bluuebunny/crossref_metadata_2025_split huggingface dataset:
Special Issue on Robot Vision - Vision for Action -
Authors: Idesawa Masanori ,   UEC Museum of Communications, University of Electro-Communications, Japan, Mae Yasushi , Oaki Junji ,   Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Japan,   Senior Research Scientist, Corporate Research and Development Center, Toshiba Corporation, Japan
Published: April 2016

Robot vision is a key technology in robotics and mechatronics for realizing intelligent robot systems that work in the real world. The fact that robot vision algorithms required much time and effort to apply in real-world applications has delayed their dissemination until new forms made possible by recent rapid improvements in computer speed. Now the day is coming when robot vision may surpass human vision in many applications.
This special issue presents 13 papers on the latest robot vision achievements and their applications. The first two propose ways of measuring and modeling 3D objects in everyday environments. Four more detail object detection and tracking, including visual servoing. Three propose advances in hand feature extraction and pose calculation, and one treats video coding for visual sensor networks. Two papers discuss robot vision applications based on human visual physiology, and the last clarifies an application in optical force sensors.
We thank the authors for their invaluable contributions to this issue and the reviewers for their generous time and effort. Last, we thank the Editorial Board of JRM for making this issue possible.
Development of Power-Assist Machine Using Linkage Mechanism
Authors: Inoue Hiroyuki ,   Department of Mechanical Engineering, Tsuyama National College of Technology, 624-1 Numa, Tsuyama-shi, Okayama 708-8509, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/12.jpg"" height=""300"" />
Walking assist machine</span></div> As Japan has become an increasingly aging society, various power-assist equipment have been developed, for instance, a robot suit called HAL used to assist the elderly in walking when their muscles have become weakened and a power assisting suit for farmers to reduce their burdens in agricultural work. The main problem in developing such power-assist equipment is light weight and low price. We have developed the power-assist machine that uses only one actuator for assisting the movement of multiple joints. </span>
Robotic Fish
Authors: Takada Yogo ,   Department of Mechanical and Physical Engineering, Osaka City University, 3-3-138 Sugimoto, Sumiyoshi-ku, Osaka 558-8585, Japan, Koyama Keisuke , Usami Takahiro 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/13.jpg"" width=""300"" />Structure of BREAM
</span></div> Based on our robotic fish studies since 2003, this paper introduces a FPGA offline control underwater searcher (FOCUS) and a bream robot equipped with advanced mechanism (BREAM). The performance of the first FOCUS prototype, built in 2011, is now being improved. FOCUS has 2 cameras and fieldprogrammable gate arrays (FPGAs) with high arithmetic processing capabilities. The appearance of the FOCUS is so cute. The two FOCUS types now available are an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV). BREAM, in contrast, is an entertainment robot prototype designed for Asutamuland Tokushima exhibition. BREAM has four joints based on analytical computational fluid dynamics (CFD) results showing that robotic fish with multiple joints achieve better propulsion performance than that with single joint. Two of the four joints are used for propulsion and two are used for turning the prototype. RC-FOCUS is also exhibited at Asutamuland Tokushima, together with BREAM. </span>
Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion
Authors: Omori Hayato ,   Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan, Kitamoto Hiroyuki , Mizushina Asuka , Nakamura Taro , Kubota Takashi ,   Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara-shi, Kanagawa 252-5210, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/17.jpg"" width=""150"" />
Subsurface explorer robot</div> We have developed a small, unmanned explorer robot to investigate the undergrounds of satellites and planets. This paper describes the developed excavation robot, which is based on earthworm locomotion. The robot demonstrates excavation activity at 1/6 of its own weight, mimicking the light gravity conditions of the Moon. We conclude that the robot is suitable for future excavation missions.	</span>
Unobtrusive Tremor Detection While Gesture Controlling a Robotic Arm
Authors: Güttler Jörg ,   Chair of Building Realization and Robotics, Technische Universität München, Germany, Bassily Dany , Georgoulas Christos , Linner Thomas , Bock Thomas 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/12.jpg"" width=""300"" />Gesture based validation</div> A light weight robotic arm (Jaco) has been interfaced with a novel gesture detection sensor (Leap Motion Controller), substituting complicated conventional input devices, i.e., joysticks and pads. Due to the enhanced precision and high throughput capabilities of the Leap Motion Controller, the unobtrusive measurement of physiological tremor can be extracted. An algorithm was developed to constantly detect and indicate potential user hand tremor patterns in real-time. Additionally a calibration algorithm was developed to allow an optimum mapping between the user hand movement, tracked by the Leap Motion Controller, and the Jaco arm, by filtering unwanted oscillations, allowing for a more natural human-computer interaction.	</span>
A Robust Appearance Model and Similarity Measure for Image Matching
Authors: Liang Dong ,   College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Kaneko Shun’	ichi , Satoh Yutaka ,   Graduate School of Information Science and Technology, Hokkaido University,   National Institute of Advanced Industrial Science and Technology (AIST)
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270002/02.jpg"" width=""400"" />
