bluuebunny/crossref_metadata_2025 huggingface dataset:
Cross-Organizational Information Sharing and Coordination in Disaster Response: The Case of the 2008 Wenchuan China Earthquake
Authors: Wang Enyan ,   School of Management, Harbin Institute of Technology, 2#, West Wenhua Road, Weihai, China, Zheng Dequan , Li Xiangyang ,   School of Management, Harbin Institute of Technology, 92#, XiDaZhi Street, Harbin, China
Published: April 2016

Information sharing is a vital component of unified planning among multiple agencies performing varied tasks and activities toward effective emergency response, which promotes effective coordination. Insufficient information sharing and ineffective coordination among organizations during a disaster response creates a bottleneck in need of urgent resolution to effect preparedness. Building a highly effective emergency management information system would help to solve this problem. Modern information technology processing techniques have produced tools and approaches for information sharing across multiple agencies. However, Chinese and international scholars who study the multi-agency unified response systems of various countries have found that such systems are not in practice. This study took a socio-technical system perspective to analyze the characteristics of emergency response organizations and tasks involved in the response to the 2008 Wenchuan (China) earthquake as a case study. Existing problems and possible causes were analyzed from system and technology perspectives to identify possible resolutions to problems in cross-organizational information sharing and coordination that would improve the quality and speed of information sharing and coordination among multiple agencies. The results suggest a basic theoretical approach for the analysis and design of an open, cross-organizational relief management information system that can efficiently and effectively respond to large-scale disasters.
Improvement of Reception and Transmission Performance on Early Warning System for Multi Country with QZSS Augmentation Signal
Authors: Iwaizumi Daisuke ,   Graduate School of System Design and Management, Keio University, 4-1-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8526, Japan, Iino Shota , Satoh Hiroki , Takaishi Mitsuaki , Iso Naoki , Kohtake Naohiko ,   NTT DATA, 3-3-9, Toyosu, Koto-ku, Tokyo 135-6017, Japan
Published: April 2016

Information blackout may occur in which it becomes difficult to obtain required information because information infrastructures have been destroyed. Infrastructures for providing disaster information are vulnerable in some Asian regions, so it is vital to cover such blanks to minimize damage. Much attention has been given to a method for communicating disaster information to GNSS receivers installed on cell phones and in car navigation systems. Augmentation of signals from quasi-zenith satellite (QZS) are used independent of terrestrial information infrastructures. Information capacity using QZS augmentation signals is low, however, and elevation angles in some Asian countries varies due to satellite orbits, meaning that the methods of the distribution and reception performance of disaster information should be investigated. This study has the objective of formulating a system for distributing disaster information using augmentation signals from QZS, the system prototype. This prototype was designed for large-scale disasters across multiple Asian and Oceanic regions such as Indian Ocean tsunamis. The system’s effectiveness is evaluated in distribution and receiving performance, so the designed message formats and resulting distribution schedule show system effectiveness in of distribution performance. In simultaneous receiving experiments in two countries, common information and area- and country-based information were received, indicating the effectiveness of the system in receiving performance across multiple countries.
Analysis of Ideal Directions of Climate Change Adaptation and Problems in Implementing Them for Local Japanese Governments
Authors: Shirai Nobuo ,   Hosei University  4342 Aihara, Machida, Tokyo 194-0298, Japan, Tanaka Mitsuru
Published: April 2016

Additional adaptation measures such as “basic improvement of sensitivity” and “adaptive governance against mid and long term impacts” are set as ideal directions for local governments. The study of the situations for implementing additional adaptation measures by local governments were determined by using checklists. It is clarified as a result that additional adaptation measures have not been considered enough.

The following problems in implementing measures from the “Japan local Forum for Climate Change Adaptation Society” were found:

(1) Prediction and evaluation of climate change impacts, (2) Concretization and evaluation of adaptation measures, (3) Communication and subject formation and (4) Implementation of the measures and preparation of conditions.

In the future, it is necessary to concretize additional adaptation measures at the research level, to share these additional adaptation measures with concerned parties and to promote the exchange of opinions.
Evaluation of Inhibitory Effect by Adaptation Measures for Red Soil Runoff from Farmland due to Heavy Rainfall
Authors: Yasufuku Noriyuki ,   Kyushu University  744 Motooka, Nishi-ku, Fukuoka, Japan, Araki Kohei , Omine Kiyoshi , Okumura Kenichiro , Iwami Kohei ,   University of Yamanashi, Yamanashi, Japan,   Nagasaki University, Nagasaki, Japan
Published: April 2016

As the climate begins changing due to global warming, heavy rainfalls have become more frequent. These are, in turn, increasing the red soil runoff that has increasingly damaged the marine products and tourist industries. Over 85% of all such runoff is from farmland. Working with local farmers, we conducted field experiments in Ginoza Village in Okinawa’s Matsuda district to better understand the inhibitory effects on red soil runoff of different potential adaptation measures. Effectiveness of the adaptation methods conducted are discussed based on the obtained results. Further, a physical model is presented for simply estimating the sediment volume due to soil erosion by using the grain size distribution. The model can give a good agreement with the measured maximum particle sizes of the red soils discharged from farmland.
Flood Control Mechanism of Multiple Dams Constructed in a Series Based on Cascade Method
Authors: Oshikawa Hideo ,   Department of Civil Engineering and Architecture, Graduate School of Science and Engineering, Saga University 1 Honjo-machi, Saga 840-8502, Japan, Komatsu Toshimitsu ,   Department of Urban and Environmental Engineering, Graduate School of Engineering, Kyushu University 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan
Published: April 2016

