bluuebunny/crossref_metadata_2025 huggingface dataset:
Collision Analysis of Container Drifted by Runup Tsunami Using Drift Collision Coupled Model
Authors: Yeom Gyeong-Seon ,   Tsunami Research Center, Port and Airport Research Institute Nagase, Yokosuka, Kanagawa 239-0826, Japan, Nakamura Tomoaki , Mizutani Norimi ,   Department of Civil Engineering, Nagoya University Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Published: April 2016

This study proposes analyzing tsunami generation and propagation of tsunamis, wave runup onto land, object drift, collision with other structures, deformation prediction of colliding and collided-with, and collision force estimation. To reduce calculation load in using the LS-DYNA collision model, we use a drift model using the immersed boundary (IB) method from wave generation to just before collision, and the collision model is used during the collision phase, in which numerical data calculated using the drift model are used as an initial condition of the collision model. Validity of the drift model for wave level, wave force, and drift behavior of a container were verified through comparison with experimental data measured in laboratory experiments. Collision model predictability was also confirmed in terms of drift collision force. Fluid-structure interaction (FSI) between the container and the runup wave is reproduced in numerical drift collision analysis. Through this analysis of a full-scale container based on the international standard with a concrete column, we confirmed the applicability of the collision analysis using the drift simulation as an initial condition for an actual field.
Social Resilience, Disaster Prevention, and Climate Change: Challenges from Mexico
Authors: Velázquez Daniel Rodríguez ,   National School of Social Work-National Autonomus University of Mexico, Coyoacán, Post Code 04510, México City
Published: April 2016

Major damages associated with natural and technological hazards in Mexico occur mainly in the country’s poor and marginalized south and southeastern regions. Technical and administrative issues create some challenges in building disaster resilience into Mexico’s communities, but the main challenge lies in public policy. National, state, and municipal governments must work with different organizations to build community resilience with the objective of linking development to welfare and security. In intervention, challenges lie in consolidating programs and actions related to disaster prevention and adaptation to climate change. We suggest an agenda for promoting social resilience as a component of public policy.
Special Issue on Sediment Induced Disasters
Authors: Ikeda Syunsuke , Egashira Shinji , Mizuyama Takahisa
Published: April 2016

Sediment induced disasters have been studied in a wide variety of research fields ranging from social to natural science, with many interesting results. This special issue provides engineers and scientists with an opportunity to share knowledge and experience in engineering research concerning mass sediment movement and related disasters. To clarify this issue’s objectives and encourage submissions, topics have been discussed based on the needs, activities, and possible contributors classified into four categories:

1) Results based on field and literature surveys and data analysis for catastrophic, recent and historical mass movement, and corresponding disaster events.

2) Results based on field surveys and data analysis for recent usual mass movement events and corresponding disasters resulting from rainfall, earthquakes, volcanic activity, and glacier lakes and natural landslide dam events.

3) Mechanics and numerical modeling for mass movement.

4) Measures against sediment-induced and similar disasters.

Last August, we began inviting submissions on these themes just as Typhoon Morakot slowly crossed Taiwan, causing historically significant rainfall events in southern Taiwan involving numerous landslides and debris flows and precipitated casualties, landscape changes, channel bed variations, etc., similar to the catastrophic sediment events occurring in Venezuela in 1999. Two papers describe what happened in Taiwan and Venezuela, providing advice on possible measures against such abnormal catastrophes. Three contributions describe historical catastrophes involving mountain collapse based on analysis of the literature, topography and field surveys, and numerical models. A total of 11 papers have been submitted, 4 of which concern applicability of constitutive equations for debris flow, numerical models for landslide occurrence due to rain fall and flood processes due to rapid landslide dam erosion, and sediment issues resulting from glacier lake outburst flooding. Two submissions focus on corrective measures.

All papers have been reviewed, revised, and accepted for publications, and we believe this special issue will stimulate future studies and prove useful in practical and scientific fields. We heartily thank all of the authors undergoing the review process, and express our sincere appreciation to the distinguished reviewers, without whose invaluable aid this issue would not have been possible.
Special Issue on Multi-disciplinary Hazard Reduction from Earthquakes and Volcanoes in Indonesia
Authors: Satake Kenji , Ogawa Yujiro
Published: April 2016

Natural disasters and their mitigation are global issues, especially in Asian countries, which have suffered from such geohazards as earthquakes, tsunamis, and volcanic eruptions and such hydrometeorological hazards as typhoons, cyclones, storm surges, and floods.

Research on natural hazards and disasters is multidisciplinary. Scientists from a wide variety of disciplines study hazards, their causes, their mechanisms, and prediction. Engineers study infrastructures and measures to reduce vulnerability. Social and humanitarian scientists study cultural and societal aspects of disasters. Educators study effective ways to raise people’s awareness and action. In addition to such research activities, practitioners work to implement the results of scientific research into practical policymaking.

This special issue of JDR contains 12 papers on multidisciplinary studies concerning geohazards in Indonesia taken from a Science and Technology Research Partnership for Sustainable Development (SATREPS) project supported by the Japan Science and Technology Agency (JST) and the Japan International Cooperation Agency (JICA). SATREPS projects focus on both the scientific aspect, namely, acquiring new knowledge, and the Official Development Aids (ODA) aspect, namely, implementing such knowledge in societal applications.

