bluuebunny/crossref_metadata_2025 huggingface dataset:
Measurement System for Multiple Degrees of Freedom Moving Robot
Authors: Takamasu Kiyoshi ,   Department of Precision Machinery Engineering, Faculty of Engineering, University of Tokyo,  7-3-1 Hongo, Bunkyo-ku, Tokyo, 113 Japan
Published: April 2016

The multiple degrees of freedom (multi-DOF) moving robot and its measurement system have been developed realize a positioning system with high flexibility. The multi-DOF robot is driven by six piezo-electric devices; and it moves in two modes, an absolute motion mode and a relative motion mode. In the absolute motion mode, it walks on a surface plate by a two-dimensional inchworm method having 3-DOF, in X and Y directions and a rotation. After a frame body is fixed, a center table can be positioned on 6-DOF. For measuring its position, the novel position measurement system has been developed. It has two measurement modes; an absolute measurement mode and a relative measurement mode. In the absolute mode, the two-dimensional position of the robot can be calculated from the length of a laser interferometer and the angle of a tracking mirror. After the tracking mirror is fixed, the relative displacement of the center table is measured by the laser interferometer, and the position of a reflecting laser beam is measured on a Position Sensitive Detector (PSD). We conclude that the high flexibility positioning system can be realized using the multi-DOF robot and the measurement system.
Repair Equipment for Large-Scale Panel by Penning Discharge Micro-Sputtering Method
Authors: Funamoto Hiroyuki ,   Seiko Instruments Inc., Nakase 1-8, Mihama-ku, Chiba-shi, Chiba, 271 Japan, Koseki Osamu , Sugita Toshio ,   Department of Electrical Engineering, Science University of Tokyo, Shinjuku-ku, Tokyo, 162 Japan
Published: April 2016

Repair equipment for a large panel, such as photomask and a liquid crystal panel, is developed by using the Penning gauge-type discharge micro-sputtering (PDMS) method. The equipment allows a local evacuated area to be creased on a panel to deposit or (for a clear defect) to etch a small portion of a metallic film (for an opaque defect) while the whole panel remains in atmospheric condition. The repair equipment includes the PDMS apparatus, an X-Y-θ stage, a TV monitor, and a vacuum pump unit. The defect to be repaired is at first detected by the monitor and the monitor, and the X-Y-θ stage is set on the position. Then, the PDMS device is evacuated, and discharge takes place to deposit or etch a metallic film. The shape of the repair spot is controlled by an aperture made of stainless steel sheet. The equipment is evacuated with respect to positioning precision, adherence quality and electrical conductivity necessary for a photomask and a liquid crystal panel.
Production Engineering for Small-Size and Functional Motion of Total Arm Prosthesis
Authors: Saito Yukio ,   Faculty of Science and Technology, Tokyo Denki University, Hatoyama, Hiki, Saitama, 350-03 Japan, Higashihara Takanori
Published: April 2016

A total arm electrical prosthesis by microcomputer control is designed for patients who have both shoulders amputated by a work accident and these suffering from the disease of malignant tumour. The prothesis uses 6 coreless micro-motors as an actuator and can act flexion - extension and external - internal rotation of the shoulder, abduction - adduction of the upper arm, flexion - extension of elbow, forearm pro-supination, and openshut of fingers. Each movable part is modulated, and the prosthesis in each amputation part can be manufactured. We use a special linkage shoulder mechanism of rigid body and can obtain natural shoulder movement compatible with the human motion. The hand part can easily change an electrical cosmetic and hook-type hand in a quick change system according to the task. The control system of prosthesis is composed of three singlechip microcomputers and is stored together with a Ni-Cd battery within the dummy arm (left arm). Consequently, we set the following goals: (1) Compact and highly rigid shoulder mechanism. (2) Smaller multiple microcomputer and driven system set by flexible circuit technology. (3) The main controller keeps program in PROM, RAM area of microprocessor, and IC cord as fundamental motions and fixed motions. (4) CAD and/or artificial intelligence techniques are used to shorten the development period and the flexible accommodation. The judgement function of command by a microcomputer, the cooperative movements of each joint, and a teaching system of easy motion data by the handicapped are indispensable in order to ease the burden of operation. Therefore, the order input device which can transmit the intention of the handicapped to a control device of prosthesis and is not a burden to operation is necessary. The weight of prosthesis and control devices should realize portability. In addition the CAD/CAM of the socket for wear which is unaffected by the weight with prosthesis itself is necessary.
Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum
Authors: Sano Akihito ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan, Furusho Junji
Published: April 2016

By using a stable quantity ‘Quasi-Angular-Momentum’ which represent a state of quadruped walking system, we evaluated the degree of approximation of reduced order model which we derived. We also proposed a control method in which the quasi-angular-momentum is kept constant.
A Fundamental Study of an Animation Presentation System for JSL Signs
Authors: Terauchi Mina ,   Polytechnic University, 4-1-1, Hashimotodai, Sagamihara-shi, Kanagawa, 229 Japan, Nagashima Yuji , Kanda Kazuyuki , Nishimura Takateru , Nagashima Hideyo , Ohwa Genichi ,   Kogakuin University, 2665-1 Nakanomachi, Hachioji-shi, Tokyo, 192 Japan,   Chukyo University, 10ITokodate, Kaizucho, Toyota-shi, 470-03 Japan
Published: April 2016

