bluuebunny/crossref_metadata_2025 huggingface dataset:
Evaluation for Vehicle Positioning in Urban Environment Using QZSS Enhancement Function
Authors: Kitamura Mitsunori ,   Graduate School of Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Suzuki Taro , Amano Yoshiharu , Hashizume Takumi ,   JSPS Research Fellow, Tokyo University of Marine Science and Technology, 2-1-6 Etchujima, Koto-ku, Tokyo 135-8533, Japan,   Advanced Research Institute for Science and Engineering, Waseda University, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Published: April 2016

In this paper, we have evaluated the performance and availability enhancement of Quasi-Zenith Satellite System (QZSS) in urban environments. In urban environments, QZSS can be expected to be fairly effective because of the high elevation angle of satellite and enhancement functions. Therefore, we conducted performance and availability enhancement evaluation tests to verify thus. In performance enhancement evaluation test, in order to evaluate the improvement of GPS accuracy by L1 Submeter-class Augmentation with Integrity Function (L1-SAIF) broadcasted by QZSS satellite, we compared the positioning errors of only GPS positioning and L1-SAIF positioning in open sky environment. In availability enhancement evaluation test, we performed the static and kinematic observation test. In static observation test, in order to evaluate the improvement of GPS accuracy by availability enhancement, we observed GPS and QZSS statically in narrow-sky environment. And we compared the positioning errors of only GPS positioning and positioning using availability enhancement. In kinematic observation test, in order to evaluate the availability of QZSS based on the visibility of QZSS satellite in urban environment, we observed QZSS and SBAS from moving vehicle. And we compared the visibility of QZSS and SBAS satellites. From these evaluation tests, it was confirmed that the performance and availability enhancement of QZSS have high availability and effectiveness.
Evaluation of Construction Robot Telegrasping Force Perception Using Visual, Auditory and Force Feedback Integration
Authors: Yusof Ahmad Anas ,   Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan, Kawamura Takuya , Yamada Hironao
Published: April 2016

Construction robot telegrasping operation provides considerable challenges in postdisaster recovery missions. This paper presents an evaluation of construction robot telegrasping force perception, which integrates the use of visual, auditory and force feedback systems. The integration of graphically-presented feedback force is proposed to help operators visually monitor changes in grasping force. Auditory feedback is used simultaneously to provide rapid warnings, while force feedback enhances grasping sense. Sensitivity to each type of feedback is measured by using psychophysical tests, and manipulation tests are conducted to observe effects on the gripping risk index, task completion time and subjective workload. Results validate the need for multimodal sensory feedback, for accurately controlling the grasping process, and for avoiding unnecessary action due to human error.
Smart Home Network System Integration with RT Middleware for Embedded Controller
Authors: Ohara Kenichi ,   Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Tanikawa Tamio , Toyoda Mitsuhiro , Nakamoto Hiroyuki , Iijima Masato , Endo Yoshimasa , Takahashi Toru , Sakamoto Takeshi , Kotoku Tetsuo , Ohba Kohtaro , Arai Tatsuo
Published: April 2016

General-purpose robots have been constructed by a central system managing all robot elements by using a single high performance controller. Through advances in semiconductor technology, however, robot system developers can choose several types of robot designs, such as distributed arrangement in a house environment. Robot systems, e.g., environmental robots, are an important topic in robotics. Standardized communications and device specifications are important in actually utilizing such robot system. A userfriendly framework is also important. In this paper, we propose RT middleware for an embedded controller, which is based on standardized specifications in the OMG (Object Management Group). We also introduce reference hardware for developed RT middleware. Last, the HEMS (Home Energy Management System) is shown as an example system using developed middleware.
Development of a Small, Lightweight Rover with Elastic Wheels for Lunar Exploration
Authors: Iizuka Kojiro ,   International Young Researchers Empowerment Center, Shinshu University, 3-15-1 Tokida, Ueda-shi, Nagano 386-8567, Japan, Sasaki Tatsuya , Hama Hidenori , Nishitani Atsuro , Kubota Takeshi , Nakatani Ichiro ,   Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda-shi, Nagano 386-8567, Japan,   IHI Corporation, 1-1 Toyoshu, Koto-ku, Tokyo 135-8719, Japan,   Department of Electronic Control and Robot Engineering, Aichi University of Technology, 50-2 Manori, Nishihazama-cho, Gamagori-shi, Aichi 443-0047, Japan
Published: April 2016