Following the first review article, which is a project overview, the next four papers report findings on natural hazards – the slip rate on the Lembang fault in Java, tsunami simulation for Java’s Palabuhanratu, the Sinabung volcano eruption in Sumatra, and methods of predicting and evaluating eruptions. One paper reports engineering studies on tsunami disaster mitigation in Padang city and two social science papers present hazards in the contexts of communities and human mobility. Two papers on disaster education cover disaster education development since the 2004 Indian Ocean tsunami and the use of tsunami simulation in disaster education. The last research paper and review article deal with policymaking related to the 2010 Mentawai and 2011 Japan tsunamis, respectively.

All of these papers, including the review articles, have been peer-reviewed by two nonproject reviewers. We thank the authors for their timely contributions and revisions, and the reviewers for their invaluable and wide-ranging comments.
Infectious Diseases of Domestic Animals
Authors: Akashi Hiroomi
Published: April 2016

The outbreak of Foot-and-mouth disease (FMD) in Miyazaki Prefecture in 2010 has turned out to be the most striking disaster in the history of animal hygiene in Japan, from the points such as the number of the animals culled and buried or the human resources required until the time of termination. Inquiry committees for FMD countermeasures established by Miyazaki Prefecture and by the Ministry of Agriculture, Forestry and Fisheries have pointed out the various issues in disease control measures taken during the period starting from the outbreak till the termination. As a result, amendments were made to the Act on Domestic Animal Infectious Diseases Control in April of 2011, and in October, to the Standards of Rearing Hygiene Management.

The outbreak of Foot-and-mouth disease (FMD) in Miyazaki Prefecture in 2010 has turned out to be the most striking disaster in the history of animal hygiene in Japan, from the points such as the number of the animals culled and buried or the human resources required until the time of termination. Inquiry committees for FMD countermeasures established by Miyazaki Prefecture and by the Ministry of Agriculture, Forestry and Fisheries have pointed out the various issues in disease control measures taken during the period starting from the outbreak till the termination. As a result, amendments were made to the Act on Domestic Animal Infectious Diseases Control in April of 2011, and in October, to the Standards of Rearing Hygiene Management.

Diseases that cause damage to domestic animals including FMD are presented in this special issue. I hope that this special issue will contribute to the betterment of animal hygiene and furthermore to the enhancement of dietary life.

Finally, I would like to express my sincere gratitude to the authors and reviewers for their great contributions to this issue.
Evacuation Behaviors in the 2011 Great East Japan Earthquake
Authors: Yun Nam-Yi ,   Department of Civil and Environment Engineering, Graduate School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan, Hamada Masanori
Published: April 2016

We studied relationships between evacuation place and time, predisaster preparedness, and evacuation behavior and survival rate for both the dead and missing and the survivors of the 2011 Great East Japan Earthquake. In order to elucidate the human impact, thousands of witnesses in areas from Tohoku to Kanto were analyzed. With a sample data number of 1,153, results show that behavior during the disaster differed for survivors and the dead and missing and that actual evacuation was associated positively with a higher survival rate. Based on these results, integrated strategies are proposed and discussed for the reduction of casualties in future large-scale natural disasters.
Tsunami Inundation Mapping in Lima, for Two Tsunami Source Scenarios
Authors: Adriano Bruno ,   Laboratory of Remote Sensing and Geoinformatics for Disaster Management, International Research Institute of Disaster Science, Tohoku University, Aoba 6-6-03, Sendai 980-8579, Japan, Mas Erick , Koshimura Shunichi , Fujii Yushiro , Yauri Sheila , Jimenez Cesar , Yanagisawa Hideaki ,   International Institute of Seismology and Earthquake Engineering, Building Research Institute, 1 Tachihara, Tsukuba, Ibaraki 305-0802, Japan,   Geophysical Institute of Peru (IGP), Calle Badajoz 169, Mayorazgo IV Etapa, Ate Vitarte, Peru,   Fenlab, Universidad Nacional Mayor de San Marcos (UNMSM), Av. Venezuela s/n, Lima, Peru,   Dirección de Hidrografía y Navegación (DHN), Calle Roca 116, Chucuito-Callao, Peru,   Department of Regional Management, Faculty of Liberal Arts, Tohoku Gakuin University, 2-1-1 Tenjinzawa, Izumi-ku, Sendai, Miyagi 981-3193, Japan
Published: April 2016

