and Development Group, RICOH COMPANY, LTD., ShingYouuchi Mitsuru , Furuta Toshiyuki , Beppu Tomohiko ,   Alpha Task Force, RICOH COMPANY, LTD. 16-1 Shinei-cho, Tsuzuki-ku Yokohama, Japan
Published: April 2016

A pen-shaped input apparatus for inputting drawings, symbols, characters into a data processing device, such as a computer, is developed. It can trace a handwritten 2-dimensional trajectory using built-in inertial sensors. As sensors, it has 3 accelerometers and 3 gyroscopes. By detecting accelerations about 3 axes and angular rates around them as 6 degrees of freedom, it can represent the 2-dimensional trajectory of the pen tip after additional calculation. Velocity correction enables precise trajectories to be represented with a small integration error. Experimental results demonstrate the feasibility of this device as a handwritten input apparatus.
Micromotor Using Electroconjugate Fluid (Fabrication of Inner Diameter 2mm RE type ECF Motor)
Authors: Yokota Shinichi ,   Tokyo Institute of Technology, 4259 Nagatsuta-cho Midori-ku Yokohama 226-8503, Hirata Masakazu , Kondoh Yutaka , Suzumori Koichi , Sadamoto Atsushi , Otsubo Yasufumi , Edamura Kazuya ,   Okayama University, 3-1-1 Tsushima-naka, Okayama-city, Okayama 700-8530, Japan,   Toshiba Corp. 1 Komukai Toshiba cho Saiwai-ku Kawasaki 212-8582, Japan,   Chiba University, 1-33 Yayoi-cho Inage-ku Chiba, 263-8522, Japan,   New Technology Management, 2-9-1-306b Higashi-Shinkoiwa Katsushika-ku Tokyo 124-0023, Japan
Published: April 2016

Some kinds of dielectric fluids as dibutyl decannedioate generate jet flow between electrodes. One of the authors calls the fluids ECf (Electro-conjugate Fluids), which are considered as smart fluids. The authors propose a micro motor by making use of ECF. In our previous paper, a rotor electrode(RE)-type micro ECF motor have been reported In the paper, fabrication of micro ECF motors having I.D.ø3mm, I.D.ø4mm, I.D.ø8mm is described. On the RE-type micro ECF motor, some pairs of electrodes are located on the surface of a cylindrical rotor. The rotor can rotates with the reaction force caused by ECF jets. By making use of the ECF jet's reaction force, micro motors are easily realized. In this paper, fabrication of a micro ECF motor having I.D.ø2mm is described. Also, Basic characteristics such as rotational velocity are experimentally examined.
Sensorless Force Control for High-speed Pressurization
Authors: Kawaji Shigeyasu ,   Graduate School of Science and Technology Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan, Ozaki Fuminori , Higashi Ryutaro ,   Industrial Automation Company, OMRON Corporation Shiokoji Horikawa, Shimogyoku, Kyoto 600-8530, Japan
Published: April 2016

Force control technology needs a breakthrough to be used for practical purposes because it is rarely used in the industry although it is being improved in academic circles. We propose solving problems of conventional position control in pressurization using high-speed sensorless force control for the IC testing handler used in semiconductor manufacturing. The key techniques to solve the problem are piecewise polynomial trajectory generation to meet needs for high-speed operation, a model-following force servo to achieve pressurizing conditions, and a disturbance observer to estimate pressurization. The effectiveness of the proposed method is confirmed in experiments.
Structural Analysis of a Universal Holding Mechanism for Piston Rings
Authors: Higashimachi Takao ,   Kumamoto Technology and Industry Foundation, Applied Electronics Research Center, 2081-10, Tabaru, Mashiki-machi, Kamimasiki-gun, Kumamoto 861-2202, Japan, Nakayama Takahide , Hirakawa Takenori , Sasahara Hisato ,   Hirata Corporation, 111 Hitotsugi, Ueki, Kamoto, Kumamoto 861-0198 Japan,   Yamax Corporation, 9-5, Suizenji 3-Chome, Kumamoto City, Kumamoto 862-0950, Japan
Published: April 2016