We describe a system of presenting the animation of the Japanese Signs by a Key-Frame Method as part of a supporting system for hearing-impaired persons. According to this system, JSL Signs are extracted from Japanese sentences whose elemental forms have been analyzed, and sign language corresponding to each sign is presented in image by using the angle displacement of each joint as a parameter. As a result of obtaining animated sign presentations by using several sample sentences, it was possible to recognize signs. However, since presented images are skelton models, it will be required in the future to examine a more effective image presentation system for the cases in which more realistic models are presented. In addition, in order to solve various problems associated with Key-Frame Method, we also examined an animated presentation system with the concept of Object-Oriented introduced. Taking note of the fact that a human is a multi-joint structure, we define a descriptive form in which the movement of each rigid body and the positional relationship between rigid bodies are treated as knowledge. By so doing, it now becomes possible to provides more flexible descrive forms and motion expressions.
Evaluation of the Arousal Level in Motorcar Driving Using Skin Potential Level: Changes in Skin Potential Level under Various Driving Conditions
Authors: Nishimura Chiaki ,   Toho University School of Medicine,, Kosaka Akio , Terada Kazuko , Yoshizawa Shuji , Nagumo Jun’ichi ,   Olympus Optical Co., Ltd.,,   Faculty of Engineering, University of Tokyo,
Published: April 2016

The skin potential level (SPL) on the palmar surface is known to reflect the level of arousal in some behavioral situations. In this paper, this relationship was ascertained in motorcar driving. The SPL was measured for two subjects on ordinary roads under various experimental conditions. The results show that (1) in general, the SPL was kept at high negative levels, and (2) the SPL reduced its electro-negativity when traffic conditions around the motorcar required less tension of the subjects. In the case, the arousal level of the subjects was thought to be low. From these results, it is concluded that the SPL has sufficient sensitivity in detecting the decrease of the arousal level in motorcar driving. In the data processing of the SPL, a range correction was effective in reducing individual differences. The observed maximal reduction of electro-negativity was 80%, in which case the subject complained of serious drowsiness. The SPL was kept at high negative levels when the driver performed an additional light task or conversed with an assistant driver.
Production of the Near-Infrared Spectrofluorophotometer and Fluorescence Quantum Yield of the Cyanine Solution for Dye Laser
Authors: Ohtsuka Masao ,   Tokyo Institute of Polytechnics, 1583, Iiyama, Atugi, Kanagawa, 243-02 Japan, Kudo Toshiki , Oguchi Masanobu , Ide Hideto ,   College of Science & Engineering, Aoyama Gakuin University, 6-16-1, Chitosedai, Setagaya-ku, Tokyo, 157 Japan
Published: April 2016

For the accurate measurement of fluorescence quantum yield of biological dyes, dye lasers, etc., a spectrofluorophotometer with a built-in quantum counter is used. Such spectro meters that are available at the market can be used for exciting wavelengths of up to 600nm for which a quantum counter functions correctly, but not for longer wavelengths. In this study, light quantum counter dyes that can be used for exciting light of up to 700nm have been examined with the use of eight types of dye solutions, and it has been discovered that methylene blue trihydrate is the most suitable. By using this quantum counter dye, an electric control circuit of quantum counters has been constructed, consisting of the negative feed back circuit and the photomultiplier, and verified to be a spectrofluorophotometer that is usable from the practical points of view. In addition, with regard to several types of cyanine dyes, a comparative study of their energy levels obtained by a molecular orbital method, measured fluorescence quantum yield, and dye laser outputs has been conducted to evaluate those cyanine dyes as laser dyes.
Non-Parametric Classification of Remotely Sensed Multispectral Image Data by Means of Matrix Representation of Multidimensional Histograms
Authors: Inamura Minoru ,   Department of Electronic Engineering, Faculty of Engineering, Gunma University, Kiryu-shi, Gunma, 376 Japan
Published: April 2016

The computer framing of land use maps using remotely sensed multispectral image data is identical with pattern classification for spectral reflectance of objects on earth's surface. In particular, the classification by the maximum likelihood method is the most popular method because it theoretically gives the highest correct classification rate on the condition that the statistical distribution of the image data be normal. However, the histogram of real image data is not a normal distribution. Actual histograms show the proper distributions to classes. This fact means that a histogram gives a spatial property of the class statistically. This paper described a newly developed non-parametric method by means of the matrix representations of multidimensional histograms and subimages.
Special Issue on Intelligent Integrated Systems for Robotics
Authors: Kameyama Michitaka ,   ProfessorDepartment of Computer and Mathematical Sciences, Graduate School of Information Sciences, Tohoku University Aoba, Aramaki, Aoba-ku, Sendai, Miyagi, 980-77 Japan
Published: April 2016