Within the framework of the project Enhancement of Earthquake and Tsunami Disaster Mitigation Technology in Peru (JST-JICA SATREPS), this study determines tsunami inundation mapping for the coastal area of Lima city, based on numerical modeling and two different tsunami seismic scenarios. Additionally, remote sensing data and geographic information system (GIS) analysis are incorporated in order to improve the accuracy of numerical modeling results. Moreover, tsunami impact is evaluated through application of a tsunami casualty index (TCI) using tsunami modeling results. Numerical results, in terms of maximum tsunami depth, show a maximum inundation height of 6 m and 15.8 m for a potential scenario (first source model) and for a past scenario (second source model), respectively. In terms of inundation area, the maximum extension is 1.3 km with a runup height of 5.3 m for the first scenario. The maximum extension is 2.1 km with a runup height of 11.4 m for the second scenario. The average TCI value obtained for the first scenario is 0.36 for the whole inundation domain. The second scenario gives a mean value of 0.64, where TCI equal to 1.00 represents the highest condition of risk. The results presented in this paper provide important information about understanding tsunami inundation features and, consequently, may be useful in designing an adequate tsunami evacuation plan for Lima city.
Diagnosis for Seismic Vulnerability Evaluation of Historical Buildings in Lima, Peru
Authors: Cuadra Carlos ,   Faculty of Systems Science and Technology, Akita Prefectural University, Tsuchiya, Honjo Campus, Yurihonjo, Akita 015-0055, Japan, Saito Taiki , Zavala Carlos ,   Department of Architecture and Civil Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi 441-8580, Japan,   Faculty of Civil Engineering, National University of Engineering, Av. Tupac Amaru s/n, Puerta 7, CISMID, Rimac, Lima, Peru
Published: April 2016

The city of Lima, the capital of Peru, was founded on January 18, 1535, and played a leading role in the history of the Americas from 1542, when king Carlos V established the vice royalty of Peru, until the middle of the 18th century. In 1988, UNESCO declared the historic center of Lima a World Heritage Site for its originality and high concentration of historic monuments constructed at the time of the Spanish presence and at the beginning of the Republican era. The architecture of buildings corresponds in general to typical Hispano-American baroque of the 17th and 18th centuries. Since its founding, the city has suffered many earthquakes that have severely and adversely affected historic buildings. Reconstruction work has been done keeping the originality of buildings. This study starts first with a general diagnosis of problems concerning the city and its buildings. A survey for preliminary evaluation of the structural condition of buildings is then planned. This evaluation of the seismic vulnerability of historic buildings at the historic center of Lima represents the basic study that is necessary to initiate detailed investigation for the preservation and conservation of these historic buildings. The study intends to establish a general guideline for vulnerability evaluation of historic buildings that could be applied to the evaluation of other historic cities of Peru.
Special Issue on 2011 Thailand Flood
Authors: Toda Keiichi
Published: April 2016

Numerous global water disasters have devastated many regions, and some may be due to climate change. Severe water disasters not only may inflict heavily damage on industry but may also leave many persons dead or seriously injured.

The 2011 Thailand flood is a typical example of such disasters. In it, a wide area of the Chao Phraya River basin, where Bangkok is located, was inundated for a long period. Damage by the flood affected not only the domestic scene but also economies and industries all over the world. Many academicians and researchers have executed field surveys from various academic aspects and have studied flood disasters to clarify what actually occurred and to consider what must be done to mitigate such flood events in the future.

The Journal of Disaster Research has planned a special issue on this severe flooding in Thailand. Having participated in field surveys and found the flood worth studying more deeply, I decided to contribute to this special issue as a Guest Editor.

This special issue contains 9 articles, 7 papers and 2 reports, all of which have been peer-reviewed. The broad topics covered range from a detailed field survey to flood and inundation simulation.

I would like to extend sincere thanks to all of the contributors and reviewers involved in producing these articles. Especially, I would especially like to express my gratitude to Dr. Hiroshi Takebayashi, Associate Professor, Disaster Prevention Research Institute, Kyoto University, Japan, for his great support. I look forward with great anticipation to any feedback that readers may be able to provide regarding these articles.
Nationwide 7.5-Arc-Second Japan Engineering Geomorphologic Classification Map and Vs30 Zoning
Authors: Wakamatsu Kazue ,   Department of Civil Engineering, Kanto Gakuin University, 1-50-1, Mutsuura-higashi, Kanazawa-ku, Yokohama 236-8501, Japan, Matsuoka Masashi ,   Department of Built Environment, Tokyo Institute of Technology, 4259-G3-2 Nagatsuta, Midori-ku, Yokohama 226-8502, Japan
Published: April 2016

Local geological and ground conditions play important roles in characterizing and estimating hazards in seismic hazard assessment. The authors recently constructed the Japan Engineering Geomorphologic Classification Map (JEGM), which is a systematically standardized GIS-based ground-condition map containing attributes of geomorphologic classification in grid cells of 7.5 arc-seconds in latitude × 11.25 arc-seconds in longitude for Japan nationwide. This paper introduces the concept of developing the 7.5-arc-second JEGM, and presents sample JEGM images. As an example of the database’s application in estimating hazards, the average shear velocity of the ground in the upper 30m, Vs30 is estimated and mapped for Japan nationwide. Other applications being released include seismic hazard maps of Japan, seismic risk analysis by Central Disaster Prevention Council and local governments, and a Quick Estimation System for Earthquake Maps Triggered by Observation Records (QuiQuake).
Development and Testing of a Mobile Application for Recording and Analyzing Seismic Data
Authors: Naito Shohei ,   National Research Institute for Earth Science and Disaster Prevention, 3-1 Tennodai, Tsukuba, Ibaraki 305-0006, Japan, Azuma Hiroki , Senna Shigeki , Yoshizawa Mutsuhiro , Nakamura Hiromitsu , Hao Ken Xiansheng , Fujiwara Hiroyuki , Hirayama Yoshiharu , Yuki Noboru , Yoshida Minoru ,   Takenaka Corporation, Otsuka1-5-1, Inzai, Chiba 270-1395, Japan,   Hakusan Corporation, J Tower, 1-1 Nikko-cho, Fuchu-shi, Tokyo 183-0044, Japan
Published: April 2016