CP3 histogram</div> An ideal similarity measure for matching image should be discriminative, producing a conspicuous correlation peak and suppressing false local maxima. Image matching tasks in practice, however, often involves complex conditions, such as blurring and fluctuating illumination. These may cause the similarity measure to not be discriminative enough. We utilized a robust scene modeling method to model the appearance of an image and propose an associated similarity measure for image matching. The proposed method utilizes a spatio-temporal learning stage to select a group of supporting pixels for each target pixel, then builds a differential statistic model of them to describe the uniqueness of the spatial structure and to provide illumination invariance for robust matching. We utilized this method for image matching in several challenging environments. Experimental results show that the proposed similarity measure produces explicit correlation peaks to achieve robust image matching.	</span>
Stable Position and Pose Estimation of Industrial Parts Using Evaluation of Observability of 3D Vector Pairs
Authors: Akizuki Shuichi ,   Graduate School of Information Science and Technology, Chukyo University, Hashimoto Manabu 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270002/07.jpg"" width=""300"" />	Recognition results</div> This paper introduces a stable 3D object detection method that can be applied to complicated scenes consisting of randomly stacked industrial parts. The proposed method uses a 3D vector pair that consists of paired 3D vectors with a shared starting point. By considering the observability of vector pairs, the proposed method has achieved high recognition performance. The observability factor of the vector pair is calculated by simulating the visible state of the vector pair from various viewpoints. By integrating the observability factor and the distinctiveness factor proposed in our previous work, a few vector pairs that are effective for recognition are automatically extracted from an object model, and then used for the matching process. Experiments have confirmed that the proposed method improves the 88.5% recognition success rate of previous state-of-the-art methods to 93.1%. The processing time of the proposed method is fast enough for robotic bin-picking.	</span>
Development of a Robust Path-Planning Algorithm Using Virtual Obstacles for an Autonomous Mobile Robot
Authors: Ueno Kentaro ,   Graduate School of Science and Engineering, Hosei University, Kinoshita Tetsuo , Kobayashi Kazuyuki , Watanabe Kajiro 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270003/08.jpg"" width=""340"" />
Proposed path-planning result</div> In this paper, we describe the development of a robust path planning algorithm for an autonomous mobile robot. In order to achieve safe navigation in areas with moving obstacles, the mobile robot has to be controlled by a dynamic path-planning algorithm to avoid collisions. However, depending on changes in obstacle positions, the dynamic path planning algorithm frequently faces path-switching problems. In order to avoid the path-switching problems in the dynamic path planning algorithm, we introduce a virtual obstacle assignment method to suppress events caused by the path-switching problems. The effectiveness of proposed method is proved by an actual mobile robot. The validity of proposed method is confirmed by both simulations and actual outdoor experiments.
Blink-Spot Projection Method for Fast Three-Dimensional Shape Measurement
Authors: Chen Jun ,   Hiroshima University, Gu Qingyi , Aoyama Tadayoshi , Takaki Takeshi , Ishii Idaku 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270004/13.jpg"" width=""300"" />	Blink-spot projection method</div> We present a blink-spot projection method for observing moving three-dimensional (3D) scenes. The proposed method can reduce the synchronization errors of the sequential structured light illumination, which are caused by multiple light patterns projected with different timings when fast-moving objects are observed. In our method, a series of spot array patterns, whose spot sizes change at different timings corresponding to their identification (ID) number, is projected onto scenes to be measured by a high-speed projector. Based on simultaneous and robust frame-to-frame tracking of the projected spots using their ID numbers, the 3D shape of the measuring scene can be obtained without misalignments, even when there are fast movements in the camera view. We implemented our method with a high-frame-rate projector-camera system that can process 512 × 512 pixel images in real-time at 500 fps to track and recognize 16 × 16 spots in the images. Its effectiveness was demonstrated through several 3D shape measurements when the 3D module was mounted on a fast-moving six-degrees-of-freedom manipulator.	</span>
Fictitious Target-Trajectory Forming Control for Redundant Manipulator	and Active Regulation of Impulsive Forces
Authors: Inoue Takahiro ,   Okayama Prefectural University, Miyata Ryuichi , Hirai Shinichi ,   Ritsumeikan University
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270005/12.jpg"" width=""300"" />	Task-space control by FTTF method</div>	This paper describes a new control method for stable robot positioning by means of a three degree-of-freedom robotic manipulator that consists of six wire-driven actuators located at each rotational joint. The actuator contains a direct-current (DC) motor capable of pulling a wire to which a high-stiffness spring is connected in series. We demonstrate that the positioning control method used by the redundant robot, which is based on task-space control given in Cartesian coordinates, works well in the vertical plane under gravity. With the use of the reliable positioning controller, we propose a simple algorithm to absorb impulsive forces exerted on the tip position of the robot. In addition, we reveal that the control method presented in this study enables the redundant robot to change its stable posture while maintaining the tip position on which a heavy load is placed. We finally verify that a simple algorithm, based on positioning control, which involves suspending and restarting the switching of the integral controller forming a fictitious target-trajectory of joint angles, realizes recovery motion towards a former posture attained before the impulsive force.	</span>
Effects of Food Label Use on Diet Quality and Glycemic Control Among Latinos With Type 2 Diabetes in a Community Health Worker–Supported Intervention
Authors: Kollannoor-Samuel Grace , Shebl Fatma M. , Segura-Pérez Sofia , Chhabra Jyoti , Vega-López Sonia , Pérez-Escamilla Rafael 
Published: April 2016