The new area of ""intelligent integrated systems"" has been proposed to develop one of the generic technologies for next-generation electronics and information systems. Although the interpretation may be different for individual persons, I think the area is the integration of the three concepts as shown in Figure. One is the concept of ""system on silicon"" using the integrated circuit technology. Giga-scale integration will be available in near future, so that we have to develop hardware and software architecture related to ultra highly parallel processing. Another is the concept of intelligence including physical model based computations as well as AI technology. The other is the concept of real-world applications just different from computer-world applications. The signal flow is passed through a real world, so that the performance should be evaluated as the response time or delay time. The examples are robotics, car electronics, home electronics, factory automation and so on. This special issue is planned to demonstrate the above important area, especially dedicated for robotics which is a typical example of the intelligent integrated systems. I believe that the contents of this issue give great impact on' the next-generation robot systems, and it will be a memorial publication. Finally, I would like to express my appreciation to the authors for their efforts and contributions to this special issue and also to the members of the Editorial Board for their useful comments.
Coordinate Transformation VLSI Processor for Redundant Manipulator Control
Authors: Fujioka Yoshichika ,   Department of Computer and Mathematical Sciences, Graduate School of Information Sciences, Tohoku University, Kameyama Michitaka , Higuchi Tatsuo ,   Department of System Information Sciences, Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, Miyagi, 980-77 Japan
Published: April 2016

A computationally efficient algorithm called 'Subsequent-division algorithm' is presented to develop a special-purpose VLSI processor for differential inverse kinematics computation of redundant manipulators. Because the computation is performed in a feedback loop, not only throughput but also absolute delay time must be considered as performance factor An architecture of a reconfigurable parallel VLSI processor is proposed to improve the utilized ratio of the multipliers contained in processor elements (PEs). In each PE, switching hardware is used to change the connections between the multipliers and the adders, so that we can reconfigure the multiply-adders having desired numbers of multipliers. The chip evaluation based on Iμm CMOS design rule shows that the total delay time for a 12 degrees-of-freedom (DOF) redundant manipulator becomes about 13μsec which is about ninety times faster than that of a parallel processor approach using general-purpose microprocessors.
Design of a Model-Based Robot Vision VLSI Processor
Authors: Sasaki Yoshifumi ,   Department of Computer and Mathematical Sciences, Graduate School of Information Sciences, Tohoku University Aoba, Aramaki, Aoba-ku, Sendai, Miyagi, 980-77 Japan, Kameyama Michitaka
Published: April 2016

For intelligent robots, a robot vision system is usually required to perform three-dimensional (3-D) position estimation as well as object recognition at high speeds. In this paper, we propose an algorithm for 3-D object recognition and position estimation for the implementation of a VLSI processor The principle of the algorithm is based on model matching between an input image and models stored in memory. Because of enormous computation time, the development of a high-performance VLSI processor is essential. Highly parallel architecture is introduced in the VLSI processor to reduce the latency. As a result of highly parallel computing, the computational time is 10000 times faster than that of a 28.5 MIPS workstation.
Design of an Intelligent Fault-Tolerant System for Real-World Applications
Authors: Abe Shigeki ,   Department of Electronic Engineering, Faculty of Engineering, Tohoku University, Kameyama Michitaka , Higuchi Tatsuo ,   Department of Computer and Mathematical Sciences, Graduate School of Information Sciences, Tohoku University,   Department of System Information Sciences, Graduate School of Information Sciences, Tohoku University, Aoba, Aramaki, Aoba-ku, Sendai, Miyagi, 980-77 Japan
Published: April 2016

To achieve the safety of an intelligent digital system for real-world applications, not only the hardware faults in the processors but also any other faults and errors related to the real world such as sensor faults, actuator faults and human errors must be removed. From this point of view, an intelligent fault-tolerant system for real-world applications is proposed based on triple-modular redundancy. The system consists of a master processor that performs the actual control operations and two redundant processors which simulate real-world process together with the control operations using knowledge-based inference strategy. To realize the independency between the triplicated modules, the simulation for error detection and recovery is performed without actual external sensor signals used in the master processor.
Cooperative Behavior of a Schedule-Based Distributed Autonomous Robotic System
Authors: Sun Jifeng ,   Faculty of Information Engineering, Kyushu Institute of Technology Iizuka, Fukuoka, 820 Japan, Nagata Tadashi , Kurosu Kenji ,   Faculty of Engineering, Kyushu University, 6-10-1, Hakozaki, Higashi-ku, Fukuoka, Japan
Published: April 2016

A scheduling method for distributed autonomous robotic systems (DRS) is proposed. Given the global task for a DRS, each robot generates a subtask according to the global load of the whole system and the partial capacity of individual robots. The determined schedule is then executed by a sign-board inter-robot communication. Some experiments of a three-robot system are performed using the proposed method.
Robust Control for a Flexible Structure Possessing Transverse-Torsional Coupled Vibration
Authors: Watanabe Toru ,   Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa, 223 Japan, Yoshida Kazuo
Published: April 2016