By fixing pistons of different diameters with 6 gripping nails, we clarified deformation of piston rings and stress during tightening by simulation based on the finite element method (FEM) as part of development of a universal holding mechanism to insert it into the cylinder block automatically. Nonlinear FEM was used to analyze slidingat contact parts between the ring and the gripping nail when fastening the piston ring. Final defohnation of the piston ring and stress on different parts were verified in detail. We confirmed that insertion of the piston by this method is possible.
Sensor-Based Artificial Skills with Force and Vision Information
Authors: Kitagaki Kosei ,   National Institute of Advanced Industrial Science and Technology (AIST), 2-1 Namikicho 1-chome Tsukuba Shi Ibaraki Prefecturure 305-8564, Japan, Suehiro Takashi , Fujiwara Motoyoshi ,   Mie Prefectual Industrial Research Institute, 5-5-45 Takachaya, Tsu-shi, Mie Japan
Published: April 2016

To add flexibility against changes in assembly processes to a manufacturing system, we introduce artificial skills with advanced sensor-based information. Tasks are divided into a phase in local (contact) and global (noncontact) states and we developed pseudo contact point monitoring and feature-oriented coordination to achieve artificial skills for tasks in each phase. Pseudo contact point monitoring is a new technique that detects contact states by monitoring a pseudo contact point calculated from a set of observed force and moment. Effectiveness of artificial skills is shown by experimental results of stamping, bearing roller positioning, and a peg-in-hole task. Feature-oriented coordination system is a new control method that does not require prior calibration between the vision system and manipulator. We detail system possibilities and limitations with simulation.
Realization of Controllers for Manipulation of Deformable Objects Based on Hybrid Automaton and Human Skill
Authors: Hirana Kazuaki ,   Department of Electrical Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan, Suzuki Tatsuya , Okuma Shigeru , Itabashi Kaiji , Fujiwara Fumiharu ,   Toyota Motor Corporation, 1200, Mishuku, Susuno, Shizuoka 410-1193, Japan
Published: April 2016

Requirement of handling deformable objects such as leather, paper, and rubber is growing. Since it is very hard to make physical models of them, design of controller to manipulate them becomes one of the significant problems in the robotics field. When we look at the operation of human workers, the deformable objects seem to be handled naturally and smoothly because of human skill. This paper presents a new method to design a controller for assembly tasks which involve the manipulation of deformable objects. In the proposed method, human skill can be expressed as a hybrid automaton because human workers change the dynamics according to the state of the task. The human skill is extracted as the series of dynamics that human workers used in executing the demonstrated task, and the dynamics are embedded into an event driven controller. The proposed method is applied to a hose insertion task and is verified through experiments.
Automatic Startup Operation of Plastics Extruder by Flexible Intelligence Machine Control
Authors: Arao Masaki ,   Social Systems Business Company, Omron Corporation, 2-1 2-chome, Nishikusatsu, Kusatsu, Shiga 525-0035, Japan, Kawano Junichi , Egi Mamoru , Osumi Masaharu ,   Industrial Automation Company, Omron Corporation, Shiokoji Horikawa, Shimogyo-ku, Kyoto 600-8530, Japan
Published: April 2016

In process control, the need of multitype small-lot production becomes strong. But, due to strong nonlinearity and abrupt changes of plant dynamics, attempts to introduce quantitive model of plants and promote automated operations have been hindered. For this problem, we proposed the concept and the structure of the FIMC (Flexible Intelligence Machine Control) which is a controller with functions for acquiring control knowledge about the operation knowhow from the data furnished of expert operators in manual operation control hysteresis and eventually in automating operations based on control knowledge. In this paper, we show the design method and effectiveness of the FIMC applied to the startup operation of the plastics extruder.
Development of Flexible Inserter for IC Chip Testing
Authors: Taguchi Toshihiro ,   Engineer Division, SAKURAI SEIGI Co., Ltd. 135 Tanigawa Okamachi, Yatsushiro-city, Kumamoto 869-4613, Japan
Published: April 2016