Using numerical simulation, we clarified the mechanism that the flood control capability is dramatically strengthened by using multiple serial dams efficiently, based on a new flood control concept that let dams overflow through emergency spillways. Numerical analysis results for a group of dry dams were used to quantitatively evaluate this effect and to derive an empirical formula. The conventional flood control approach sets the design high water discharge of individual dams, even when dams are constructed serially, ensuring that no overflows occurs in any of the dams, here called the “conventional” method. By comparing the group of dry dams based on the conventional method and a method on the same scale but set based on a new concept that we called Cascade method, we found that when the flood peak is cut in conventional control, the latter half of the cutoff flood peak must be cut again, making flood control redundant. The Cascade method avoids this redundancy in storage use and cuts the flood peak efficiently and linearly.
Clarification and Application of Inundation Processes in Basins with Insufficient Observation Devices Installed
Authors: Hashimoto Akihiro ,   Kyushu University 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan, Tai Akira , Komatsu Toshimitsu
Published: April 2016

Torrential rain possibly due to climate change has begun causing disasters annually, with water and sediment resulting from heavy rainfall in relatively narrow upper basins often arising in short periods. Because most of these basins are traversed by class B rivers administered by local governments, data on disasters are not accumulated comprehensively. Targeting the Sumiyo River basin on Amami Oshima Island, this study involved field surveys and numerical simulations to clarify inundation features in areas short on data based on hearings from investigation results. Calculation results have reproduced water levels, together with hearing results, including the initial inundation process in which rain water flowed directly from mountain slopes and later inundation processes mainly caused by overtopping and dike breach on the Sumiyo River. (Note that river bed fluctuations and dike breach progress are to be addressed in the future.)
Applying Risk Analysis to the Disaster Impact of Extreme Typhoon Events Under Climate Change
Authors: Li Hsin-Chi ,   National Science and Technology Center for Disaster Reduction (NCDR) 9F., No.200, Sec.3, Beixin Rd., Xindian District, New Taipei City 231, Taiwan, Wei Shiao-Ping , Cheng Chao-Tzuen , Liou Jun-Jih , Chen Yung-Ming , Yeh Keh-Chia ,   Department of Civil Engineering, National Chiao Tung University, Hsinchu, Taiwan
Published: April 2016

Extreme typhoon precipitation events frequently have a socioeconomic impact and result in the loss of human life. Therefore, conducting thorough evaluations of the disaster scale before the occurrence of extreme typhoon precipitation events is beneficial to disaster reduction. This study selects the Tsengwen River basin, Taiwan, the area most severely impacted by typhoon Morakot, as a demonstration area, and adopts dynamical downscaling data to simulate the top ten extreme typhoon precipitation events of the future (from 2069 to 2099) under climate change. The SOBEK model (commercial software) and the Taiwan Typhoon Loss Assessment System (TLAS), established by the National Science and Technology Center of Disaster Reduction (NCDR), are used to evaluate the potential losses resulting from the ten extreme events. The results indicate that the average total loss caused by the ten simulated typhoon events amounts to US$439 million, with agriculture, followed by aquaculture and forestry, suffering the greatest damage. A correlation analysis is also employed to identify key factors that influence loss, including the maximum 6-hour cumulative precipitation, the maximum peak runoff, and the use of the land. Based on these analysis results, this study provides applicable coping strategies that will effectively reduce the impact of future extreme precipitation events in the Tsengwen River basin.
Development of Firefighting Equipment for Efficient Firefighting Strategy (Development of New Hose)
Authors: Miyazato Yoshiaki ,   Department of Mechanical Systems Engineering, The University of Kitakyushu 1-1 Hibikino, Wakamatsu-ku, Kitakyushu 808-0135, Japan, Sasaki Takumi , Sakaguchi Masaki , Nakamura Atsushi ,   Ashimoti Industry Co., Ltd., Osaka, Japan,   Kitakyushu Fire Department, Kitakyushu, Japan
Published: April 2016

We have developed new firefighting hoses and compared them to conventional hoses, measuring their pressure loss when water alone or mixed water passed through. As a result, it is found that the new hoses have lower pressure loss than conventional hoses, and fewer kinks and they are more durable.
Analysis of Radio Wave Propagation in an Urban Environment and its Application to Initial Disaster Response Support
Authors: Kawamura Youhei ,   Faculty of Engineering, Information and Systems, University of Tsukuba  1-1-1 Tenoudai, Tsukuba, Ibaraki 305-8573, Japan, Jang Hyongdoo , Wagner Markus , Nobuhara Hajime , Dewan Ashraf M. , Veenendaal Bert , Kitahara Itaru ,   Department of Mining Engineering, Curtin University, Kalgoorlie, Australia,   School of Computer Science, University of Adelaide, Adelaide, Australia,   Department of Spatial Sciences, Curtin University, Perth, Australia
Published: April 2016