In this paper robust stability and robust performance between an ordinary H-infinity controller and μ-controller are compared for the case of vibration control of a flexible structure using two active dynamic vibration absorbers. The structure possesses eight transverse-torsional coupled vibration modes, and the aim of this study is to reduce transverse and torsional vibrations simultaneously. After some control experiments were carried out, it was confirmed that the μ-controller shows better robust stability and robust performance than an ordinary H-infinity controller
Vibration Control of Hakucho Bridge Tower under Construction Using Actively-Controlled Mass Damper
Authors: Takahashi Morito ,   Hokkaido Development Bureau, 8, Minami, 4, Nishi, Obihiro, Hokkaido, 080 Japan, Nishimoto Satoshi , Hashimoto Koh , Koike Yuji , Mutaguchi Masao , Ueshima Hidesaku ,   Hokkaido Development Bureau, 1-128, Shukutsu-cho, Muroran, Hokkaido, 051 Japan,   Research Institute, Ishikawajima-Harima Heavy Industries Co., Ltd., 1, Shin-nakahara-cho, Isogo-ku, Yokohama, Kanagawa, 235 Japan,   Steel Structures Division, Ishikawajima-Harima Heavy Industries Co., Ltd., 1-9-10, Mouri, Koto-ku, Tokyo, 135 Japan,   Bridge Division, Ishikawajima-Harima Heavy Industries Co., Ltd., 1-9-10, Monti, Koto-ku, Tokyo, 135 Japan
Published: April 2016

Free-standing bridge towers, in general, suffer from vibrations caused by wind. In order to reduce vibrations, an actively-controlled mass damper was applied to Hakucho Bridge tower. In controlling vibrations, the node of the 2nd mode was selected as a settling point of sensors in order to maintain stability for higher order modes of vibration than that to be controlled. The damper was tested to verify damping performance by free vibration and measurement of vibrations caused by wind. High performance has been obtained from results of tests and the effectiveness of this method has been demonstrated.
Simultaneous Optimization of Positioning and Vibration Controls Using Time-Varying Criterion Function
Authors: Hara Susumu ,   Graduate Student, Keio University, Yoshida Kazuo ,   Faculty of Science and Technology, Keio University, Hiyoshi 3-14-1, Kohoku-ku, Yokohama, 223 Japan
Published: April 2016

For the positioning control of flexible structures, it is important to reduce residual vibration after the positioning is completed. If a positioning controller and a vibration controller are designed independently and abrupt switching is performed from the former to the latter, the moving structure suffers from impact, and additional vibration is caused. This paper presents a method for simultaneously synthesizing both motion and vibration controllers, using a time-varying criterion function for optimal control. This method is applied to the positioning control of a flexible structure. The usefulness of the method is verified theoretically and experimentally.
Distribution of Natural Compliance in Force Control of Space Manipulator
Authors: Ohkami Yoshiaki ,   Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, To' vo, 152 Japan, Okamoto Osamu ,   National Aerospace Laboratory, 7-44-1 Jindaiji-Higashi, Chofu, Tokyo, 182 Japan
Published: April 2016

This paper presents results of investigation on the force control of space manipulator when it constitutes a geometrical loop. It is shown that without natural compliance, the system becomes indeterminate when the tip touches the object on the common base. A simple force feedback control could be applied, but the control is demonstrated to be incapable of changing the situation for rigid and kinematically controlled arms. Based on the evaluation of the extended inertia matrix, it is shown that the natural compliance should be assigned to all directions of the contact (6 DOF) and that the force control must be compatible to this condition that the total system is determinate over the entire range of operation.
Active Vibration Control System for Tall Structures
Authors: Suzuki Tetsuo ,   Obayashi Corp., 4-640 Shimo Kiyoto, Kiyose, Tokyo, 204 Japan, Kageyama Mitsuru , Nobata Arihide
Published: April 2016

The authors, concerned with the enhancement of living comfort in tall structures during strong winds or medium to small-scale earthquakes, have developed an active vibration control system which is capable of controlling a multiple number of vibration modes at the same time, and have already demonstrated the usefulness of this system by conducting verification experiments using a small device1) and an actual-size device2). And this time, an active vibration control system based on the research results obtained up to now has been applied to an actual structure for the first time in the world. This report describes an outline of this system.
Dynamically Reconfigurable Robotic System
Authors: Fukuda Toshio ,   Dept. of Mechano-Informatics and Systems, Nagoya University, Furo-cho l, Chikusa-ku, Nagoya, Aichi, 464-01 Japan, Nakagawa Seiya ,   Sony Corporation
Published: April 2016