In the last stage of semiconductor manufacturing process, IC is inserted in the testing equipment for many kinds of electrical characteristics test. But the use of position control causes many problems such as shortage or overdose of pressing force, the non-uniformity of pressing force, and the shoulder touch phenomenon of IC pressing etc. Thus the testing process with stable and flexibly efficient handler is desired. In this paper, focusing on IC packages such as BGA and CSP, the development of flexible inserter for IC testing based on force control and with a new passive compliance unit (PCU) is reported to improve testing throughput drastically.
A Fixture-Free Piston-Stuffing Machine for Flexible Assembly Lines
Authors: Nakayama Takahide ,   Hirata Corporation, 111 Hitotsugi, Ueki-machi, Kamoto-gun, Kumamoto 861-0198 Japan, Mitsunaga Takeshi , Hirakawa Takenori , Tanaka Syunji
Published: April 2016

The possibility of fixture-free stuffing of a piston into cylinder on the basis of a conventional force-control algorithm is verified through an experiment in a prototype of a self-manageable robot for assembling lines.
A Historical Perspective of Robotics Toward the Future
Authors: Ceccarelli Marco ,   Laboratory of Robotics and Mechatronics DiMSAT, University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy
Published: April 2016

In this paper a historical overview is presented dealing with the conception and development of devices that can be considered as robots today with the aim to identify the future challenges for roboticists. The historical background can be used as guidance for future successful developments when design data and requirements are recognized from historical well-established needs, problems and applications, which can be re-formulated through modern means for modern solutions. Thus, in the paper an overview of history of robotics is presented as based on main aspects and concepts.
Locating the Part Evoking SEP by Dipole Tracing Method
Authors: Koyama Masahiro ,   Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku, Tokyo 157-0062, Japan, Tanaka Hisaya , Ide Hideto
Published: April 2016

This study separated MRCP (Movement-related Cortical Potential) from SEP (Somatosensory Evoked Potential) by locating the part that evokes SEP with Dipole Tracing, assuming the dipoles in the spherical model of a head, and to describe the results on 3 planes, X-Y, X-Z and Y-Z, analyzing dipoles.
Special Issue on Fundamental Technologies for ITS
Authors: Tsugawa Sadayuki ,   National Institute of Advanced Industrial Science and Technology (AIST)ITS Research Group, Group Leader Namiki 1-2-1, Tsukuba-shi, Ibaraki-ken 305-8564, Japan
Published: April 2016

Intelligent transport systems (ITS), a combination of IT(Information Technology) and TS (Transport Systems), solves problems such as accidents and congestion, lessening environmental impact and conserving energy. As conventional solutions to traffic issues became less and less effective, high-tech solutions have been sought. Preceding the term ITS, coined in 1994, were road transport informatics (RTI), advanced transport telematics (AT), and intelligent vehicle-highway systems (IVHS). In the mid-1980s, large ITS projects started in Europe, the US, and Japan, but the use of high-tech solutions emerged in the 1950s. As indicated above, ITS includes systems covering passenger-car safety and freight management, supported by a wide range of technologies including sensing, control, communications, and human factors. This special issue on ITS focuses on ITS technologies that share similarities with robotics and mechatronics. The papers in this issue are classed into sensing, control, simulation, and electric vehicles. Papers in sensing deal with the application of vehicle localization in automated driving, 3-dimensional localization with corner cubes and laser radar, vision-based passage detection, and night-time obstacle detection with machine vision. The technology presented in these papers is expected to play an important role in robotics and mechatronics. The 4 control papers include an overview on control algorithms for automated driving and 3 papers on control algorithms for lateral control, lane changing, and parking assistance. The major difference between mobile robots and automobiles is that, due to speed, the behavior of mobile robots can be described with kinematics, but that of automobiles must be described with dynamics. Nevertheless, control algorithms for automated automobiles are insightful in robotics. Simulation technologies are essential in ITS to present virtually situations difficult or not possible to realize in the real world. One paper deals with a driving simulator and the other with automobile traffic. The last area in this ITS issue is electric vehicles. Their handicaps can be overcome by ITS, leading to new road transport. The paper on electric vehicles introduces an experimental electric vehicle both educational and informative to readers planning electric vehicles to conduct experiments involving ITS. We thank those on the JSME Research Committee 179 for cooperation between human and systems in ITS for reviewing submitted papers.
Experimental Study on Application of DGPS-based Position Information to Automatic Driving Control
Authors: Omae Manabu ,   Faculty of Environment Information, Keio University, 5322, Endo, Fujisawa-shi, Kanagawa, 252-8520, Japan, Fujioka Takehiko ,   Department of Mechanical Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan
Published: April 2016