Rovers are one of the most important vehicles used for conducting planetary exploration missions. This paper focuses on a small, lightweight rover that can be used for lunar exploration. It should be noted that, with a small rover, it is difficult to traverse loose soil such as that on the lunar surface. The rocks that cover the lunar surface, moreover, hinder the traversal of a small, lightweight rover. We develop a small, lightweight rover having 2 configurations to solve these tasks. One configuration involves the installation of elastic wheels whose 2 form changes depending on the surface that the rover traverses. The other configuration involves passive suspension using differential gears. We perform running experiments on rovers with these configurations. Experimental results prove that elastic wheels are more efficient than rigid wheels for traversing loose soil. We also found, moreover, that the proposed rover shows good climbing performance. We thus have shown the efficiency of the proposed small, lightweight rover in this study.
Turbojet Engine for Aerial Cargo Robot (ACR)
Authors: Iwata Kakuya ,   National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki, Japan, Matsubara Koji , Kawasaki Kazumasa , Matsumoto Osamu ,   Faculty of Engineering, Niigata University, Japan,   Institute for Research Collaboration and Promotion, Niigata University, Japan
Published: April 2016

Turbine engines have been used as high reliable, safe engines in airline transportation. Safety is the most important factor in the social use of aerial robots. We started research on Aerial Cargo Robots (ACR) in 2004. The first flight of an ACR prototype was successfully achieved on November 22, 2005. The ACR prototype consists of a flexible airfoil, twin micro-turbo-jet engines and a gravity center control unit. The ACR meets the following requirements for safety: touchable, i.e., without propellers or rotors; a low sink rate the same as a parachute, i.e., below 1.0 m/sec; a low stall speed, i.e., less than 30 km/h; and a redundancy arrangement control system. The most important safety specification is the use of a silent turbojet engine for the ACR thruster. This paper reports the results of turbojet engine development for aerial robots.
Application of “Planar Muscle” with Soft Skin-Like Outer Function Suitable for Musculoskeletal Humanoid
Authors: Osada Masahiko ,   Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Mizoguchi Hironori , Asano Yuki , Kozuki Toyotaka , Urata Junichi , Nakanishi Yuto , Okada Kei , Inaba Masayuki
Published: April 2016

In recent years, human-like robots have received a lot of attentions. A musculoskeletal humanoid is an effective approach for making a human-like robot, and many musculoskeletal humanoids have been developed. However, none have been equipped with really human-like bones and muscles, especially shapes and alignments. Formaking really human-like musculoskeletal humanoids, we thought of the “planar muscle” as the key. A planar muscle is an enhanced wiredriven system in which a motor winds a wire. In a prior system, one motor controlled one wire and the linear muscle needed one motor per wire and complex control systems. We therefore developed the planar muscle that controlled several wires simultaneously by using two moving pulley bars and one motor. The planar muscle is suited to musculoskeletal humanoids because they need a lot of motors and complex control systems in the case of using linear muscles. Furthermore, planar muscles are useful for soft skin-like outers that protect external shocks and sense touch. Using the planar muscles, we are developing a new musculoskeletal humanoid that has human-like bones and muscles. In this paper, we show the planarmuscle concept, especially its soft skin-like outer functions, and evaluate its motion with a body trunk model having multiple vertebrae that we developed.
A Bio-Inspired Robot Using Electro-Conjugate Fluid
Authors: Tokida Kenichiro ,   Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi Kouhoku-ku, Yokohama, Japan, Yamaguchi Akihiro , Takemura Kenjiro , Yokota Shinichi , Edamura Kazuya ,   Department of Mechanical Engineering, Keio University, Japan,   Precision and Intelligence Laboratory, Tokyo Institute of Technology, R2-41, 4259 Nagatsuta-cho, Midori-ku, Yokohama, Japan,   New Technology Management Co., Ltd., 2-9-1-306 Higashi-shinkoiwa, Katsushika-ku, Tokyo 124-0023, Japan
Published: April 2016

Electro-Conjugate Fluid (ECF) is a kind of functional fluid that produces a jet flow (ECF jet) when subjected to high DC voltage. A strong ECF jet is known to be generated in a nonuniform electric field, for example, a field with a pair of needle and ring electrodes. This study introduces the ECF jet in developing a novel bio-inspired robot. We first propose the concept of a robot driven by an ECF jet. The robot is mainly composed of ECF jet generators (a micro fluid pressure source), fiber-reinforced rubber actuators, a built-in spring actuator, and an ECF tank. We next investigate the characteristics of the ECF jet generator, the fiberreinforced rubber actuator, and the built-in spring actuator. As a result, we confirmed that the maximum pressure and flow rate of the ECF jet generator are 32.0 kPa and 27.0 ml/min, respectively, and that the actuators could be driven by the ECF jet. We then developed a bio-inspired robot and demonstrated that the robot could move in a 14 mm diameter acrylic half pipe with 0.6 mm/s, and in a 14 mm diameter acrylic pipe with 0.5 mm/s. The robot is 300 mm long with a mass of 26 g.
Hopping by a Monopedal Robot with a Biarticular Muscle by Compliance Control – An Application of an Electromagnetic Linear Actuator –
Authors: Nakata Yoshihiro ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan, Ide Atsuhiro , Nakamura Yutaka , Hirata Katsuhiro , Ishiguro Hiroshi ,   Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