This paper deals with experimental aspects of a practical realization method for the cellular robotic system (CEBOT). CEBOT is a dynamically reconfigurable robotic systems which can reconfigure robots in an optimal structure, depending on working purposes and environments This is one of the autonomous distributed, cooperative systems, which are capable of carrying out communication, connection, and separation between functional units, called ""cells"" in this paper. Such a hardware construction has long been desired for the new generation of robotic systems. In this paper, it is shown that the modified CEBOT does not require the precise positioning accuracy in the cell connections, unlike the series I in a previous report. With the on-board photosensors and ultrasonic sensors, the newly built robotic system can perform the automatic approach, connection and separation successfully.
Path Planning of Space Robots by Using Nonlinear Optimization Technique
Authors: Sakawa Yoshiyuki ,   Department of Intelligent Mechanics, Faculty of Biology Oriented Science and Technology, Kinki University, Nishimitani, Uchita, Naga-gun, Wakayama, 649-64 Japan, Akiyama Takao ,   Meidensha, 2 chome 2-1, Ohtemachi, Chiyoda-ku, Tokyo, 100 Japan
Published: April 2016

A space robot, which consists of a satellite base and a manipulator mounted on it, is expected to perform various tasks involved in the construction and maintenance of space structures. Since the angular momentum of a space robot system is conserved, the motion of the system is subject to nonholonomic constraints. When the manipulator makes motion from an initial position to a desired position, variation of the base orientation depends on the trajectory of the motion owing to the nonholonomic property of the system. Since the satellite base is desired to have a constant orientation, we seek such a trajectory of the manipulator that a given motion is attained, that the base orientation is unchanged before and after the motion, and that the integral of the sum of the squares of accelerations of the joint angles is minimized during motion. First, we derive the equations of motion of the space robot, where the orientation of the satellite base is expressed in terms of Euler quaternions. We express the motion of joint angles in terms of the truncated Fourier series, and apply a nonlinear programming technique using a sequential quadratic programming algorithm to determine the optimal coefficients of the Fourier series. Some results of numerical computations are shown.
In-Orbit Experiment of Space Robot Technologies on ETS-7
Authors: Oda Mitsushige ,   Office of Satellite Systems, National Space Development Agency of Japan, Hamamatsu-cho 2-4-1, Minato-ku, Tokyo, 105 Japan
Published: April 2016

NASDA is now developing Engineering Test Satellite #7 (ETS-7) to perform Rendezvous Docking and Space robot technology experiments in the actual space environment. ETS-7’s space robot experiments include 1) performance evaluation of a robot arm and related equipment in the actual space environment, 2) cooperative control experiment between the satellite attitude and the robot arm, 3) teleoperation experiment of the satellite mounted robot system from a ground control station, and 4) demonstration of in-orbit satellite servicing using a robot arm. The satellite will be launched in 1997 by NASDA’s H-11 rocket into a low earth orbit.
Representation and Matching of Two-dimensional Curvilinear Figures Considering Curvatures and Spatial Positions
Authors: Katsulai Hiroshi ,   Chiba Institute of Technology, Tsudamuma 2-17-1, Narashino, Chiba, 275 Japan
Published: April 2016

Autonomous mobile robots must visually recognize their three-dimensional environment so that they can quickly discover and avoid obstacles to their movement or find targets. In order to accomplish this objective, it is a matter of essential importance to match curvilinear segments of a two-dimensional stereo dynamic image sequence. This paper proposes a method in which what is called constant-curvature arc data, which include not only curvatures but also the relationship between spacial positions, are used for representing curves. This paper also suggests a method to match two-dimensional curves and verifies its effectiveness through experiments.
Posture Detection and Landing Control of Robot Thrown in Midair
Authors: Yamafuji Kazuo ,   Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan, Honda Koutaro , Kobayashi Tsuyoshi
Published: April 2016

In the previous papers, the authors investigated a robotic cat which could restore its attitude during free fall by twisting and controlling its body. The principle of the twisting motion was then elucidated: the robotic cat could rotate its body by 180 degrees turn within 0.6 seconds when released from an upside-down position. In this paper, 3D midair attitude detection and landing control of a newly developed robot with multi-articulated twin legs were studied. A postural detection method using the Enter angles generated by the 3D attitude angles detected by three rate gyrosensors mounted on the robot was proposed, and a landing control method for the twin legs using 4 pairs of antagonists composed of artificial rubber muscles was described. Experiments conducted with this robot reveal that the attitude of the robot thrown in an arbitrary direction could be detected and the legs could be successfully controlled to turn towards the ground for landing.
A Study of On-Machine Measurement with the Compensation of Probe Sensitivity in a Machine Tool
Authors: Mizugaki Yoshio ,   Production Engineering Lab., Department of Mechanical Engineering, Kyushu Institute of Technology, Japan, 1-1, Sensui-cho, Tobata-ku, Kita Kyushu, Fukuoka, 804 Japan, Asao Teruyuki , Sakamoto Masafumi , Arai Sadao
Published: April 2016

This paper presents a new method of the compensation of sensitivity of a touch probe in a machine tool. In this study the sensitivity is defined as measurement error in each probing direction. In the detection of measurement errors, a reference ball used in Coordinate Measuring Machines is adopted as the pseudo-datum. After measuring it in various probing directions, each measurement error of lobbing is modelled by means of a spline interpolation. Thus, the sensitivity model is represented in form of Coons patch whose parameters at the angles of probing direction. The effect of probing approach speed on measurement error has also been examined. The finishing process after the on-machine in-process measurement is conducted in order to evaluate the utility of the sensitivity model. Through the measurement of finished surfaces, the utility of finishing process and the validity of the sensitivity model are confirmed.
Block Hierarchical Fuzzy-Neural Networks and Their Application to a Mobile Robot Control
Authors: Tang Jun ,   Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1-Honjo-machi, Saga, 840 Japan, Watanabe Keigo , Nakamura Masatoshi ,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga, University, 1-Honjo-machi, Saga, 840 Japan,   Department of Electrical Engineering, Faculty of Science and Engineering, Saga University
Published: April 2016