Experimental studies are conducted for investigating the possibility of automatic driving control systems based on absolute position information. Implementation of such control system requires a methodology of measuring the absolute position, and a control algorithm. In this paper, an accurate and real-time estimation of the absolute position by use of DGPS (Differential Global Positioning System) and sensors on a controlled vehicle is proposed. Automatic steering controller, automatic evasive controller, and a method of relative position measurement of neighboring vehicles are also proposed as application of position information to automatic driving control. Experiments are conducted using sedan-type vehicles. Experimental results validate the proposed estimation and control system, and provide the perspective of enhancing the automatic driving control system by use of the absolute position information.
3-D Position Measurement System for Autonomous vehicles Using Laser Fan Beam Scanners
Authors: Komatsu Nobuo ,   Faculty of Science and Technology, Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Fukuroi, Shizuoka 437-8555, Japan, Tsumura Toshihiro ,   Faculty of Information Science, Osaka Institute of Technology, 1-79-1 Kitayama, Hirakata-shi, Osaka 573-0196, Japan
Published: April 2016

A new measurement system of 3-D position and attitude for autonomous vehicles is proposed in this paper. The measurement system consists of two laser scanners installed on the vehicle and corner cubes as reference points. Each laser scanner rotates a laser fan beam to detect the retroreflections from corner cubes and measures the azimuth angles of the beam. This paper presents the principle of measurement and results of simulation and experiment using an experimental measurement system.
Development of Advanced Parking Assistance System in the iCAN Framework
Authors: Wada Massaki ,   Institute of Industrail Science, the University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Yoon Kang Sup , Hashimoto Hideki ,   School of Automotive, Industorial, and Mechanical Engineering, Taegu University, 15 Naeri, Jinryang, Kyungsan, Kyungbuk 712-714, Korea
Published: April 2016

This paper describes the advanced parking assistance system developed in the iCAN (intelligent CAr Navigation Systems) project framework. The main issues in implementing the assistance system are the vehicle state estimation and the human guidance. First, a guidance approach based on human interface and path generation are proposed. The parking assistance system sensor suite, estimation scheme, path generation scheme and human interface scheme are described. The developed system prototype and experimental results are also presented.
Development of Hi-Fidelity Driving Simulator for Measuring Driving Behavior
Authors: Akamatsu Motoyuki ,   Institute for Human Science and Biomedical Engineering, National Institute of Advanced Industrial Science and Technology (AIST), Japan, Okuwa Masayuki , Onuki Masaaki ,   Research Institute of Human Engineering for Quality Life (HQL), Japan,   Mitsubishi Precision Corp. Ltd, Japan
Published: April 2016

A hi-fidelity driving simulator has been developed to measure driving behavior. Since the driver is an important component of Intelligent System (i.e., human factor), it is necessary to measure and investigate the driving behavior either with ITS or without ITS. As the driving behavior is situation dependent behavior, there is a great advantage from using the driving simulator because various situational (e.g., traffic situation) and environmental factors can be controlled. The driving simulator is composed of a 290 degree screen and a hexapod motion platform with a fully instrumented vehicle cabin. The road environment for the simulator was a town area with a complex road network and various buildings. The traffic control system can control a traffic scenario with 81 vehicles and 72 pedestrians. Since simulator sickness was one of main concerns of using the hi-fidelity driving simulator, we developed the Simplified Simulator Sickness Questionnaire (SSSQ) to evaluate the subjective severity of simulator sickness. The SSSQ consisted of three subscores for nausea, oculomotor, and disorientation symptoms. A preliminary experiment was conducted to investigate the change in severity of the sickness and the mental workload using SSSQ and NASA-TLX when simulator driving was repeated twelve times. We found that the severity of simulator sickness and the workload decreased with repeated simulator drives. When focusing on the change among three simulator drives within one day, the Nausea subscore decreased but the Oculomotor subscore increased.
Design and Manufacture of Small-Sized Electric Vehicles for Mechanical Engineering Education
Authors: Sakamoto Haruo ,   Dept. of Intelligent Mech. Sys. Engr., Kochi University of Technology, Tosayamada-cho, Kochi 782-8501, Japan
Published: April 2016