i-jishin, an app that measures earthquakes using MEMS acceleration sensors built in mobile information terminals such as smartphones and geonavi that receives, stores, and displays seismic records on a cloud server is developed. The test results for the performance validation of the system, an example of the application to strong-motion observation of buildings, and approach of field test for local communities are introduced.
Indirect Economic Loss Estimation due to Seismic Highway Transportation System Disruption in “5.12” Wenchuan Earthquake
Authors: Shi Yan ,   School of Management, Harbin Institute of Technology, Harbin, Heilongjiang Province, China, Wang Shaoyu
Published: April 2016

This paper aims to model the indirect economic loss due to damaged highway transportation systems in earthquake-affected areas that tends to be overlooked by decision-makers compared to direct economic loss that can be measured by repair or replacement cost. A regional Computable General Equilibrium (CGE) model is applied for estimating indirect economic loss in the whole economic system of the affected area. Shifang is a county-level city located in northwest Chengdu city, which is the capital of Sichuan Province, China. In the “5.12” Wenchuan earthquake, Shifang was one of the ten hardest-hit counties or cities and its highway transportation system was seriously damaged. It was selected as a case study to evaluate the indirect economic loss by seismic highway transportation system disruption. Results show that indirect economic loss accounted for nearly 36.4% of direct economic loss, which is as significant as direct economic loss resulting from earthquakedamaged highway transportation systems, and thus should be paid enough attention by decision-makers in pre-earthquake prevention and postearthquake recovery and reconstruction.
Special Issue on Wind Disasters
Authors: Tamura Yukio
Published: April 2016

Increasing numbers of devastating weather events such as Typhoon Haiyan in the Philippines and tornadoes in the US and Japan are suggesting that nature’s destructive power is having a growing worldwide impact.

These events follow the occurrence of such disasters as Cyclone Sidr in 2007 in Bangladesh and Cyclone Nargis in 2008 in Myanmar, especially in the alarming numbers of deaths and injuries and concomitant property loss.

The wind engineering community has taken the initiative in globally promoting wind hazard research and education over the last several decades and is continuing to devote its efforts and energy to producing and providing techniques in advanced wind hazard mitigation to developing countries prone to typhoons and cyclones.

Mitigating the effects of wind hazards on a global plane has thus become a top priority because most of the economic and other loss due globally to natural disasters is caused by extreme wind and water events. Calamitous tropical cyclones generally bring with them high waves, storm surges, heavy rain, flooding, landslides and lightning.

This ongoing process underscores the pressing need to pool expertise and cooperation in reducing such loss. The loss of lives and related financial loss and waste due to such disasters is continuing to increase significantly. It has therefore been hypothesized that global warming and climate change are potentially exacerbating such scenarios as the intensity of weather-related disasters grows.

This special issue of the Journal of Disaster Research focusing on wind-induced disasters is thus both meaningful and timely. As the Guest Editor, I am most pleased to have this opportunity to present and share the latest in knowledge, information and resources on wind damage mitigation to all those working in mitigation efforts and to society as a whole.

Finally, I extend our sincere thanks to all of the contributors and reviewers involved with these articles.
Special Issue on Challenges of Earthquake Forecast Research Illuminated by the 2011 Tohoku-Oki Earthquake
Authors: Hirata Naoshi , Kato Aitaro
Published: April 2016

The 2011 off the Pacific coast of Tohoku Earthquake, hereafter referred to as Tohoku-Oki earthquake, occurring off northeastern Japan’s Pacific coast on March 11, 2011 had a moment magnitude of 9.0 and generated a tsunami responsible for most of the deaths of the event’s 19,000 victims. Identifying scientifically what happened before, on, and after March 11 is one starting point for a discussion on how to reduce casualties and mitigate the impact of such natural disasters. The 14 papers in this special issue cover incidents related to pre-, co- and post-seismic phenomena, including volcanoes. Three papers discuss why and how such a large quake occurred. Three more papers go into the implications of short- and long-term crustal deformations seen in northeastern Japan. Four papers detail short- and long-term phenomena leading to the Tohoku-Oki quake. Two papers discuss real-time tsunami forecasting based on off-shore and on-shore geodetic, seismic and tsunami observation data. The last two papers explore the effects of the 2011 temblor on volcanic phenomena.

The magnitude 9.0 produced in the 2011 event is the largest historically recorded in Japan and may not necessarily have been anticipated beforehand, and the generation mechanism behind such a gigantic occurrence is not yet completely understood. Even so, preparations should be made for such earthquakes in other parts of Japan and in other countries. The Nankai trough is an example of areas that require our attention.