The compliance of muscles with external force and the structural stability given by biarticular muscles are important features of animals for realizing dynamic whole-body motion such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator emulates the behavior of a human muscle, such as spring-damper properties, through the quick control of output force, i.e., impedance control. It is expected to be used as an artificial muscle. In this paper, we design a monopedal robot possessing bi- and mono-articular muscles implemented by linear actuators. Thanks to the biarticular muscle, the direction of bouncing by a robot can be controlled by changing the stiffness ellipse at the endpoint, i.e., foot, of the robot. We make a simulator of the robot to evaluate dynamic characteristics and show that the robot hops stably by adjusting the stiffness ellipse. We also confirm that the behavior of the real robot is consistent with that of our simulator.
Robust Visual Servoing for Object Manipulation Against Temporary Loss of Sensory Information Using a Multi-Fingered Hand-Arm
Authors: Kawamura Akihiro ,   Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan, Tahara Kenji , Kurazume Ryo , Hasegawa Tsutomu
Published: April 2016

This paper proposes a robust visual servoing method for object manipulation against temporary loss of sensory information. It is known that visual information is useful for reliable object grasping and precise manipulation. Visual information becomes unavailable, however when occlusion occurs or a grasped object disappears during manipulation. In that case, the behavior of the visual servoing system becomes unstable. Our proposed method enables an object to be grasped and manipulated stably even if visual information is temporarily unavailable during manipulation. This method is based on dynamic stable object grasping and manipulation proposed in our previous work and the concept of virtual object information. A dynamic model of the overall system is first formulated. A new controller using both actual and virtual object information is proposed next. The usefulness of this method is finally verified through both numerical simulation and experiments using a triple-fingered mechanical hand.
Adaptive Gait for Dynamic Rotational Walking Motion on Unknown Non-Planar Terrain by Limb Mechanism Robot ASTERISK
Authors: Theeravithayangkura Chayooth ,   Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan, Takubo Tomohito , Ohara Kenichi , Mae Yasushi , Arai Tatsuo ,   Graduate School of Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi, Osaka City, Osaka 558-8585, Japan
Published: April 2016

An adaptive gait is proposed for dynamic rotational walking motion of multi-legged mobile robots by utilizing body angle compensation and the center of mass height control. Posture control is used to further enhance the robustness and stability of the robot based on a posture optimization database. The database is created by using a genetic algorithms in order to find the most suitable posture for each virtual plane created during body compensation in adaptive gait control. Additionally, the stability of the robot is controlled by online zero-moment point compensation and compliance control. In order to test the robustness of motion, experiments are divided into three parts: inclined-plane (linear variation), step (step variation), and obstacle (impulse variation). As a result of this research, with the proposed method, the robot could walk up and down inclined-planes with angles of 6.8° and 5.6°, respectively, and walk up and down a step and over an obstacle with a height of 20 mm.
A System for Automated Interaction with the Cricket Utilizing a Micro Mobile Robot
Authors: Kawabata Kuniaki ,   RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, Wako, Saitama 351-0198, Japan, Aonuma Hitoshi , Hosoda Koh , Xue Jianru ,   Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, No.28, Xianningxilu, Xi’an 710049, China,   Hokkaido University, Kita 12, Nishi 7, Kita-ku, Sapporo 060-0812, Japan,   Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
Published: April 2016

This paper describes our trials in developing automated interaction systems with crickets by using a micro mobile robot for attracting pheromone behavior. The cricketGryllus bimaculatusmodifies its behavior based on experience that is based on pheromone interactions between individuals. In developing systems, a micro mobile robot with a cricket’s head is controlled based on online visual tracking information. In this paper, we describe implementing automated micro mobile robot control based on image processing and attempt experimental trials in interaction between the cricket and micro mobile robot. The cricket shows a typical response to the pheromone stimulus for approaching by the micro mobile robot. Results also show that the developed system could contribute to novel biological research, for example, manipulable experimental conditions for interactive experiments.
Propulsion Mechanism for a Lunar Subterranean Excavator Using Peristaltic Crawling
Authors: Kitamoto Hiroyuki ,   Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Omori Hayato , Nagai Hiroaki , Nakamura Taro , Osumi Hisashi , Kubota Takashi
Published: April 2016

Exploration below the lunar surface has great potential for scientific progress and the future of space explanation. However, as of now, little is known about the environment of the lunar subsurface, but the international space community has plans to explore it. The development of an excavator that can perform underground investigations has been needed, so we have developed one with a peristaltic crawling mechanism. The robot consists of propulsion and excavation units. The propulsion unit consists of three propulsion subunits which together form the peristaltic crawling mechanism. The excavation unit has an earth auger to dig up and transport soil. In this study, we propose a new type of propulsion subunit. It has a belt drive system to facilitate the smooth movement of the propulsion subunits, and it enables the robot to support three subunits. We also perform experiments in which the excavation robot burrows into red soil to depths of up to 600 mm.
Selective Cell Adhesion and Detachment on Antibody-Immobilized Thermoresponsive Surfaces by Temperature Changes
Authors: Kobayashi Jun ,   Institute of Advanced Biomedical Engineering and Science, Tokyo Women’s Medical University (TWIns), 8-1 Kawadacho, Shinjuku, Tokyo 162-8666, Japan, Nishi Masanori , Akiyama Yoshikatsu , Yamato Masayuki , Yajima Hirofumi , Okano Teruo ,   Department of Applied Chemistry, Faculty of Science, Tokyo University of Science, 1-3 Kagurazaka, Shinjuku, Tokyo 162-8601, Japan
Published: April 2016