This paper describes an attempt of engineering education in extracurricular activities outside of class and an experimental course in class using electric vehicles. The Kochi University of Technology was inaugurated in April 1997. Engineering education trials of three years has been conducted. In 1997, 3 student teams participated in an ecopower race held in Kochi, Japan, with hand-made ecological vehicles. In the summer, 1998, three teams challenged to participate in the Shikoku Electric Vehicle Rally using light-weight vehicles converted into electric cars. Using such lightweight electric vehicles, a student experimental course in class was condhcted in the winter, 1998. This paper reports these engineering education activities. To provide such an active learning opportunity, a learning environment is needed rather than just teaching in classes. Manufacturing such as electric vehicles is considered to be of importance as well as the basic sciences such as mathematics and physics.
Shaft Insertion for Moving Object Using Robot Manipulator with Cross PSD and Vibration End-effector
Authors: Hayakawa Soichiro ,   Department of Control and Information Engineering Toyota Technological Institute, 2-12-1 Hisakata, Tempaku, Nagoya, 468-8511 Japan, Tsuchida Nuio
Published: April 2016

We have studied the position sensor with the high speed and precision sensing using a cross PSD. We developed shaft insertion robot for a moving object applying this sensor. For various reasons, position error that can not be avoided between the center of shaft and the center of the sensor occurred. We developed the vibration end-effector to correct this position error. The new end-effector has a vibration mechanism that gives spiral vibration to the shaft, and leads the shaft to a correct position semiactively if shaft insertion fails. This paper shows the improvement of the ability of position error correction by the vibration end-effector for a still object. Using the robot system with this new end-effector, we experimented on shaft insertion for a moving object in various situations. The robot could insert the shaft with a clearance of 50μm at a speed of 80mm/s. The moving velocity of the target doubled compared with our previous system, and the clearance became half.
Fingerprint Image Sensing Using Micromechanical Key and Extraction Algorithm for Sensed Fingerprint Image
Authors: Arai Fumihito ,   Department of Micro System Engineering, Nagoya University, Furo-Cho 1, Chikusa-Ku, Nagoya 464-8603, Japan, Fukuda Toshio ,   Center for Cooperative Research in Advanced Science and Technology, Nagoya University Furo-Cho 1, Chikusa-Ku, Nagoya 464-8603, Japan
Published: April 2016

A novel fingerprint image sensing device, which combines the ID bar code with fingerprints, has been proposed and developed. Due to the use of ID bar codes, higher security and less recognition time can be ensured. The device has been fabricated using new micromachining. The sensed image with this sensing device consists of both fingerprint patterns and ID bar lines. The corresponding extraction algorithm for the sensed fingerprint image has also been researched and developed. The algorithm extracts an ID bar image and a pure fingerprint image without ID bar lines from the single sensed image. The ID code can be extracted from the ID bar image, and the fingerprint image is processed to realize fingerprint identification.
Workspace Analysis of Parallel Manipulator for Telemicromanipulation Systems
Authors: Ando Noriaki ,   Institute of Industrial Science, University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan, Ohta Masahiro , Gonda Kohei , Hashimoto Hideki
Published: April 2016