When disasters strike, it is important to quickly collect and analyze disaster-related information immediately after the event. We have suggested ZigBee and geographic information systems (GIS) technologies to resolve these problems and provide an effective communications system. In this paper, a method for the rapid setup of short-range wireless networks infrastructure, which estimates the radio wave propagation and optimizes the positions of transmitters is proposed. Our estimation method is experimentally verified, and it combines ray-tracing with preliminarily obtained statistical attenuation information, which allows us to consider different types of the land and its elevation. Thus, we can determine the effective ranges for radio communication for each potential location in the actual environment. This information is then used in our optimization procedure to reduce the number of transmitters needed to establish connections.
Safety of Food Produced in Japan: Past and Present Status of Radioactive Contamination
Authors: Karaki Hideaki ,   Foundation of Food Safety and Security, Japan  1-29-6 Hamamatsu-cho, Minato-ku, Tokyo 105-0013, Japan
Published: April 2016

In 2011, the radionuclide released from the nuclear power plant in Fukushima contaminated 3.4% of agricultural and marine products to a level exceeding the standard. After measures were introduced to inhibit radionuclide absorption and to decontaminate farmland, contamination exceeding regulatory limits fell to 0.002% in 2014. The 0.002% of contamination remaining involves fungi and wild edible plants from forested regions and some fish caught in rivers where decontamination has not been done. Restrictions were placed on shipments of food exceeding regulatory limits, so such food was never distributed. The allowable dose, which is the basis of regulatory limits of radionuclide concentrations in food in Japan is 1 mSv per year based on the guideline set by the Codex Alimentarius Commission which is responsible for establishing international standards for food. The issue of radioactive food contamination was thus resolved in a short time. According to a survey conducted 2014, the estimated radiation dose a person would consume over 1 year from radioactive cesium contained in food distributed for consumption ranged from 0.0007 to 0.0022 mSv a year. This amounts to less than 1% of the yearly permissible dose of 1 mSv.
Study on an Online Communication and Task Management System for Disaster Response Utilizing Natural Language Processing
Authors: Suzuki Shingo ,   Disaster Prevention Research Institute, Kyoto University  Gokasho, Uji, Kyoto 611-0011, Japan, Inui Kentaro , Yamaguchi Kenshi , Koumoto Hiroko , Kosaka Naoko , Koyama Akira , Maeda Yuji ,   Graduate School of Information Science, Tohoku University, Japan,   Graduate School of Environment and Disaster Research, Tokoha University, Japan,   Secure Platform Laboratories, Nippon Telegraph and Telephone Corporation, Japan
Published: April 2016

The development and implementation of online-based disaster management information processing systems advance communication among disaster management communities. Many such communities communicate using general-purpose natural language messaging. Online disaster informationprocessing systems should process such communication for making common operational picture and managing tasks and resources. We are thus developing online disaster information management support systems that use natural language processing. In doing so, we compare conventional paper-based and online-based systems for implementing online-based systems and develop task management support systems that use natural language processing.
Flood Inundation Analysis and Mitigation with a Coupled 1D-2D Hydraulic Model: A Case Study in Kochi, Japan
Authors: Niroshinie M. A. C. ,   Department of Civil Engineering, Tokyo University of Science 2641, Yamasaki, Noda, Japan, Nihei Yasuo , Ohtsuki Kazuaki , Okada Shoji ,   Department of Civil Engineering, National Institute of Technology Kochi College, 200-1, Monobe Otsu, Nankoku, Kochi, Japan
Published: April 2016

Coupled one and two-dimensional (1D-2D) hydraulic models play a significant role in analyzing flooding problems to find possible solutions as they can reproduce the actual situations relatively accurately. This paper summarizes approaches to flood inundation analysis and mitigation with coupled 1D-2D hydraulic models of a small mountain watershed in Japan. A detailed flood inundation model including the effects of drainages, pumping, inflow from mountain sub-watersheds and flood gates is developed using coupled 1D-2D hydraulic models. The model is applied to the inundation in Kubokawa, a small town in Kochi Prefecture, Japan on August 9-10, 2014. Simulated and observed maximum water levels along the river and maximum inundations in the flood plain are compared and found to be consistent. Causes of the flooding and percentage of contribution are quantitatively identified, and countermeasures to reduce the effects of flooding are proposed.
Special Issue on Integrated Study on Mitigation of Multimodal Disasters Caused by Ejection of Volcanic Products
Authors: Iguchi Masato ,   Sakurajima Volcano Research Center, Disaster Prevention Research Institute,  Kyoto University  1722-19 Sakurajima-Yokoyama, Kagoshima 891-1419, Japan
Published: April 2016

Volcanic eruptions induce often widely dispersed, multimodal flows such as volcanic ash, pyroclastics, layers, and lava. Lahars triggered by heavy rain may extend far beyond ash deposits. Indonesia, which has 127 volcanoes along its archipelago, is at high risk for such disasters. The 2010 Merapi volcano eruption, for example, generated pyroclastic flows up to 17 km from the summit along the Gendol River, killing over 300 residents. The February 13, 2014, eruption of the Kelud volcano produced a gigantic ash plume over 17 km high, dispersing tehpra widely over Java Island. Ash falls and dispersion closed 7 airports and caused many flights to be cancelled.