A national project for observation and study for earthquake prediction is now being integrated into a new program, Earthquake and Volcano Hazards Observation and Research Program (2014-2019). Studies presented in this special issue are also being supported in part by this program.

We are certain that readers will find that this special issue will contribute much to our understanding of gigantic earthquakes and at least some of the measure to be taken in preparation for such natural phenomena. Finally, we extend our sincere thanks to all of the contributors and reviewers involved with these articles.
Method for Real-Time Evaluation of Discharge Rate of Volcanic Ash – Case Study on Intermittent Eruptions at the Sakurajima Volcano, Japan –
Authors: Iguchi Masato ,   Sakurajima Volcano Research Center, Disaster Prevention Research Institute, Kyoto University 1722-19 Sakurajima-Yokoyama, Kagoshima 891-1419, Japan
Published: April 2016

A method for evaluating the volcanic ash discharge rate by using seismic and ground deformation signals is proposed to obtain this rate in real time for southern Kyushu’s Sakurajima volcano. This volcano repeats vulcanian eruptions accompanying significant ground deformation showing deflation and nonvulcanian type eruptions that emit the minor emissions of volcanic ash associated with volcanic tremors but without significant ground deformation. We examined ground deformation and seismic amplitude as they relate to monthly sums of volcanic ash weight ejected from craters. We found that in monthly sums, both deflation ground deformation and the amplitude of volcanic tremors correlate positively with the weight of ejected volcanic ash. A linear combination of terms for ground deformation, seismic amplitude and a correction factor correlates better than single parameter of deflation or seismic amplitude with volcanic ash weight. The linear combination provides the volcanic ash discharge rate in quasi-real time and the total amount of volcanic ash distributed over a wide area immediately after a volcanic eruption ends.
Deformation Capacity of Steel Shear Panel Damper and its Reflection to AIJ Design Requirements
Authors: Tamai Hiroyuki ,   Structural Engineering Division, Faculty of Engineering, Nagasaki University 1-14 Bunkyo-machi, Nagasaki 852-8521, Japan, Kasai Kazuhiko ,   Structural Engineering Research Center, Tokyo Institute of Technology 4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan
Published: April 2016

Shear panel dampers consisting of stiffeners and panels surrounded by four flanges are used as aseismic hysteretic dampers for buildings in Japan. Cracks can form easily in a shear panel damper when shear buckling occurs during the cyclic loading caused by a severe earthquake.

For a relatively thin panel with a large width-to-thickness ratio, the damper’s plastic deformation capacity and the presence of shear buckling can be evaluated from the maximum deformation angle. However, when it is relatively small, very-low-cycle fatigue life for a relatively thick panel must be known to predict the usage limit of the damper, because the failure pattern changes when cracks form in the weld between the panels and flanges. Fatigue life relations for a thick shear panel damper with parameters of normalized width-to-thickness ratio and deformation angle are presented. A method for predicting the fatigue life under severe earthquake conditions is also presented. To validate the prediction expression, cyclic loading tests were performed on a shear panel damper and reviewed. The applicability of the method for predicting the fatigue life was confirmed through non-stationary cyclic loading tests. These results showed the validity and effectiveness of the expressions and the method.
Compensating Control of a Flexible Robot Arm
Authors: Uchiyama Masaru ,   Faculty of Engineering, Tohoku University Aza Aoba, Aramaki, Sendai Miyagi 980, Japan, Jiang Zhao Hui , Hakomori Kyojiro
Published: April 2016

Since the characteristics of flexible robot arm motion is far more complex than that of rigid arm motion due to its link elastic deflections, the flexible arm end-effector positioning problem also becomes more complex. The problem is finally resolved into the following three subproblems: (1) how to suppress the link elastic vibration, (2) how to achieve accurate joint positioning, and (3) how to compensate the end-effector positioning errors due to the link deflections. The problem (1) is being solved by many pieces of work. The problem (2) arises also in the case of rigid arms but, since the joint positioning and link vibration suppressing are coupled, it becomes more complex for the case of flexible arms. The problem (3) is important in order for the arms to perform tasks but no effective method has been presented so far to solve it. This paper presents a hierarchical control system which incorporates organically three control functions: joint positioning, link vibration suppression, and end-effector positioning error compensation. The convergence condition for the compensating control is derived theoretically for the condition of static gravitational loads. The effectiveness of the proposed control system is proved by experiments using a two-link flexible arm. The link deflections are measured by a newly devised and developed sensor consisting of a semiconductor laser and a position sensitive detector (PSD).
High Accuracy Calibration System for Angular Encoders
Authors: Masuda Tadashi ,   Shizuoka Institute of Science and Technology, 2200-2 Toyosawa, Hukuroi-shi, Shizuoka, Japan, Kajitani Makoto ,   The University of Electro-Communications, 1-5-1 Choufugaoka, Choufu-shi, Tokyo, Japan
Published: April 2016