This paper describes the research results on telemicromanipulation systems for microlevel tasks. Because of its better manipulation precision, stiffness and speed characteristics, the parallel mechanism micromanipulator was chosen to compose our systems. First, the kinematic analysis of our original manipulator mechanism is performed. Then, the structure of our parallel manipulator, control scheme, and experimental results are shown. Position accuracy and device control characteristics are analyzed and the feasibility of the use of parallel mechanisms for micromanipulator is then discussed. A parallel manipulator motion is restricted by 3 factors: mechanical limits of the passive joints, collision between links and actuators limitations. Results of the numerical workspace analysis considering the above factors are shown. We are proposing the use of dual manipulators for implementing improved real manipulation systems. The first kinematics and workspace analysis of dual systems using the VR simulator are also shown.
Polishing Robot Using Joystick Controlled Teaching
Authors: Nagata Fusaomi ,   Interior Design Research Institute, Fukuoka Industrial Technology Center, Agemaki-405-3, Ohkawa, Fukuoka 831-0031, Japan, Watanabe Keigo , Hashino Satoshi , Tanaka Hiroyuki , Matsuyama Takuro , Hara Kenji ,   Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi-1, Saga 840-8502, Japan,   Fukuoka Industrial Technology Center, Kamikoga 3-2-1, Chikushino, Fukuoka 818-8540, Japan,   Mechanics & Electronics Research Institute, Fukuoka Industrial Technology Center, Yahatanishiku Norimatsu 3-6-1, Kitakyushu, Fukuoka 807-0831, Japan
Published: April 2016

In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The present method has two characteristics: it is easily applied to the task where an industrial robot polishes an object with desired contact force and orientation and does not need conventional complicated teaching. The effectiveness and promise of the proposed method are demonstrated through experiments in a polishing task using an industrial robot FS-30.
Fault Adaptive Kinematic Control Using Multiprocessor System and its Verification Using a Hyper-redundant Manipulator
Authors: Kimura Shinichi ,   Communications Research Laboratory, Koganei, Tokyo 184-8795, Japan, Tsuchiya Shigeru , Takagi Tomoki , Nishida Shinichiro ,   Toshiba corp. 1 Komikai-toshiba-cho, Kawasaki, Kanagawa 212-8591, Japan
Published: April 2016

Decentralized autonomous control architecture and self-organizing control architecture have several advantages in space robots, the most fascinating of which is an adaptation for partial faults. The Communications Research Laboratory have proposed an ""Orbital Maintenance System"" (OMS) that maintains a space system. We have developed a modular manipulator, which can be controlled by distributed processors in each module and can overcome partial failures. In this paper, we introduce a decentralized control algorithm for modular manipulators and discuss its performance in computer simulations and experiments. The algorithm proved useful for inspection in modular manipulators, and robust to partial faults.
Information Processing in Visual System - Optical Illusion and Visual Mechanism
Authors: Idesawa Masanori ,   Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu-shi, Tokyo 182-8585, Japan
Published: April 2016

Human beings obtain big amount of information from the external world through their visual system. Automated system such as robot must provide the visual functions for their flexible operations in 3-D circumstances. In order to realize the visual function artificially, we would be better to learn from the human visual mechanism. Optical illusions would be a pure reflection of the human visual mechanism; they can be used for investigating human visual mechanism. New types of optical illusion with binocular viewing are introduced and investigated.
Design of Automatic Focusing Glasses for Presbyopia
Authors: Fujita Toyomi ,   Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu-si, Tokyo 182-8585, Japan, Hagiwara Makoto , Idesawa Masanori ,   Hitachi Software Engineering Co.,Ltd. Queen's Tower B 23F, 2-3-3, Minato Mirai, Nishi-ku, Yokohama-shi, Kanagawa 220-6123, Japan
Published: April 2016

Older persons often need 2 pairs of glasses – 1 for farsightedness and the other for. nearsightedness. Others use 1 pair with both focal lengths in 1 lens, although this requires they select the lens area for particular needs. In this study, we experimented with designing focusing glasses whose lens focal length was controlled automatically based on the line of sight and suitable for presbyopia. The main element we present is a single-sided driven variable-focus lens, whose structure and principle this paper details, whose features we analyze for focusing distance and aberration. We also discuss focal length control suited to presbyopia.
A Study on the Development of Accommodation-Assistance Glasses
Authors: Fujita Syu Sato Toyomi ,   Canon Inc. 3-30-2, Shimomaruko, Ohta-ku, Tokyo 146-8501, Japan, Idesawa Masanori ,   Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu-shi, Tokyo 182-8585, Japan
Published: April 2016