If some fuzzy sets in a fuzzy-neural network are assigned to each scalar input data, then the number of intermediate unit functions grows exponentially as the number of input variables to the fuzzy reasoning increases. Therefore, it is very important for multi-input/multi-out-put systems to effectively construct a small-scale fuzzy neural network. In this paper, four types of block hierarchical fuzzy-gaussian neural networks (FGNNs) are proposed for a control system of a mobile robot with two independent driving wheels by applying two inputs and single-output FGNN block, or single-input and singleoutput FGNN block. Such a block hierarchical FGNN consists of three layers. In other words, the first input layer consists of two FGNN blocks that independently generate torques for controlling the velocity and azimuth of the mobile robot. The second hidden layer determines their distributions to the final layer by using fixed connection weights. The final output layer also consists of two FGNN bl ks that automatically determine the out put scalers for the actual left- and right-wheel driving torques. The effectiveness of the proposed method is illustrated through some simulations of a circular path tracking control.
Cooperative Control of Human-Robot System Using Fuzzy Reasoning
Authors: Noritsugu Toshiro ,   Faculty of Engineering, Okayama University, 3-1-1, Tsushimanaka, Okayama, 700 Japan, Inoue Hiroyuki ,   Tsuyama National College of Technology, 624-1, Numa, Tsuyama, Okayama, 708 Japan
Published: April 2016

The present autonomous control robots are technically difficult to introduce into unknown working environments. A cooperative control approach between human and robot may be an effective approach for complex and uncertain tasks. This study develops a new cooperative control approach between human and robot by using a fuzzy reasoning and handles force control under the uncertain working environments. The proposed control approach can achieve three control modes: manual, cooperative, and autonomous control, one of which can be automatically chosen by the operator through fuzzy reasoning. Fuzzy reasoning receives two inputs from the operator and the robot. By introducing the fuzzy reasoning, the various human skills can be introduced into cooperative control and can integrate an intuitive human control and a precise autonomous robot control. Some contacting tasks are executed for various object walls using a two-degrees of freedom Cartesian robot. The results indicate the availability of the proposed control approach.
A Diagram Acquisition and Generation System for Blind Persons Using Tactile and Auditory Senses
Authors: Minagawa Hiroki ,   School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-01 Japan, Ohnishi Noboru , Sugie Noboru ,   Faculty of Science and Technology, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya, 468 Japan
Published: April 2016

The humans can use diagrams to clearly express information that cannot be expressed well in words. Now, one way to present graphic information to blind persons is the use of tactile diagrams; nevertheless, it is extremely difficult for a blind person himself to express information by means of diagrams. Under these circumstances, we have produced a system whereby a blind person himself produces diagrams and uses them to communicate with others. This system is composed of a voice input/output device, a keyboard, a memory unit, and a personal computer. Graphic information is presented separately as related to the tactile and auditory senses of blind persons. The system can thus correct the shortcoming that graphic information is expressed only in the form of an tactile or auditory (linguistic) expression. In addition, a blind person can operate the system by a dialogue by relying on his own tactile and auditory senses, and produce and preserve diagrams. A psychological experiment was conducted by using the new system on blind subjects, and it,, was confirmed that the system can help the subjects memorize graphic information and can also be used for expressing images as conceived in their minds.
Shock on Head and Bone Conduction Speech
Authors: Ishihara Manabu ,   Department of Electronics Engineering, Polytechnic University, 4-1-1, Hashimotodai, Sagamihara,, Kanagawa, 229 Japan, Shirataki Jun ,   Department of Electrical Engineering, Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi, Kanagawa, 243-02 Japan
Published: April 2016

This paper discusses the characteristics of bone conduction speech from the perspective of its application to the transmission of speech in high-noise environments. In general, the transmission capability of speech in highnoise environments is inevitably reduced by the mixing of noise in the speech because the speech is transmitted by propagation in air. As a method to solve this problem, bone conduction speech is studied, which utilizes bone conduction to propagate speech. The authors decided to detect and pick up the bone conduction speech from the bone vibration above the nose and study its characteristics when the head receives shock during detection. This method is expected to provide an effective means for humans to control robots or equipment in high-noise environments.
Estimation of the Under-Surface Temperature Pattern by Dynamic Remote Sensing
Authors: Inamura Minoru ,   Faculty of Engineering,  Gunma University, 1-5-1, Tenjin, Kiryu, Gunma, 376 Japan, Toyota Hiromichi ,   Faculty of Engineering, Seikei University, 3-3-1, Kita-machi, Kichijyoji, Musashino, Tokyo, 180 Japan
Published: April 2016