This paper describes an automatic calibration system for various angular encoders with high resolution and high accuracy. The system has a photoelectric encoder as a reference standard with 225000 P/R, and object encoders are compared with the reference standard. Using the time conversion method, the relative angle position errors are detected with 0.001"" resolution, and all graduations are automatically measured. The reference standard is automatically calibrated by the self-checking method used the other encoder. As the calibration results, the calibration values of the reference standard were obtained with an accuracy of approximately ±0.5 arc second, and the accuracy of the calibration values were presumed to be approximately 0.05 arc seconds.
Basic Study of Quadruped Locomotion System with Ability to Adjust Compliance
Authors: Sano Akihito ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo 182, Japan, Furusho Junji , Hashiguchi Akihiro ,   Fuji Photo Film Co., Ltd., 798, Miyanodai, Ashigarakami-gun, Kanagawa, 258 Japan
Published: April 2016

It is very important to adjust the dynamics of a robot in order to achieve a natural behavior under the complicated interaction between the robot and the external environment. With respect to dynamic walking control of the quadruped locomotion system, a compliance control is discussed. In this paper, the stiffness and dumping of tiptoe motion in the coordinate fixed on the body is controlled at each configuration of the leg. The hierarchical control structure is adopted. In the lower level, torque feedback control at each joint is executed by using a torque sensor which was developed to accurately measure the torque of the joint. In the upper level, the reference torque signal to the lower level is generated to realize the desired compliance. The compliance control is applied in the three-leg-supporting phase and in the touchdown of the swing leg. The desired compliance is designed to absorb the vibration caused by the collision at the touchdown and not to prevent the forward movement. The effectiveness of the proposed control strategy is confirmed by experiments using walking robot ""COLT 3"".
Special Issue on Biomechatronics
Authors: Ide Hideto
Published: April 2016

We are now entering the 21st century. With the aging society having a life expectancy of 80, various problems have emerged. If we can live until 80 without any physical trouble, we will be the happiest. Who take care of the elderly? The children or a spouse? The answer is neither. Everyone will have to be responsible for himself or herself. However, this will be impossible if their physical problems are involved. Then who ? Robots will do the job. It is necessary to develop warmhearted robots that are similar to grandchildren or other loved ones. At present, robots play a significant and remarkable role in the human society. They are roughly classified into two types: one based on a longing for creatures with a good ability that we do not have, such as a giant force or ability of flying in the air or diving underwater or under ground, and the other based on a desire that we want to own an artificial creature, such as a servant performing undersirable tasks for us or accepting all of our orders. The former should be called a tool such as a construction machine, airplane, or submarine rather than a robot. This is derived from the concept that an ability not owned by us is implemented or supplemented through a machine and is added to us, not the concept of ""instead of us."" The latter is derived from the concept that makes machines replace what we have done, and its typical examples include industrial or robots working under extreme conditions. No matter how much robots have progressed, human intervention is always required because human hands have an ability that cannot be implemented in current robots. This ability is the flexibility of human hands that can undertake anything to some extent even with less precision. If it cannot be realized, a robot such as a servant will be unable to be implemented. It is no exaggeration to say that this implementation is the final goal of robotics. To analyze a human arm (hand), the following methods are available: direct measuring method using sensors or other devices mounted on the arm and indirect measuring method using the electromyogram (EMG) that is generated by moving muscles. The direct method is capable of measuring fine motion and is applied mainly to industrial robots. The indirect method is considered powerful in the medical field, particularly as the control signal of power-driven artificial arm. When the upper arm or forearm is voluntarily moved, an active potential remains on the remaining muscles at the edge of a person who was operated to cut his or her arm in the same way as an ordinary person. If this active potential is used as the control signal source, the artificial arm will be controlled according to the mechanism approximate to the voluntary movement of an ordinary person. This special issue spotlights the organisms with these good features. I sincerely thank the authors for their cooperation.
Evaluation of Human Pain Tolerance and Its Application to Designing Safety Robot Mechanisms for Human-Robot Coexistence
Authors: Yamada Yoji ,   Toyota Technological Institute, 2-12-1, Hisakata, Tempaku, Nagoya 468
Published: April 2016

This paper describes, with reference to related studies, a human-oriented design approach to developing a safe robot system for human-robot coexistence. First, a soft covering made of a visco-elastic material is designed to achieve both effective impact force attenuation and high contact sensitivity within a human pain tolerance limit. Second, a fail-safe robot system is constructed with contact sensing and subsequent emergency stop control capabilities, primarily by using a simple disturbance observer which plays an important role of checking the normal operation of a two-link DD-motor-driven manipulator. Actual human-robot collision experiments verified that the contact forces generated at the collisions were suppressed below the human pain tolerance limit. Moreover, an additional robot speed reduction mechanism was provided to show that the human reflexive motions to avoid a severe contact with the robot within a safeguarding space contribute to enhancing the efficiency of the system to the point of reducing the speed of the robot in a safe manner when the robot comes in contact with the human.
The Influence of Environmental Conditions on Automated Fabric Handling
Authors: Taylor Paul M. ,   Department of Mechanical, Materials and Manufacturing Engineering, University of Newcastle, Newcastle Upon Tyne NEl 7RU, UK, Pollet Didier M. , Abbott Paul J. W. ,   Electronic Engineering Dept., University of Hull Cottingham Rd. HU6 7RX Hull, UK
Published: April 2016