We considered important functions for developing accommodation-assistance glasses, which assist eye focusing in those with presbyopia. We focused on keys to realizing small, lightweight variable focusing lens and gaze distance detection. We devised new variable focusing lens with control and gaze distance detection with a tunnel light path device. A prototype of glasses with devised elements was manufactured experimentally. Trial use and experiment evaluation confirmed that proposed technologies were useful for realization of accommodation-assistance glasses.
Engineering and Amusement
Authors: Sugano Shigeki ,   Department of Mechanical Engineering, Waseda University, 3-4-1, Ookubo, Sinjuku, Tokyo 169-8555, Japan
Published: April 2016

We discuss the interdisciplinary treatment required by engineering in the amusement field from 3 viewpoints -- mental involvement, animism, and media. Specialists in al1 fields of amusement explain each instance in detail in this special issue, so that we tasks common to as wide a range as possible are used as a basis for discussing amusement as a discipline.
Psychophysiological Effects by Interaction with Mental Commit Robot
Authors: Mitsui Teruaki ,   National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono Tsukuba 305-8568, Japan, Shibata Takanori , Wada Kazuyoshi , Tanie Kazuo ,   Gifu Prefectural Institute of Production Information Technology, 4-179-19 Sue-cho Kagamihara 509-0108,   PERESTO, JST
Published: April 2016

We have been working on research and development of mental commit robot which aims to provide humans mental effects such as enjoyment and relaxation. In the previous research, we have performed subjective evaluation of mental commit robot by some interview forms. The results showed physical interaction improved subjective evaluations. Moreover, a priori knowledge of a subject had influence into subjective interpretation and valuation. In this paper, we applied physiological measurements to investigate influence to human by physical interaction with mental commit robot. As physiological measurements, we applied the electrocardiogram (EGG), respiration rate and the electrodermal response (EDR). And we measured mood state and liking for the object by using the profile of mood states (POMS) and SD method. The finding of experiments suggested changes of autonomic response and mood state caused by physical interaction with mental coconut robot. Moreover, it was suggested that there were some differences in autonomic response by subjectivity.
Analysis of Impression of Robot Bodily Expression
Authors: Nakata Toru ,   Intelligent Systems Institute, National Institute for Advanced Science and Technology (AIST) AIST Center, 2, Umezono 1-1-1, Tsukuba, 305-8568, Japan, Mori Taketoshi , Sato Tomomasa ,   Graduate School of Engineering, the University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656 Japan
Published: April 2016

A set of physical feature values is proposed in order to explain impression produced by bodily expression. The concept of designing the value set is based on Laban Movement Analysis which is a famous theory in body move-ment psychology. Impressions produced by body expression are closely related to these feature values. Each of the feature values is defined mathematically, so that it is easy to implement in a computer. Also the feature values are calculated on general body movements. Therefore, the set can be implemented in body expression systems of robots and computer graphics bodies in order to facilitate quantitative evaluation and forecast of impression produced by their bodies. This paper describes the concept and an example of implementation on a robot. Validity of the set is verified in an experiment.
WonderBorg and BN-1
Authors: Haga Yoshinori ,   BANDAI Co., LTD. 2-7-3 Taito, Taito-ku, Tokyo 110-0016 Japan
Published: April 2016