The remote sensing (R/S) methods can be classified into three kinds: 1) the measurement of the reflection of sun beams (passive R/S); 2) the measurement using millimeter wave or laser radar (active R/S); and 3) the measurement of infrared radiation. By these methods, one can obtain information on a measured object concerning 1) its surface temperature, 2) its effective emissivity, and 3) its effective reflectivity. The surface temperature, in effect, contains the total information on the under-surface structure. The authors performed a fundamental experiment for extracting such under-surface information by R/S, which is known as ""dynamic remote sensing"". In the first place, we determined a special function for the medium (sand in our experiment), and then filtering the surface temperature pattern, and calculated the undersurface temperature pattern; from this data we estimated the form of the sample in the medium. In the second place, we analyzed the relation between the thermal input (the temperature in the bottom) and thermal output (the surface temperature) by analogy with electric circuits, calculated the heat capacity and ther thermal conductivity of the sample, and estimated its substance. As a result, the present study is expected to provide us with guidance to new methods for the exploration of underground water or minerals as well as non-destructive tests.
Analysis on Mishearing of Speech Signals Whose Constant Intervals are Periodically Eliminated, and Its Characteristics
Authors: Shirataki Jun ,   Department of Electrical Engineering, Kanagawa Institute of Technology, 1030, Shimoogino, Atsugi, Kanagawa, 243-02 Japan, Ishihara Manabu ,   Department of Electronics Engineering, Polytechnic University, 4-1-1, Hashimotodai, Sagamihara, Kanagawa, 229 Japan
Published: April 2016

This paper studies the characteristics of speech signals whose constant intervals are periodically eliminated, focusing on the relationship between the elimination cycle time, articulation, and mishearing. Reports have been published on the monosyllable articulation characteristics and the comprehension of sentences when constant intervals of speech signals were eliminated. According to the characteristics of the monosyllable articulation in the published report, articulation decreases with an increase in the elimination cycle time, but it increases when the cycle time becomes longer than approximately 1ms. However, there has been no analysis of how the speech signals were heard or how they were misheard. This paper conducts a detailed study on the elimination cycle time, articulation, and mishearing characteristics. If targets the clarification of the characteristics of the speech which are misheard by humans based on the experimental results.
Relationship between Circadian Rhythm in Body Temperature and Ultradian Variations of Psychological and Physiological States in Arousal
Authors: Tsuji Yoichi ,   Ashikaga Institute of Technology, 268-1, Ohmae-cho, Ashikaga, Tochigi, 326 Japan, Nagasawa Kazuyuki
Published: April 2016

In order to investigate the relationship between the ultradian variations of psychological and physiological states in arousal and circadian rhythm in body temperature, the physiological and psychological testing of seven subjects was carried out continuously for 13 hours from 9am to 10pm. Diurnal variations in physiological and psychological quantities were analyzed by the maximum entropy method and the least square approximation. As a result of the analysis, three kinds of ultradian component (periods of 1.5, 3.0, and 6.0 hour) were detected. In addition, with regard to the 1.5-hour-cycle component for simple arithmetic operations and heart rates, the interrelation between the period of ultradian variations and the amplitude of the rhythm of body temperature was investigated for each subject; as a result, it was recognized that there were a statistical significant negative correlation (r = -0.72, p<0.05) between body temperature and simple arithmetic operations and a positive correlation (r = 0.95, p<0.001) between body temperature and heart rate. This shows that the cycles of ultradian variations are affected by circadian rhythms, and is important knowledge in considering the essence of ultradian rhythm.
Human Reader: A Paradigm for a Multimedia-Based Human Interface
Authors: Suenaga Yasuhito ,   NTT Human Interface Laboratories, Nippon Telegraph and Telephone, 1-2356, Take, Yokosuka, Kanagawa, 238-03 Japan
Published: April 2016

A paradigm for better human interface called Human Reader is introduced with references to computer vision (CV) and computer graphics (CG) research projects on human images at NTT Human Interface Laboratories. CV and CG are regarded as dual problems of visual information processing. Our research includes the recognition of face, detection of head direction and head motion, lip motion analysis, facial expressions analysis, detection of hand or finger positions and movements, 3D head model generation, synchronized acquisition of shape and color, and rendering realistic face images having various facial expressions with complex components such as hair.
3-D Shape Measurement Sensor for Specular Objects
Authors: Kawai Harunobu ,   Kagawa Prefectural Industrial Technology Center, 587-1 Goto-cho, Takamatsu, Kagawa, 761 Japan, Hamada Toshihiro , Nakanishi Hiroki , Hata Seiji ,   Faculty of Education, Kagawa University, 1-1 Saiwai-cho, Takamatsu, Kagawa, 760 Japan
Published: April 2016