Anti-CD90 antibody-immobilized thermoresponsive (AIT) surfaces were prepared for obtaining temperature-triggered switching of the selective adhesion and detachment of CD90-expressed cells. Thymic carcinoma cells (Ty-82) expressing CD90 molecules on the cellular surface were unable to adhere to isotype AIT surfaces and aggregated. In contrast, Ty-82 cells selectively adhered to anti-CD90 AIT surfaces at 37°C. These results indicate that Ty-82 cells adhered to CD90 antibody-immobilized surfaces through affinity interaction, not through nonspecific interactions when grafted thermoresponsive polymer chains shrunk at 37°C. Adhered cells were detached from surfaces by lowering temperature to 20°C with pipetting. Although affinity interaction between cells and immobilized antibodies was decreased by the dynamic swelling of grafted thermoresponsive polymer chains by lowering temperature to 20°C, the application of additional force such as pipetting was required to completely detach adhered cells. Through temperature-induced changes in affinity interaction, the condensation of CD90-positive Ty-82 cells was carried out by using anti-CD90 AIT surfaces. AIT surfaces for regulating selective cell adhesion and detachment were then successfully prepared. A novel bioassembler technology using AIT surfaces could thus be useful for temperature-dependent selective cell adhesion/detachment such as cell separation.
Automated Construction System for 3D Lattice Structure Based on Alginate Gel Fiber Containing Living Cells
Authors: Ohara Kenichi ,   Department of Mechatronics Engineering, Faculty of Science and Technology, Meijo University, 1-501 Shiogamaguchi, Tenpaku, Nagoya, Aichi 468-8502, Japan, Kojima Masaru , Fukushima Akira , Onozaki Shun , Horade Mitsuhiro , Yamada Masumi , Seki Minoru , Mae Yasushi , Arai Tatsuo ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan,   Department of Applied Chemistry and Biotechnology, Graduate School of Engineering, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan
Published: April 2016

The construction of 3D tissue is an important issue in regenerative medicine. While small 3D tissue has been realized in vitro, large functional 3D tissue has not been achieved due to difficulties in supplying oxygen and nutrients to the tissue. In this paper, we propose automated 3D construction based on hydrogel fiber to produce active 3D tissues. Results of several preliminary experiments in generating suitable hydrogel fibers have resulted in a lattice structure as an example of 3D tissue. In experiments in 3D structure construction, we observed cell growth in the constructed lattice confirming structure functionality.
Experimental Verification of Adaptive Dominant Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators
Authors: Munadi  ,   Department of Mechanical Engineering, Diponegoro University, Tembalang, Semarang 50275, Indonesia, Naniwa Tomohide ,   Department of Human and Artificial Intelligent Systems, University of Fukui, 3-9-1 Bunkyo, Fukui 910-8507, Japan
Published: April 2016

This paper presents an experimental study to verify an adaptive dominant type hybrid adaptive and learning controller for acquiring an accurate trajectory tracking of periodic desired trajectory of robot manipulators. The proposed controller is developed based on combining the model-based adaptive control (MBAC), repetitive learning control (RLC) and proportionalderivative (PD) control in which the MBAC input becomes dominant than other inputs. Dominance of adaptive control input gives the advantage that the proposed controller could adjust the feed-forward motion control input immediately after changing the desired motion or load of the manipulator. In motion control law, the proposed controller uses only one vector to estimate the unknown dynamical parameters. It makes the proposed controller as a simpler hybrid adaptive and learning controller which does not need much computational power and also is easily be implemented for real applications of robot manipulators. The proposed controller is verified through experiments on a four-link small robot manipulator as representation of a scale robot manipulator to ensure this controller can be applied in the real applications of robot manipulators. The experimental results show the effectiveness of the proposed controller by indicating the position tracking error approaches to zero.
Depth Control of Underwater Robot with Metal Bellows Mechanism for Buoyancy Control Device Utilizing Phase Transition
Authors: Shibuya Koji ,   Department of Mechanical and Systems Engineering, Ryukoku University, 1-5 Yokotani, Seta-Oe, Otsu, Shiga 520-2194, Japan, Kishimoto Yukihiro , Yoshii Sho
Published: April 2016