Volcanoes in Japan have recently become active, with the 2014 phreatic eruption at the Ontake volcano leaving 63 hikers dead or missing. The eruption of the Kuchinoerabujima volcano on May 29, 2015, forced all island residents to be evacuated.

All of these events undeerscore how underedeveloped Japan’s early warning alert levels remain. The Sakurajima volcano, currently Japan’s most active, maintained high activity in the first half of 2015. Ash from Janaury 2015, for example, was moved down the volcano’s slopes by extremely heavy rain in June and July, accumulating as thick sediment near villages.

Regarding such situations of volcano countries, we will develop an integrated system to mitigate many kinds of disasters which are generated by volcanic eruptions and extended by rain fall and wind, based on scientific knowledge. We are developing an integrated warning system to be used by local and national governments to mitigate volcanic and sediment disasters. We are also creating measure against volcanic ash for airlines.

This special issue summarizes basic scientific knowledge and technology on the present warning system to be used in the integrated system for decision-making.
Mechanism of Volcanic Tephra Falling Detected by X-Band Multi-Parameter Radar
Authors: Oishi Satoru ,   Research Center for Urban Safety and Security, Kobe University  1-1 Rokkodai, Nada-ku, Kobe 657-8501, Japan, Iida Masahiro , Muranishi Masahide , Ogawa Mariko , Hapsari Ratih Indri , Iguchi Masato ,   Graduate School of Engineering, Kobe University, Japan,   Department of Civil Engineering, State Polytechnic of Malang, Indonesia,   Sakurajima Volcano Research Center, Disaster Prevention Research Institute, Kyoto University, Japan
Published: April 2016

The present study shows the possibility of using X-band multi-parameter radar to detect volcanic tephra for estimating the amount of volcanic tephra in the air even when the amount of volcanic tephra is very low. The model proposed in this study can detect tephra with diameters of 0.5 mm to 3 mm. Through the observation experiment and the model proposal, the present study shows successful detection of volcanic tephra in the air by using X-band multi-parameter radar.
Credibility of Volcanic Ash Thicknesses Reported by the Media and Local Residents Following the 2014 Eruption of Kelud Volcano, Indonesia
Authors: Nakada Setsuya ,   Earthquake Research Institute, The University of Tokyo 1-1-1 Yayoi, Bunkyo-ku, Tokyo 113-0032, Japan, Zaennudin Akhmad , Maeno Fukashi , Yoshimoto Mitsuhiro , Hokanishi Natsumi ,   Center for Volcanology and Geological Hazard Mitigation, Badan Geologi, Indonesia,   Mount Fuji Research Institute, Yamanashi Prefectural Government, Japan
Published: April 2016

Ash thicknesses reported by the media and witnessed by local residents may be exaggerated. A good example of such exaggeration is ash thicknesses reported following the Plinian eruption on February 13, 2014 at Kelud volcano, East Java, Indonesia. Volcanic ash thicknesses reported by the media and local residents were generally by 2–7 times larger than the actual values measured by volcanologists. Sensational news reports and strong fresh impressions may cause such exaggeration, or these exaggerated values may simply represent abnormal concentrations of volcanic ash. It is important to pay careful attention to the parameters that are being documented by the media and by people who do not have scientific backgrounds when utilizing such reports in scientific analyses.
Shaking Table Test of Quarter Scale 20 Story RC Moment Frame Building Subjected to Long Period Ground Motions
Authors: Sugimoto Kuniyoshi ,   Institute of Urban Innovation, Yokohama National University 79-5 Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan, Yonezawa Kenji , Katsumata Hideo , Fukuyama Hiroshi ,   Technical Research Institute, Obayashi Corporation, Tokyo, Japan,   National Institute for Land and Infrastructure Management, Ministry of Land, Infrastructure and Transport, Ibaraki, Japan
Published: April 2016

Shaking table test of a quarter-scale 20-story reinforced concrete building model was carried out. Employed input waves were kinds of long period and long duration ground motion. Test results showed that structural slabs were fully effective for building strength, which could be expressed in detailed analysis using nonlinear FEM. However, the observed hysteretic damping after yielding was fairly smaller than the expected by the current design custom, which caused smaller and unsafe estimated response than that observed in the test.
Recent Design Approaches for Passively Controlled Structures
Authors: Takeuchi Toru ,   Tokyo Institute of Technology O-okayama 2-12-1, Meguro-ku, Tokyo 152-8550, Japan
Published: April 2016

This study reviews and discusses several recent design approaches for passively controlled structures. First, an optimized arrangement method for the energy dissipation members (EDMs) of various infrastructures is introduced. Next, seismic isolation and passive control techniques for freeform space structures are discussed. Finally, research on various spine-frame concepts with EDMs is reviewed. All these approaches are being introduced to actual structural design, and recent examples are reported here.
Earthquake Disaster Simulation System: Integration of Models for Building Collapse, Road Blockage, and Fire Spread
Authors: Hirokawa Noriaki ,   Tokyo Institute of Technology 2-12-1-W8-10, Ookayama, Meguro-ku, Tokyo 152-8550, Japan, Osaragi Toshihiro
Published: April 2016