In the case of constructing an inspection system such as extracting the defects of 3-D shape of parts, it is a necessary and indispensable factor that the non-contact shape measurement of an object is automated. However, it is very difficult to measure the shape of an object which has a mirror-like surface. Here, a three-dimensional shape measurement sensor capable of reliably measuring the shape of an object which has mirror-like surface has been developed. The spotlight scanning light-section method is employed in this sensor. The sensor is a compact instrument by which the position of light can scan the object. The output intensity of the light source is controlled according to the detected brightness of light.
High-Speed Machine Vision System Based on Human Sensibility Analysis for Automotive Cluster Dial Inspection
Authors: Yokoyama Yoshio ,   Production Eng. R&D Dept., Nippondenso Co., Ltd., 1-1, Showa-cho, Kariya; Aichi, 448 Japan, Ichihashi Eiji
Published: April 2016

This paper addresses with the problems in automated visual inspection of automotive instrument cluster dials for which appearance quality criteria are based on human sensibility. By analyzing the experimental human visual sensibility for defects, two types of defect identification method are proposed for pinhole and for particle and scratch. To execute these identification methods in real-time, a pipelined image processor composed of FPGA boards has been newly developed and introduced into the dial manufacturing line as an automatic inspection system. The result of test operation was satisfactory.
Simplified Adaptive Nonlinear Robust Controller for Linearized Pantagraph-Type Manipulator
Authors: Izumi Kiyotaka ,   Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan, Watanabe Keigo , Nakamura Masatoshi ,   Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan,   Department of Electrical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan
Published: April 2016

If physical parameters are adjusted suitably in the pantagraph-type manipulator, the mathematical model becomes linear so that we can apply a linear controller. However, when the manipulator has an additional mass as an end-effector, the linear controller does not work well because the resultant model becomes nonlinear. In this paper, we propose a simplified adaptive nonlinear robust controller which we can apply to the manipulator, irrespective of the system linearity or nonlinearity. The effectiveness of the controller is illustrated by some simulations.
Adaptive Reinforcement Learning and Its Application to Robot Compliance Learning
Authors: Yang Boo-Ho ,   Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Ave. Cambridge, MA 02139, U.S.A., Asada Haruhiko
Published: April 2016

A new learning algorithm for connectionist networks that solves a class of optimal control problems is presented. The algorithm, called Adaptive Reinforcement Learning Algorithm, employs a second network to model immediate reinforcement provided from the task environment and adaptively identities it through repeated experience. Output perturbation and correlation techniques are used to translate mere critic signals into useful learning signals for the connectionist controller. Compared with the direct approaches of reinforcement learning, this algorithm shows faster and guaranteed improvement in the control performance. Robustness against inaccuracy of the model is also discussed. It is demonstrated by simulation that the adaptive reinforcement learning method is efficient and useful in learning a compliance control law in a class of robotic assembly tasks. A simple box palletizing task is used as an example, where a robot is required to move a rectangular part to the corner of a box. In the simulation, the robot is initially provided with only predetermined velocity command to follow the nominal trajectory. At each attempt, the box is randomly located and the part is randomly oriented within the grasp of the end-effector. Therefore, compliant motion control is necessary to guide the part to the corner of the box while avoiding excessive reaction forces caused by the collision with a wall. After repeating the failure in performing the task, the robot can successfully learn force feedback gains to modify its nominal motion. Our results show that the new learning method can be used to learn a compliance control law effectively.
Autonomous Mobile Robot for Hospitals
Authors: Seet Gerald ,   School of Mechanical & Production Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 2263, Senanayake R.S. , Low Eicher
Published: April 2016

In recent years, the AGV has been making its way out of the traditional manufacturing and warehouse environments into newer application areas such as hospitals. This is in no small part due to the shortage of nursing and ancillary staff, and to the increase in the cost of employing and training such personnel. The freeing of hospital staff from mundane tasks also enhances job value and frees personnel to patient care. Experimental systems have been applied to the transfer of meals, documents, and other materials. These systems were developed based on general-purpose mobile vehicle platforms, modified for hospital application. However, the different constraints imposed by a hospital environment result in a less than optimum design. An omni-directional vehicle (ODV) has been specifically designed for hospital application. The compact size allows the vehicle to maneuver within the tight corridors of a hospital with minimum interference to other users. The steering-drive unit located at each corner provides steering and drive through differential velocity control of the wheels, and its modular design enables easy maintenance and repair. This paper identifies the unique requirements imposed by the hospital environment and explains how the vehicle has been designed to meet and exploit the unique features of such a situation.
Integration of Bilinear Systems and Neural Networks for Designing Nonlinear Semi-Active Suspensions
Authors: Moran Antonio ,   Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16, Nakamachi, Koganeishi, Tokyo, 184, Japan, Hasegawa Tomohiro , Nagai Masao
Published: April 2016

This paper presents a new design method of semi-active suspensions based on the integration of neural networks and bilinear systems. It is known that semi-active suspensions with ideal linear components have a bilinear structure. However actual semi-active suspensions with nonlinear components have an structure which is not purely bilinear. In order to improve the performance of semi-active suspensions, neural networks and bilinear systems are integrated and used for the identification and optimal control of nonlinear semi-active suspensions. The validity and applicability of the proposed method are analyzed and verified theoretically and experimentally using a semi-active suspension model equipped with piezoelectric actuators.