The ultimate goal of this study is to develop a buoyancy control device that utilizes volume change due to phase transition of material between solid and liquid states. This paper describes the depth control method for an underwater robot fitted with the metal bellows buoyancy control devices that we have developed in this study. Four metal bellows buoyancy control devices are installed on an underwater robot. We first measured underwater robot buoyancy change and found that it agreed roughly with theoretical values. We then checked whether the robot could change buoyancy successively so that the robot rises or sinks as commanded. We then conducted a series of experiments on robot depth control in which if the robot depth is more than a certain distance different from the target depth, control devices are either heated or cooled at maximum output. If such a difference is within the threshold, proportional control is applied to develop output in proportion to the distance to the target depth. Experimental results showed that the underwater robot followed varied target depth with a steady-state deviation of a few cmor so, except in some cases of failure.
Method of Dynamic Image Processing for Ecology Observation of Marine Life
Authors: Okuda Yasutake ,   Kagawa University, 2217-20 Hayashi-cho, Takamatsu-city, Kagawa 761-0396, Japan, Kamada Hiroki , Takahashi Satoru , Kaneko Shun’ichi , Kawabata Kuniaki , Takemura Fumiaki ,   Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo-city, Hokkaido 060-0814, Japan,   RIKEN-XJTU Joint Research Team, RIKEN, 2-1 Hirosawa, Wako-city, Saitama 351-0198, Japan,   Okinawa National College of Technology, 905 Henoko, Nago-city, Okinawa 905-2192, Japan
Published: April 2016

Changes in the marine environment due to changes in the global environment are problems that have attracted attention in recent years. Consequently, the measurement of marine life forms and the surveying and studying of ecological systems have been extensively conducted from the viewpoint of environmental conservation. This paper proposes a new dynamic image processing method. It enables dynamic measurement of marine life, based on the dynamic images obtained by a marine ecological system measurement and recording support device that consists of various sensor nodes. A dynamic-image marine life detection method in which multi-template matching based on color orientation code matching is applied, and a method of motion estimating marine life, one in which a particle filter consisting of a double-likelihood function is used, are combined to develop a new dynamic image processing method and conduct ecology observations.
Spherical Spaces for Illumination Invariant Face Relighting
Authors: Almaddah Amr ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-cho, Toyonaka, Osaka 560-8531, Japan, Vural Sadi , Mae Yasushi , Ohara Kenichi , Arai Tatsuo
Published: April 2016

In this paper, we propose a robust face relighting technique by using spherical space properties. The proposed method is done for reducing the illumination effects on face recognition. One single image is used as an input for recovering the face illumination and the recognition process. First, an internal training illumination database is generated by computing face albedo and face normal from 2D images under different lighting conditions. Based on the generated database, we analyze the target face pixels and compare them with the database by using pre-generated tiles. In this work, practical real time processing speed and small image size were considered when designing the framework. In contrast to other works, our technique requires no 3D face models for the training process and takes a single 2D image as an input. Experimental results on publicly available databases show that the proposed technique works well under severe illumination conditions and the method significantly improves the face recognition rates.
Quantitative Evaluation of Shoulder Joint Function to Reproduce Results of Clinical Tests by Therapist
Authors: Sato Noritaka ,   Nagoya Institute of Technology, Gokiso-cho, Syowa-ku, Nagoya, Aichi, Japan, Kamada Keita , Hiramatsu Yuki , Yamazaki Kazunori , Morita Yoshifumi , Ukai Hiroyuki , Komori Kenji , Taguchi Shinya ,   Hokuto Hospital, 17-33 Kawagoe, Niki-cho, Okazaki, Aichi, Japan
Published: April 2016

The final aim of this research is to develop a quantitative evaluation system of shoulder joint function using a three-dimensional force display robot. In this paper, we proposed quantitative evaluation methods by which the results equivalent to the results of tests by a therapist can be obtained. The quantitative evaluation methods can be installed in the robot. We focus on two shoulder joint functions. One is stability and the other is cooperativeness. Two experiments were carried out to develop quantitative evaluation methods of shoulder joint function. In the experiments, subject’s forces were measured during the tests by the therapist. On the basis of the experimental results, we proposed a stability evaluation method using a regression equation of glenohumeral joint instability from the ratios between the right and the left subject’s force in the initial position during abduction, external rotation and horizontal abduction motion. Moreover, we proposed a cooperativeness evaluation method by detecting two thresholds related to sustainability of subject’s force.
Levitation Control of AEROTRAIN: The Design and System of Experimental Manned Wing-in-Ground Vehicle ART003R
Authors: Sugahara Yusuke ,   School of Science and Engineering, Kokushikan University, 4-28-1 Setagaya, Tokyo 154-8515, Japan, Kikuchi Satoshi , Kosuge Kazuhiro , Kohama Yasuaki ,   Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan,   Department of Bioengineering and Robotics, Tohoku University, 6-6-01 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan,   New Industry Creation Hatchery Center, Tohoku University, 6-6-10 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