Various property-damage estimation models have been created on the basis of damage observation data obtained in the aftermath of large earthquakes. In this paper, these independent models are integrated to establish a city-damage simulation model. In addition, two new fire-spread indices are proposed from the viewpoint of firefighting and refuge.
Storm Surge Impact to Subterranean Areas by Hurricane Sandy, and Lessons for Japan’s Storm Surge Countermeasures
Authors: Challender Joel ,   Research Institute for Disaster Mitigation and Environmental Studies NPO CeMI (Crisis and Environment Management Policy Institute) 505 Royal Wakaba, 1-22 Wakaba, Shinjuku Ward, Tokyo 160-0011, Japan
Published: April 2016

Hurricane Sandy caused critical damage to subterranean infrastructure in New York and also claimed 285 human lives across the Eastern Seaboard. The storm surge impact easily overwhelmed existing pumping systems, devastating power supply and paralyzing transport. Despite extensive preparations and pre-storm public information efforts, inundation and underground flooding caused causalities. The size of the disaster, sheer scope of damage and multifaceted response spanning the onset through to the recovery phase provides useful lessons for Japan, given its vulnerability to similar storm surges and flooding disasters, such as the Ise Bay Typhoon of 1959. Given this, a delegation composed of members of the Ministry of Land, Infrastructure, Transport and Tourism (MLIT) and Researchers from Japan’s Universities and Academic Societies working in disaster prevention conducted two surveys in 2013 and 2014. This involved hearing from emergency management officers in New York, Washington D.C and coastal communities about their experiences evacuating vulnerable residents and protecting critical infrastructure. The author of this paper was a member of both delegations. Based on fieldwork from these joint surveys and other materials, this paper outlines the scope of the damage that a storm of Sandy’s size was capable of inflicting, and looks at lessons applicable to Japan for preventing similar damage to infrastructure and human life in future storm surge events, and discusses how New York is attempting to become a more resilient city in preparation for the next flooding or storm surge disaster.
Disaster Reduction Measures Against Inundation in Underground Area and Development of Disaster Prevention Action Plan Using TimeLine
Authors: Matsuo Ichiro ,   Research Institute for Disaster Mitigation and Environmental Studies  NPO CeMI (Crisis and Environment Management Policy Institute)  505 Royal Wakaba, 1-22 Wakaba, Shinjuku, Tokyo 160-0011, Japan, Kuribayashi Takanori , Kamura Kunishige ,   Chubu Regional Development Bureau, Ministry of Land, Infrastructure, Transport and Tourism (MLIT), Japan
Published: April 2016

Japan uses underground spaces more widely than in other developed countries. Underground spaces around terminal train stations and areas under station plazas are used in developing public pathways with stores. One such area, managed by a single underground city manager, has a floor area of about 80,000m2. In 1999, the Mikasa River near an underground area in front of Hakata Station flooded the underground area. The importance of antiflood measures for underground area was pointed out after the Hakata disaster and Japan’s Flood Control Act was partly amended, but measures have not been implemented satisfactorily.

In this paper, the author reviews the current situation in Japan’s underground areas for flood disaster and based on the awareness surveys of underground managers and users, the researches on systemizing antiflood measures for underground areas and the applications of a disaster prevention action plan (TimeLine) for protecting persons from flooding are shown using an example of the underground shopping area in front of Nagoya Station as a case study.
Congratulatory Messages, Motives for the Publication of the ""Journal of Robotics and Mechatronics"" and Fundamental Coverage
Authors: Fujie Kunio ,   Dr., Executive Managing Director, General Manager, R&D Div., Shin Meiwa Industry Co., Ltd., Kato Ichiro , Kajitani Makoto , Taylor Russell H. , Hackwood Susan , Yamafuji Kazuo ,   Ex-President, Robotics Society of Japan., Professor, Waseda University,   Professor, The University of Electro-Communications,   Editor, IEEE Transactions on Robotics and Automation,   Editor, Journal of Robotic Systems. Director, Center for Robotic Systems
Published: April 2016

In Celebration of the Publication of Your New Journal
Trends in Research on Flexible Robot Arms
Authors: Fukuda Toshio ,   Dept. of Mechanical Engineering, School of Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464, Japan
Published: April 2016

Kunio Fujie

Dr., Executive Managing Director, General Manager, R&D Div., Shin Meiwa Industry Co., Ltd.

I, as one of those related to the mechatronics industry, wish to extend my heartfelt congratulations on the opportune foundation of ""Journal of Robotics and Mechatronics"" in English, with editorial staff members being internationally noted persons in the branch of mechatronics in Japan.

Editorial staff members having been appointed from the worldwide standpoint comprehensively over industrial circles, official world and academic societies, this journal is expected to be a precious information periodical quite different from other journals issued by several academic societies. As an advanced country of worldwide fame in research and development of products of mechatronics represented by robots, Japan is requested to make henceforth an increasingly important international contribution through its original technology of mechatronics by presenting to the world not only the research results in the branch of mechatronics but also developed products. In this respect, publication of this kind of journal is also deemed very significant.