The automation of garment assembly has proved to be very difficult to achieve with the cost, flexibility and reliability required by the manufacturers. The importance of two fabric properties, friction and bending stiffness, is emphasised, with a focus on a pick and place task. It is also shown that changes in humidity can cause significant changes in the unloaded friction coefficients and the bending stiffnesses of fabrics and thus affect the task operation. Both theoretical and experimental results are given. This leads to three possible approaches: close regulation of the materials and processes, handling processes tolerant to changes in the material properties, and thirdly, intelligent systems which can learn from and adapt to each situation.
Sensory Network for Mobile Robotic Systems with Structured Intelligence
Authors: Kubota Naoyuki ,   Dept. of Mechanical Engineering, Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka 535-8585, Japan, Fukuda Toshio ,   Center for Cooperative Research in Advanced, Science and Technology, Dept. of Mechano-Informatics and Systems & Dept. of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan
Published: April 2016

This paper deals with a sensory network for mobile robotic systems with structured intelligence. A mobile robot requires close linkage of sensing, decision making, and action. To realize this, we propose structured intelligence for robotic systems. In this paper, we focus on the sensing ability for a mobile robot with a fuzzy controller tuned by the delta rule and whose architecture is optimized by a genetic algorithm. We apply the sensory network for controlling attention ranges for external sensors and for adjusting fuzzy controller output from the metalevel. As a simulation example, we apply the proposed method to mobile robot collision avoidance problems. Simulation results show that sensory networks control the attention range for perception and adjust fuzzy controller output based on given environmental conditions. We show the experimental results of mobile robot collision avoidance in work space including several obstacles.
Self-diagnosis System of an Autonomous Mobile Robot Using Sensory Information
Authors: Okina Shinnosuke ,   Department of Electrical and Electronics Engineering, Chuo University, Kawabata Kuniaki , Fujii Teruo , Kunii Yasuharu , Asama Hajime , Endo Isao ,   Biochemical Systems Laboratory, The Institute of Physical and Chemical Research (RIKEN),   Underwater Technology Research Center, the Institute of Industrial Science, The University of Tokyo,   Advanced Engineering Center, The Institute of Physical and Chemical Research (RIKEN)
Published: April 2016

In this paper, we describe a basic sensing system for self-diagnosing an autonomous mobile robot. In recent years, many researches on intelligent robots and systems have been done. But, when such robots and systems work in the real environment, it is important for those robots and systems to have the ability to recognize their own conditions for detecting faults. On the point of view, we should consider pay more attention to diagnose in such intelligent systems. Therefore we try to construct an internal sensing system as a self-diagnosis system on a real robot. Especially, in this paper, we discuss about motor system of an autonomous omnidirectional mobile robot, which was developed in RIKEN. The self-diagnosis system consists of multiple sensors, which are voltage, current, encoder, and magnetic sensors. We show some diagnosing experimental results using the real system. From the results, we could collect basic data for fault detection of the system.
Evaluation of Wheel Performance on Rough Terrain and Development of HS Wheel
Authors: Uchida Yasuyuki ,   Tokyo Institute of Technology Dept. of Mechano-Aerospace Engineering, 2-12-1, O-okayama, Meguro-ku, Tokyo 152-8552, Japan, Furuichi Kazuya , Hirose Shigeo ,   JGC, 2-3-1, Minatomirai, Nishi-ku, Yokohama, Kanagawa 220-0012, Japan
Published: April 2016

We are in the process of development of the ""HELIOS-V"", which is equipped with 4 1ow-pressure tires outside and 2 high-pressure tires inside. This vehicle is designed to acquire the performance to ascend and descend stairs using low-pressure tires and move effectively on even ground by using high-pressure tires. To make the most of the characteristics of the vehicle, we have to understand the performance of the wheels in accordance with the terrain condition quantitatively. Therefore we constructed an experiment setup to evaluate performance of wheels on several terrain conditions without influence of the vehicle motion. By this experiment, we compared a low-pressure tire with a high-pressure tire and showed superiority of a low-pressure tire on rough terrain. We also evaluated 2 kinds of tires with slits and ribs to make grip force. Based on these considerations, we developed a Hard-Soft Wheel, or HS Wheel having both of the advantages of a low-pressure and high-pressure tire.
Flexible Pneumatic Actuators: A Comparison between The McKibben and the Straight Fibres Muscles
Authors: Ferraresi Carlo ,   Department of Mechanics, Politecnico di Torino, Corso Duca degli Abruzzi, 24 -10129 Torino - Italy, Franco Walter , Bertetto Andrea Manuello ,   Department of Mechanical Engineering, University of Cagliari Piazza d'Armi, 09123 Cagliari-Italy
Published: April 2016

The prototypes of a McKibben actuator and a straight fibre muscle are presented. Their experimental characteristics are shown. For both kind of typology a mathematical model, able to evaluate the traction force as a function of the contraction ratio and the supply pressure, has been developed, taking into account the geometrical dimensions of the muscles and the mechanical characteristics of the materials. The models have been validated experimentally. Finally, by means of such models, a comparison between the behaviour and performance of the two kinds of actuator has been carried out.
Quadruped Walking Robot with Reduced Degrees of Freedom
Authors: Yoneda Kan ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 0-okayama Meguro-ku, Tokyo 152-8552, Japan, Ota Yusuke , Ito Fumitoshi , Hirose Shigeo
Published: April 2016