The goal of this study was the development of a control method for the levitation stabilization of an aerodynamically levitated train called “Aero-Train,” which is a high-speed and high-efficiency train system that levitates using the wing-in-ground effect acting on a U-shaped guideway. To achieve this goal, the authors have been developing the experimental manned vehicle ART003R. This paper provides an overview of ART003R and its control system. Moreover, a description is given of the results of preliminary levitation experiments using simple PD control, which confirmed the effectiveness of the developed control system hardware.
Development of Mobile Robot System Equipped with Camera and Laser Range Finder Realizing HOG-Based Person Following and Autonomous Returning
Authors: Awai Masashi ,   Department of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku, Naka-ku, Hamamatsu-shi, Shizuoka 432-8561, Japan, Yamashita Atsushi , Shimizu Takahito , Kaneko Toru , Kobayashi Yuichi , HajimeAsama  ,   Department of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
Published: April 2016

In this paper, we propose a mobile robot system which has functions of person following and autonomous returning. The robot realizes these functions by analyzing information obtained with camera and laser range finder. Person following is performed by using HOG features, color information, and pattern of range data. Along with person following, a map of the ambient environment is generated from range data. Autonomous returning to the starting point is performed by applying potential method to the generated map. We verified the proposed method by experiment using a wheel mobile robot in an indoor environment.
Autonomous Navigation Based on Magnetic and Geometric Landmarks on Environmental Structure in Real World
Authors: Akai Naoki ,   Graduate School of Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya-shi, Tochigi 321-8585, Japan, Inoue Kazumichi , Ozaki Koichi
Published: April 2016

For the Real World Robot Challenge (RWRC) 2013, a new task was established: every robot was required to search for designated persons. In this paper, therefore, we consider the difficulty of the task and construct a navigation strategy to achieve the task. To navigate a robot on the basis of the strategy, long distance navigation is necessary. We have developed a unique navigation method based on magnetic and geometric landmarks on environmental structures in various locations. This method allows a robot to robustly localize by evaluating the reliability of magnetic and geometric landmarks. By using this method, a robot can navigate stably, even if there are no existing landmarks to serve as objects. We achieved autonomous navigation over long distances and successfully searched out designated persons as the challenge of the RWRC2013. This paper presents our navigation method and discusses long distance navigation using the method.
High-Speed Vision and its Application Systems
Authors: Senoo Taku ,   Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan, Yamakawa Yuji , Watanabe Yoshihiro , Oku Hiromasa , Ishikawa Masatoshi
Published: April 2016

Batting/throwing robots
 This paper introduces high-speed vision the authors developed, together with its applications. Architecture and development examples of high-speed vision are shown first in the sections that follow, then target tracking using active vision is explained. High-speed vision applied to robot control, design guidelines, and the development system for a high-speed robot are then introduced as examples. High-speed robot tasks, including dynamic manipulation and handling of soft objects, are explained and then book flipping scanning – an image analysis application – is explained followed by 1 ms auto pan/tilt and micro visual feedback, which are optical applications. 
Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage
Authors: Yamano Akio ,   Graduate School of Engineering, Osaka Prefecture University, Shintani Atsuhiko , Ito Tomohiro , Nakagawa Chihiro ,   Department of Mechanical Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai, Osaka 599-8531, Japan
Published: April 2016

Analytical model
 A flexible fish-like biomimetic robot developed for use in narrow passage flows was downsized using shape memory alloy (SMA) actuators. We constructed a fluid-body-coupled model of the robot and considered undulatory swimming and the effect of nonlinear SMA characteristics. An experimental model was also constructed to confirm the analytical model’s feasibility. Shrinkage due to temperature depends on the temperature of the SMA actuator, in which overheating may decrease the fin-vibration amplitude. To avoid this problem, a new driving method was introduced that used a self-excited oscillator with an actuator. Simulation results showed that this method achieves constant thrust in the moving body. 
Aerial Cargo Robot (Cargo UAV)
Authors: Iwata Kakuya ,   National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan, Matsum Osamu
Published: April 2016

Flight test of Cargo UAV
 Safety is the most important factor in the civil use of aerial robots. Research on aerial cargo robots, also known as cargo unmanned aerial vehicles (UAV) started in 2004. The first ACR prototype flight was made on November 22, 2005. The ACR prototype consists of a flexible airfoil, twin microturbojet engines and a gravity center (GC) controller. The ACR meets the following four safety requirements: (i) touchability, i.e., without propellers or rotors, (ii) the low sink rate of a parachute, i.e., below 1.0 m/s, (iii) low stall speed, i.e., <30 km/h, (iv) a redundancy arrangement control. The most important safety specification of all is infallibility in ACR service applications. 
Special Issue on “What can We do for Developing Search and Rescue Robot?”
Authors: Osuka Koichi
Published: April 2016