The industries henceforth will depend upon further progress in mechatronics in the course of building up certain production systems to cope with the social trend of diversification, with productivity improvement by means of flexible automation lines as the accompanying important subject, thus leading ultimately to construction of robot-operating unmanned factories as well as development of intelligence-oriented equipment including robots. Further, research and development of mechatronics-related technology being the pivotal technology for the secondary as well as tertiary industries, it is a supreme problem for Japan for the continuing development of its industries for the future to continue to step further as an internationally advanced country, with mechatronics as the core technology of its industries. It is expected accordingly that this journal will play a role to function as a common stage of activities so that researchers as well as ~ngineers belonging to the branch of mecha,tronics may act as international leaders by working together in a friendly rivalry through exchange of information across the border existing between universities and enterprises. Further, for the sake of obtaining high appraisal of this journal from those researchers and engineers in the world interested in mechatronics, I hope that the editors responsible may make the utmost effort towards the idea of social contribution, the especial requirements being originality and enthusiasm, coupled with high principles.

In conclusion, I wish that this journal will continue long with success.
Control of Micro-Manipulator (Basic Characteristics of Micro-Gripper and a Method of Bilateral Control)
Authors: Fukuda Toshio ,   Dept. of Mechanical Engineering, School of Engineering, Nagoya University, 1 Furocho, Chikusa-ku, Nagoya 464, Japan, Tanie Kazuo , Mitsuoka Toyokazu ,   Cybernetics Div., Mechanical Engineering Lab., AIST, MITI, 1-2 Namiki, Tsukuba, Ibaraki 305, Japan,   Kisarazu National College of Technology, 2-11-1 Kiyomidai Higashi, Kisarazu, Chiba 292, Japan
Published: April 2016

Congratulatory Messages

Susan Hackwood

Editor, Journal of Robotic Systems. Director, Center for Robotic Systems

As the founding editor of the Journal of Robotic Systems, I would like to express my whole-hearted approval of the English translation of the Journal of Robotics and Mechatronics. When we founded the Journal of Robotic Systems in the spring of 1984, we felt very strongly that Japanese participation in the publishing of technical papers should be encouraged, as much of the top research in robotics and mechatronics originates in Japan. To this end, we translated the abstracts of the Journal into Japanese.

Translation is never easy. A technical translation of the Japanese language into English is especially formidable. I known that many eminent researchers, such as Professors Yamafuji, Hasegawa and Fukuda have invested considerable time and effort launching this new journal. I strongly applaud their efforts. It will be a great service to the English speaking research community to be able to read about high quality Japanese research every two months.

I understand that the JRM will present research papers and technical reports from both industry and academia. This is indeed a unique opportunity for international exchange and cross-fertilization of ideas. We in the West are aware that many Japanese-speaking researchers are hesitant to publish their work in journals written in English.

I would like to extend my very best wishes to this venture.
Feature Extraction of 3-D Object by Circular Range Sensing - Circular Range Acquisition and It’s Application to Polyhedra -
Authors: Kinoshita Gen-ichiro ,   Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112, Japan, Yamaguchi Takashi , Idesawa Masanori ,   Fuji Photo Film Co., Ltd., 798 Kaisei-machi Miyadai, Ashigarakami-gun, Kanagawa 258, Japan,   RIKEN: The Institute of Physical and Chemical Research, 2-1 Hirosawa, Wako, Saitama 351-01, Japan
Published: April 2016

A method of feature extraction for 3-D objective surface by circular range acquisition is proposed and investigated. In the experimental system, circular range acquisition is realized by moving an optical range sensor mechanically along a circular path. A prototype of an optical range sensor, which adopting a 2.OmW He-Ne gas laser as a light source, 342(length) × 130(width) × 174mm(height) body size and 5kg weight was manufactured. This range sensor is mounted on the wrist of a SCARA robot (A3020, Hitachi). The range sensor is positioned sequentially at a point along the circular path with a given radius around the axis passing through the target point and detects the range to the corresponded point on the surface of an object. The surface feature around the target point is identified by investigating the variation of the acquired range data along the circular path. Applying the above operation to the surface of an object to be tested, surface features of an object can be extracted. Surface features, such as planes, vertices and edges, are represented as a polar coordinates representation of the range variation along the circular path. Thus, the circular range acquisition and the features extraction of the surface are applied to the different types of vertices on a polyhedra. Moreover, the circular range acquisitions tracing on the edge line are carried out over the surface of an object and experimental results are reported.
Change of Types of Automatic Assembly System for Photo Products
Authors: Kondo Kazuhiko ,   Production Control Dept., Photo Products Division, Nikon Corp.: 6-3, Nishi-Ohi 1-chome, Shinagawa-ku, Tokyo 140, Japan
Published: April 2016

The automatic assembly of photo products has been developed by Nikon Corp. over more than ten years. Automatic assembly methods are historically classified into three categories: dedicated machines, semi-flexible automatic assembly systems, and universal automatic assembly systems. This paper surveys these types of automatic assembly systems. First, automatic assembly systems for mechanical components of photo products are considered, and their background and design policies discussed. Next, the performances of these assembly systems and the results achieved in practise are described. Finally, the future trends of photo product automation are outlined.
Neural Network Applications for Robotic Motion Control
Authors: Fukuda Toshio ,   Nagoya University, Dept. of Mechanical Engineering, 1 Furo-cho, Chikusa-ku, Nagoya 464-01, Japan, Shibata Takanori
Published: April 2016