We advocate the effectiveness of a walking robot to have a structure with a reduced DOF, not based on a model of real animals, to make the robot lightweight and practical, and discuss a technique for reducing the active degrees of freedom (DOF) of a quadruped walking robot as an example for realizing such objectives. If functions required of a quadruped walking robot are properly organized and the required active DOF is examined, 4 active DOF make it possible to select an arbitrary position on uneven terrain and to move in all directions. We describe a mechanism with 4 active DOF and 2 passive DOF as an example of concrete configurations for quadruped walking robots with 4 active DOF. A robot with a reduced active DOF, namely with 3 active DOF and 2 passive DOF, has a capability to reach an arbitrary position at an arbitrary angle on uneven terrain. An actual mechanical model was manufactured as an experimental model, and a walking experiment was conducted. The mechanical model turned out to be about one-4th in weight compared to a conventional biomimetic model of the same size. Based on the walking experiment, it was confirmed that this mechanical model can carry a load up to 4 times its own weight.
Subjective Evaluation of Seal Robot: Paro -Tabulation and Analysis of Questionnaire Results
Authors: Shibata Takanori ,   National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono Tsukuba 305-8568, Japan, Wada Teruaki Mitsui Kazuyoshi , Tanie Kazuo ,   Gifu Prefectural Institute of Production Information Technology, 4-179-19 Sue-cho Kagamihara 509-0108,   PERESTO, JST
Published: April 2016

Recent advances in robotics have been applied to automation in industrial manufacturing, with the primary purpose of optimizing practical systems in terms of such objective measures as accuracy, speed, and cost. This paper describes research on mental commit robot that seeks a different direction that is not so rigidly dependent on such objective measures. The main goal of this research is to explore a new area in robotics, with an emphasis on human-robot interaction. In the previous research, we categorized robots into four categories in terms of appearance. Then, we introduced a cat robot and a seal robot, and evaluated them by interviewing many people. The results showed that physical interaction improved subjective evaluation. Moreover, a priori knowledge of a subject has much influence into subjective interpretation and evaluation of mental commit robot. In this paper, 785 subjects evaluated the seal robot, Paro by questionnaires in an exhibition. This paper reports the results of statistical analysis of evaluation data.
New Robot Technology Concept Applicable to Human Physical Support - The Concept and Possibility of the Muscle Suit (Wearable Muscular Support Apparatus) -
Authors: Kobayashi Hiroshi ,   Department of Engineering, Tokyo University of Science, 1-3 Kagurazaka, Shinjuku-ku, Tokyo 162-0825, Japan, Matsushita Taisuke , Ishida Yusuke , Kikuchi Kohki ,   Graduate School, Tokyo Universigy of Science, 1-3 Kagumazaka, Shinjuku-ku, Tokyo 162-0825, Japan,   Department of Precision Machine, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
Published: April 2016

To the paralyzed or those otherwise enable to move on their own, we have been developing ""muscle suit"" providing muscular support. Muscle suit are worn and use a McKibben actuator driven by compressed air. Because actuators are sewn into a garment, no metal frame is needed, making a muscle suit very light and cheap. Most medical and welfare apparatuses were developing for caregivers rather than patients in need of nursing, causing patients to lose their own identity and a positive attitude. With muscle suit, they could control their movement of their own will. Muscle suit are very helpful for muscular and mental support.
Control of Elasticity and Trajectory of Robot Arm with Redundant Actuators
Authors: Oshima Toru ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Toyama Prefectural University, Kurogawa 5180, Kosugi, Toyama, 939-0398, Japan, Fujikawa Tomohiko , Kumamoto Minayori ,   Department of Electronic Control Engineering, Toyama National College of Maritime Technology, Ebie Neriya 1-2, Shinminato, Toyama, 933-0293, Japan,   Laboratories of Image Information Science and Technology, Hongo 5-26-4, Bunkyo, Tokyo, 113-0033, Japan
Published: April 2016

In mechanical joints applied to robot arms, one actuator is generally required to drive one joint. For the drive of joints on the musculoskeletal system of animal limbs, in which musculi skeleti are used as actuators, there is a pair of bi-articular muscles for driving two joints simultaneously in addition to a pair of monoarticular muscles. By our study with a simple arm model having a 2 degrees of freedom for two joints, the relationship between the compliances of antagonistic muscless at a joint (the muscle coordinate system) and the elastic ellipse at the end of arm (the task coordinate system) has been clarified in connection with the adjustment of the trajectory at the end of arm, which belongs to the task coordinate system, when the bi-articular muscles are made available and when they are made un-available for comparison. The effect of the bi-articular muscles has thus been proved. Then the fact that the trajectory of the arm can be adjusted by means of both an elastic ellipse and the force at the end of the arm has also been clarified. To verify the above, a 2 degrees of freedom robot arm has been adopted. This arm is equipped with two joints having (3-pairs, 6-muscles) pneumatic rubber artificial muscles used as actuators.