As a disaster-prone country, Japan has endured many earthquake disasters. The latest cases include the 1995 Great Hanshin-Awaji earthquake disaster, the 2004 Niigata Chuetsu earthquake, and the 2011 Great East Japan earthquake. Since the 1995 Great Hanshin-Awaji earthquake in particular, many robot researchers have started undertaking the research and development of rescue robots. Their practical applications have a long way to go, so to continue ongoing robot research and development, we should also be aware that comparatively few researchers and engineers are actually engaged in such research and development. Great earthquakes (or tsunami) are both rare and unpredictable, which makes it very difficult to establish research policies for rescue robots intended for specialized use in disaster response. We should also realize that Japan is almost constantly hit by one or another every year – e.g., the typhoons that hit Japan directly every year and themselves triggering other disasters caused by landslides or avalanches due to heavy rainfall. The Japanese populace is so accustomed to such happenings but, nevertheless, few actions have been taken unlike those against large-scale earthquakes. It is often said that an effective disaster response system can only be developed after we have experienced many actual disasters. It then occurs to us that we must first construct disaster response systems – rescue robots, etc. – directly targeting daily natural disasters. Any large-scale disaster response system can be built on such constant efforts. On the other hand, any disaster response system against daily natural disasters could only be developed by locally domiciled researchers and engineers. This makes us feel that it is possible to increase the number of personnel who become involved in disaster response research and development. Based on the above context, this special issue provides a wide range of articles on region-specific disasters and disaster response actions, focusing on their localities and specialties. We sincerely hope that this special issue will help in promoting research and development on rescue robots and putting them to practical use.
A Control Method for a Swarm of Plant Pot Robots that Uses Artificial Potential Fields for Effective Utilization of Sunlight
Authors: Yuasa Masato ,   Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan, Mizuuchi Ikuo
Published: April 2016

Plant pot robots “Plantroid”
 Plant production factories and agricultural robots are being studied and developed these days. In these cultivation systems, however, it has been difficult to manage the state of each individual plant. We propose a cultivation system that uses a swarm of plant pot robots to automatically move each plant to an optimal environment, based on the plant’s sensory information and surroundings. In this paper, we propose a control method for the swarm of plant pot robots that uses artificial potential fields for effective temporal and spatial utilization of sunlight, and we show its effectiveness through simulation and experimentation. 
Babyloid
Authors: Kanoh Masayoshi ,   Department of Mechanical and Systems Engineering, Chukyo University, 101-2 Yagoto Honmachi, Showa-ku, Nagoya 466-8666, Japan
Published: April 2016

Babyloid
 Babyloid is a robot whose purpose is to relieve the psychological distress in elderly patients and patients needing long-term care by having them take care of it. Unlike general robots, which seek to be able to do all tasks in the manner of human beings, Babyloid was designed so that it cannot do anything. However, it tries to satisfy its self-sufficiency by expressing psychological and physiological states through crying, showing bad mood, etc. 
A Path-Following Feedback Control Law of a Five-Axle, Three-Steering Coupled-Vehicle System
Authors: Yamaguchi Hiroaki ,   Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Chuo-ku, Sagamihara-shi, Kanagawa 252-5258, Japan, Kameyama Ryota , Kawakami Atsushi ,   Rolling Stock Electrical Systems Design Department, Mito Rail Systems Product Division, Rail Systems Company, Hitachi, Ltd., 1070 Ichige, Hitachinaka-shi, Ibaraki 312-8506, Japan
Published: April 2016

Experimental coupled-vehicle system
 This paper presents a new path-following feedback control law of a five-axle, three-steering coupledvehicle system which enables specifying the movements and rotations of its two carriers quantitatively, according to the operating environment. The kinematical equations of the coupled-vehicle system are first converted into time differential equations in a threechain, single-generator chained form. The time differential equations in the chained form are secondly converted into new differential equations with a new variable. The new control law enables the relative orientation between the two carriers to be constant in either a straight-bed carrier configuration or a V-bed carrier configuration, and simultaneously enables the orientations of these carriers functioning as a single carrier relative to the direction of the tangent of the path to be changed quantitatively, according to the locations of obstacles for avoiding collision with them. Asymptotic stability of the new control law is guaranteed by the linear control theory and the Lyapunov’s second method. Especially, the form of the new differential equations facilitates the design of the Lyapunov functions. The validity of the new control law is verified by an experimental five-axle, three-steering coupledvehicle system. 
Mobile Nodes Deployment Scheme Design Based on Perceived Probability Model in Heterogeneous Wireless Sensor Network
Authors: Wu Ningning ,   Information Engineering College, Henan University of Science and Technology, Henan Luoyang 471023, China, Zhang Juwei , Li Qiangyi , Li Shiwei , Liu Yachuang , Wang Yale , Fu Zhumu ,   Electrical Engineering College, Henan University of Science and Technology, Henan Luoyang 471023, China,   Systems Engineering Institute, Xi’an Jiaotong University, Shanxi Xi’an 710049, China
Published: April 2016