This paper deals with neural network applications for the robotic motion control. The neural network can be employed for both the long term ""learning"" of the control process and the short term ""adaptation"" of the dynamic process. In this paper, we demonstrate some dynamic controls of robotic manipulators using the ""Neural Servo Controller"" which is applicable to the position and force control of robotic manipulators. The ""Neural Servo Controller"" is based on the neural network which here consists of two hidden layers and input/output layers. The controller can adjust the neural network output to the robot in the forward manner to cooperate with the feedback loop, depending on unknown characteristics of handling objects. In particular, the proposed neural network has time delay elements in itself, so that the neural network can learn the dynamics of the system. Simulations are carried out for position and force control of a two dimensional robotic manipulator. Moreover, we propose a ""Fuzzy Turbo"" so that the neural network can learn the dynamic system quickly. The results show the applicability and adaptability of the proposed ""Neural Servo Controller"" to the nonlinear and dynamic system, and the ability of the proposed ""Fuzzy Turbo"" on the adaptive process.
Optimal Trajectory Control of Arms Using a Neural Network Model
Authors: Uno Yoji ,   Faculty of Engineering University of Tokyo 7-3-1, Hongo, Bunkyo-ku Tokyo 113, Japan
Published: April 2016

The author et al. have proposed a minimum torquechange model as a computational model for predicting and reproducing movement trajectories of human arms. The model proposes that in voluntary movements, trajectories should be designed so that changes with time in motor command diminish as much as possible while satisfying conditions given for movement. This paper propose a neural network model capable of autonomously generating movement trajectories on the basis of the minimum torque-change model. The basic operations of the neural network model are based on learning and relaxation. In other words, (1) the dynamics model of a controlled object is obtained in the neural network by learning and (2) movement trajectories are generated by relaxation of the neural network on the basis of the model obtained. For generating movement trajectories, two methods can be considered: one using the forward dynamics model of a controlled object, and the other using the inverse dynamics model. This paper proposes two different types of neural network models corresponding to these.
Development of a Tactile Board for Image Input
Authors: Ide Hideto ,   Aoyama Gakuin University, 6-16-1 Chitosedai, Setagaya-ku 157 Tokyo
Published: April 2016

A new visual aid apparatus which provides vibratory sensation to the skin has been developed. The apparatus has 64 vertically moving actuators arrayed 8x8 and is connected to a computer. Data of the image or the character displayed by the apparatus are input by the scanner to the computer.
Fluid Drag Force Production and Motion Control of an Aquarobot Manipulator by Ejecting Air Bubbles
Authors: Ogasawara Masakazu ,   Pioneer Electronic Corp., 4-1, 1-chome, Meguro, Meguro-ku, Tokyo 158, Japan, Hara Fumio ,   Faculty of Engineering, Science University of Tokyo, 1-3, Kagura-zaka, Shinjuku-ku, Tokyo 162, Japan
Published: April 2016

The motion of a robot manipulator submerged in water is strongly affected by fluid forces, and it is an important technique to avoid their influence on the motion of an aquarobot manipulator to achieve high-speed, precise motion. This paper deals with extension of the technique of air bubble ejection from the manipulator surface, i.e., the mechanisms of reduction of drag force by air bubble ejection and its effects on the control of the aquarobot manipulator. Using a two-degree-of-freedom and two-joint manipulator, experiments were performed and the following major results were obtained: (1) There exists a particular pattern of air bubble ejection for reduction fluid drag force acting on the manipulator and it resulted in reduction of drag force by 25% compared to that for no air bubble ejection. (2) There exists a particular pattern of air bubble ejection that brought a 40% reduction of the control torque required for compensating the fluid drag force. (3) The major mechanisms for drag force reduction were found to be the controlled flow pattern around the manipulator formed by ejecting air bubbles. However, it is noted that these effects of air bubble ejection were dependent on the mode of manipulator motion.
Development of an Inspection Robot for Penstocks
Authors: Hori Masayuki ,   Electric Power Development Co., 6-1-5, Ginza, Chuo-ku, Tokyo 104, Japan, Nimura Takayuki , Miura Masamichi , Fujisawa Tomoji , Satou Tomoaki , Morimoto Tadashi , Moriya Satoru ,   NKK, 2-1 Suehiro-cho Turumi-ku, Yokohama 230, Japan,   NKK, 1-1 Minamiwatarida-cho, Kawasaki-ku Kawasaki 210, Japan,   NKK, 4-1-3, Kudankita, Chiyoda-ku, Tokyo 102, Japan
Published: April 2016

An inspection robot has been developed jointly with the Electric Power Development Co. for the purpose of inspecting the corrosion and coating deterioration of penstocks (3500 to 5000mm) for electric power generation, particularly their sloping sections. This robot is a simplified device which, equipped with a centering apparatus consisting of cylinders, travels in a spiral fashion by pressing its wheels along the surface of a pipe, and is capable of propelling itself to climb the sloping sections of penstocks after passing through their bends and reducers. After testing with penstocks and twice-conducted field tests, a working model has been completed, and it was even possible to get the model to perform the additional task of repairing. We therefore present here a complete report.
Robot Control System ARS/A for Research
Authors: Kitagaki Kosei ,   Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba, 305 Japan, Uchiyama Marasu ,   Tohoku University, Aoba, Aramaki, Aoba-ku Sendai, 980 Japan
Published: April 2016