This paper introduce first mechanism and sensors of WonderBorg, a insect type robot we develop, and explain effective programming model specific to an autonomous robot. Next, We discuss a pet type robot BN-1, a progress type of insect type robot, on its mechanism and sensors, on actual application of logical sensors employing sensor fusion technique, in particular. We discuss also communication between man and a robot necessary for a pet robot. Finally we discuss future of pet robot.
Distributed Learning Agents with Motivation for Cellular Warehouse Problem
Authors: Hama Katsumi ,   Department of Mechanical Engineering, Hakodate National College of Technology, 14-1 Tokura-cho, Hakodate, 042-8501, Japan Oak, Mikami Sadayoshi , Suzuki Keiji , Kakazu Yukinori ,   Department of Media Architecture, Future University-Hakodate, 116-2 Kameda-nakano-cho, Hakodate, 041-8655, Japan,   Hokkaido University - Computing Center; Dept. of Eng., Lab. of Complex Systems Eng., Hokkaido University, North 13, West 8, Kita-ku, Sapporo, Hokkaido 060-8628, Japan
Published: April 2016

In an approach to resolve motion conflicts of transport pallets for cellular warehouse problems, pallets are considered autonomous agents and built-in behavior provided by ANN and problem-oriented connection weights evolved using Evolutionary Programming navigate agents to goals. To determine agents to be moved, priority is introduced and the measure of each agent changes based on the results of its motion and interaction with other agents. The solution of the problem is the motion sequence of agents. The effectiveness of the approach is demonstrated by computer simulation.
Omnidirectional Mobile Platform for Research and Development
Authors: Kawabata Kuniaki ,   Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), Hirosawa 2-1, Wako-shi, Saitama 351-0198, Japan, Suzuki Tsuyoshi , Kaetsu Hayato , Asama Hajime
Published: April 2016

We detail an omnidirectional mobile platform for research and development (R&D). In 1995, we reported that a special driving mechanism for holonomic omnidirectional mobile robots was designed to enable 3 degree of freedom (DOF) motion control by 3 corresponding actuators decoupled with no redundancy. We constructed a omnidirectional mobile robot prototype with a drive. We took part in a RoboCup tournament as Uttori United with omnidirectional mobile robots: ZEN-450, using our driving mechanism, in 1997, and 2000. ZEN-450 showed high mobility during the tournament However, unpredictable problems occurred because ZEN-450 is not developed for robotic soccer. , We considered improving its hardware as a platform. We report the new platform and test-running results.
Development of a Compact Autonomous Underwater vehicle Using Varivec Propeller
Authors: Nagashima Yutaka ,   Department of Electrical Engineering, Sasebo National Colledge of Technology, 1-1 Okishin-machi, Sasebo, Nagasaki, 857-1193, Japan, Taguchi Nobuyoshi , Ishimatsu Takakazu , Inoue Hirofumi ,   Industrial Technology Center of Nagasaki, 2-1303-8, Ikeda, Ohomura, Nagasaki, 856-0026, Japan,   Department of Mechanical System Engineering, Nagasaki University, 1-14 Bunkyo-machi, Nagasaki, 852-8521, Japan
Published: April 2016

This paper describes an autonomous underwater vehicle (AUV) with a distributed fuzzy controller and underwater acoustic communication. Our AUV is made compact and lightweight by using a Varivec propeller and compact controller with sophisticated logic circuits. The AUV is precisely controlled using underwater ultrasonic command signals and fuzzy control. The AUV is autonomously controlled using an electronic compass, collision avoidance sonar, depth sensor, and GPS receiver. Experimental results show that our AUV moved along the target path and held the desired position keeping azimuth direction and depth. We also confirmed that our algorithm to increase the reliability of ultrasonic communication worked without fail.
Application of Neural Network to Teaching of Massage using Multi-fingered Robot Hand
Authors: Kitagawa Hideo ,   Gifu National College of Technology, Shinsei-cho Motosu-gun Gifu Prefecture, Japan, 501-0495, Terai Tomomi , Minyong Panya , Terashima Kazuhiko. ,   Toyohashi University of Technology, Hibarigaoka 1-1 Tempaku-cho, Toyohashi, Japan, 441-8580
Published: April 2016

A massage expert using a humanoid robot hand is constructed, and motion control using neural networks (NNs), teaching of fingertip pressure in massage of the robot hand, and its reproduction of force are reported. Force exerted when an expert massages shoulders was detected using distribution pressure sensors, taught to the robot hand, and reproduced by it. It massaged with pressure safe for human beings and similar to an expert.