Nodes moving direction in our scheme
 Wireless sensor network nodes deployment optimization problem is studied and wireless sensor nodes deployment determines its capability and lifetime. The nodes deployment scheme based on the perceived probability model aiming at wireless sensor network nodes which are randomly deployed is designed. The scheme can be used to calculate the perceived probability in the area around wireless sensor network nodes and move the wireless sensor nodes to the low perceived probability area according to the current energy of the wireless sensor node. The simulation results show that this deployment scheme achieves the goal of the nodes reasonable distribution by improving the network coverage and reducing the nodes movement distance and energy consumption. 
Driver Speed Control Modeling for Predictive Braking Assistance System Based on Risk Potential in Intersections
Authors: Raksincharoensak Pongsathorn ,   Department of Mechanical Systems Engineering, Faculty of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan, Akamatsu Yuta , Moro Katsumi , Nagai Masao ,   Department of Industrial Technology and Innovation, Faculty of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Naka-cho, Koganei, Tokyo 184-8588, Japan,   Japan Automobile Research Institute, 1-1-30 Shibadaimon, Minato, Tokyo 105-0012, Japan
Published: April 2016

Predictive braking assistance system
 This paper describes the assessment of a predictive braking assistance system, which is done using a driving simulator that reconstructs near-miss incident scenarios relevant to pedestrians. An autonomous braking assistance algorithm for collision avoidance is designed based on pedestrian movement prediction and an artificial risk potential field. A virtual spring connecting the vehicle and the pedestrian is used to determine the repulsive potential field and the intensity of the deceleration. The feasibility of the proposed braking assistance algorithm is examined through experiments using the driving simulator and a comparison to actual driving data. Near-miss incident data relevant to pedestrians in intersections are analyzed to get the basic parameters of a crash scenario model relevant to pedestrians. Driving simulator experiments are used to verify the effectiveness of the proposed system. 
Monitoring System for Elderly People Using Passive RFID Tags
Authors: Mori Yoshikazu ,   Department of Intelligent Systems Engineering, Ibaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, Ibaraki 316-8511, Japan, Kido Shinichiro ,   Hitachi Industry & Control Solutions, Ltd., 5-1-26 Omika-cho, Hitachi-shi, Ibaraki 319-1221, Japan
Published: April 2016

Monitoring system using RFID tags
 This paper presents amonitoring systemthat uses passive RFID tags for detection of unexpected loitering and falling of elderly people in nursing homes. This system, which is superior to a video camera in terms of privacy, incorporates tag readers set on ceilings beside a bed and under doors. The system combines the following two methods. The first method targets caregivers and non-senile elderly persons. Each wears an RFID shoulder tag. However, some senile elderly people who are not wearing RFID tags might wander. Therefore, the second method described for this system is based on a phenomenon by which electric waves are attenuated by water. Several RFID tags are put on the floor. Then the presence of a person at that spot is inferred from the number of RFID tags that are responding. Experimental results obtained for a person beside a bed and passing through a door confirm the effectiveness of this system. 
Autonomous Mobile Robot MAUV – Mission Achievement on Tsukuba Challenge 2011, 12 and 13 –
Authors: Akai Naoki ,   Department of Mechanical and Intelligent Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya-shi, Tochigi 321-8585, Japan, Inoue Kazumichi , Rahok Sam Ann , Shinohara Masatoshi , Ozaki Koichi
Published: April 2016

Autonomous mobile robot “MAUV”
 We developed MAUV, an autonomous mobile robot that has navigation using two types of landmarks; ambient magnetic and geometric. This enables the robot to localize robustly in actual outdoor environments. The robot achieved missions in Tsukuba Challenge 2011, 12, and 13. 
Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components
Authors: Yoshifuji Takuto ,   Division of System Science and Informatics, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan, Tanaka Takayuki , Kusaka Takashi
Published: April 2016

Frequency entrainment by EPIC
 The semi-active assist mechanism proposed as a soft, flexible power assist device consists of an elastomer and actuator. Assist force is controlled by the actuator. in previous study, skill assist using periodical input control (PIC) had a motion-correction effect in motion for a single frequency. However, there is a problem by energy control in periodical input control for motion with multiple frequency components. In this study, we propose expanded PIC for motion with multiple frequency components. We verified the effect of skillassist considering multiple frequency components of human motion. 
Sushi Robot: Robotic Technology that Supports Food Culture – Suzumo Machinery Co., Ltd. –
Authors: writer JRM staff
Published: April 2016

The sushi robot (Fig. 1) developed in 1981 by Suzumo Machinery Co., Ltd., headquartered in Tokyo and founded in 1961, is the world’s first robot to form sushi rice balls (shari-tama). Hand-rolled sushi, a traditional Japanese dish invented during the Edo period (1603–1867), was originally expensive and served only on special occasions made by sushi chefs who had undergone long years of training.

The sushi robot broke the convention of requiring experienced sushi chefs by automating sushi making and enabling those who were comparatively unskilled to make sushi. It cut labor costs,1 which were higher than those for other types of food services, and helped make sushi more accessible to the general public. Sushi robots are now widely used, e.g., in supermarkets and conveyor-belt sushi restaurants, making it possible for anyone to serve sushi economically.