This paper presents an open architecture robot control system for lower level manipulator control such as motion control or force control. Basically, the system consists of three elements: an industrial robot manipulator called A-HAND, a servo computer with the motor driver units, and a host computer. The system is called ARS/A (Aoba Robot System for A-HAND). The robot and the servo computer are regarded as an independent robotic module with a standard interface to the host computer, from which it accepts a set of real time commands to control the robot. Any computer having an interface may be connected to the robotic module as a host computer. To design the set of real time commands is a crucial issue because it determines the capability and flexibility of the robot system. This paper proposes a set of real time commands which are needed for lower level control experiments. The set was found through trials. A real time monitor called MOS/A (Motor Operating System for A-HAND) to process the commands to control the robot are implemented on the servo computer. The MOS commands are defined as functions of a C language on the host computer. The C language is called ARC/A (Aoba Robot C Language for A-HAND) to have other robot control utility functions such as graphic simulation functions as well as the MOS functions. Sample programs show that ARC/A is an efficient programming tool for lower level control.
An Advanced Robot Control System Using a DSP-Based Vector Computation Engine
Authors: Takanashi Nobuaki ,   Functional Devices Research Laboratories, NEC Corporation, 1-1, Miyazaki 4-chome, Miyamae-ku Kawasaki Kanagawa 213, Japan
Published: April 2016

In this paper, explanations for the configuration and usage of a vector computation engine designed to meet the growing demand for higher-speed operation, more precise robotics and real-time motion simulation are given. Presented is an example of its application to a robot controller making full use of high operational performance. This engine is a floating-point vector processor based on a single-chip digital signal processor (μPD77230) with vector matrix and various functions such as a trigonometrical function, data transfer functions-- being built into an internal instruction memory. In this engine, a multiplication of 4 × 4 element transformation matrices can be done in less than 30pseconds. Active stiffness control operation (involving force control in addition to position control) in less than 0.7 milliseconds. In other words, this single-chip engine makes it possible to achieve high-level control comparable to a minicomputer, thus providing a compact, light and inexpensive robot controller.
STM as a Micromachine
Authors: Kajimura Koji ,   Electrotechnical Laboratory, Tsukuba, Ibaraki 305, Japan
Published: April 2016

A scanning tunneling microscope (STM) is a kind of micromachine, from an instrumentational and functional point of view. In this paper, the present and future status of key technologies of STM instrumentation and miniaturization are discussed after presenting the principle of STM operation. Application of STM functions to nanometer-scale fabrication and ultimate modification of surfaces on an atomic or molecular scale will pave the way for future electron devices and the synthesis of new materials.
Position and Force Control of Micromanipulatorwith Six Degrees of Freedom Using Piezoelectric Actuators
Authors: Fukuda Toshio ,   Faculty of Engineering, Nagoya University, Fujiyoshi Motohiro , Arai Fumihito , Matsuura Hideo ,   Graduate School, Nagoya University 1, Furo-cho Chikusa-ku Nagoya 464-01, Japan
Published: April 2016

This paper deals with the mechanism and control of a micromanipulator with six degrees of freedom (6 D.O.F.) aimed at applications in biotechnology and microsurgery. Since operations in these fields develop rapidly and are complicated, a dexterous micromanipulation system has long been desired. This paper proposes a 6 D.O.F micromanipulator to make such work easier. The manipulator has the following features: (1) The manipulator has 6 D.O.F. The tip of this manipulator can move along three axes, and also can rotate along each axis. (2) This micromanipulator is very small and light, since it is made of PZT actuators. (3) Since it has a position and force feedback system, it can control desired poses and forces. (4) A variable gain feedback system, similar to a fuzzy system, is employed here, and hence the system performs better than a fixed gain feedback system. These technical merits will make it possible to operate the micromanipulator in much more complicated environments under a microscope.
Micro-robot Using Reversible SMA Actuator
Authors: Kuribayashi Katsutoshi ,   Yamaguchi University, Dept. of Mechanical Engineering ka Prefecture,  2557 Tokiwadai Ube 755, Japan
Published: April 2016

Reversible SMA (-RSMA), the so-called two way and all round SMA, is very convenient in fabricating a micronsized SMA actuator, because only one SMA material is needed for an SMA actuator. An active bending frame (-ABF) for a robot using a larger-sized RSMA sheet whose original shape was memorized round, was made and its shapes were analyzed experimentally and theoretically. Based on the theory, a homogeneous transformation matrix for the ABF was derived. A SCARA Type robot using 2 larger sized ABFs was made and was controlled by electrical current. Finally, it is shown that a thin film of reversible TiNi ally for a micron sized robot could be made by a magnetron sputtering method and by heat treatment methods, and that the frequency response of 7μm thick thin film of reversible TiNi alloy is about 5Hz.