Objectives. To determine the impact of an intervention led by community health workers (CHWs) on food label use and to assess whether food label use and diet quality mediate the intervention’s impact on glycemic control. Methods. From 2006 to 2010, 203 Latinos (intervention group, n = 100; control group, n = 103) in Hartford County, Connecticut, with type 2 diabetes were randomized to an intervention that included 17 CHW-led home-based sessions over a 12-month period in addition to the standard of care available in both study arms. Data on food label use, diet quality, covariates, and glycated hemoglobin (HbA1c) were collected at baseline and at 3, 6, 12, and 18 months. Data were analyzed via mixed effects and multilevel structural equation modeling. Results. Food label use in the intervention (vs control) group was significantly higher at 3, 12, and 18 months (odds ratio = 2.99; 95% confidence interval = 1.69, 5.29). Food label use and diet quality were positive mediators of improved HbA1c levels. Conclusions. Culturally tailored interventions led by CHWs could increase food label use. Also, CHW-delivered food label education may lead to better diet quality and improve glycemic control among Latinos with type 2 diabetes.
Decompressive Laminectomy Complicated by Postoperative Mycoplasma hominis Epidural Abscess and Meningitis in a Young Woman
Authors: Chew Rusheng , Woods Marion L. 
Published: April 2016

Case:
A twenty-eight-year-old woman underwent decompressive laminectomy and placement of an interlaminar stabilizer due to L4/L5 disc herniation. Thirteen days later she developed a fever unresponsive to meropenem and vancomycin, along with signs of meningitis. A Mycoplasma hominis epidural abscess was identified. She had no preoperative risk factors for extragenital M. hominis infection, but had had a urinary catheter inserted intraoperatively.

Conclusion:

M. hominis postoperative surgical site infection is a rarely identified complication of spinal surgery. Seeding from the genitourinary tract is the most likely source.
Acid Fracturing in Shales: Effect of Dilute Acid on Properties and Pore Structure of Shale
Authors: Wu Weiwei , Sharma Mukul M. 
Published: April 2016

Summary
Many of the microfractures created during hydraulic fracturing are too small to be filled with proppants and are likely closed during production. However, for some shales that are rich in calcite (calcareous mudstones), such as the Bakken and Eagle Ford shale, dilute acids can be used while fracturing to maintain the conductivity of these microfractures under closure stress by nonuniformly etching the fracture surfaces. The mineralogy and pore structure of the shale and their evolution during acid fracturing are critical factors on the surface-etching profile and the fluid leakoff. Therefore, understanding how acid dissolution changes the microstructure, petrophysical properties, and pore structures of shale is essential in the design and application of acid fracturing in shales.
In this paper, in-situ changes of microstructure and pore structure in shale before and after acid fracturing were demonstrated and visually compared for the first time, with a carefully designed microscopy work flow. Acidized sections of a shale core sample were meticulously isolated, and its microstructure, pore structure, and petrophysical properties were systematically studied and compared with nonacidized sections of the core. Evolution of mechanical properties of shale during acid treatment was also investigated.
Microstructure changes were found to be strongly dependent on mineral distribution, and several patterns were identified: channels developed in carbonate-rich regions; cavities or grooves formed in carbonate-rich islands or carbonate rings; and surface roughness created in mixed zones of scattered carbonate and inert minerals. Inert minerals such as clay and organic matter (OM) stay relatively undisturbed in the structure, while some mineral grains can be dislodged from their original locations by dissolution of the surrounding carbonates. Many macropores with sizes up to 120 µm were created, and mesopores mostly associated with clay gained more accessibility. Significantly increased permeability and porosity were measured in an acidized shale matrix. Indentation hardness measurements show that, as expected, the hardness of the shale was reduced by acidizing. This means that for acidizing to work effectively, it is important not to etch the fracture surfaces uniformly. Doing so will result in a reduction in the fracture conductivity under stress. The microstructure changes introduced by acid fracturing demonstrated in this study will result in the formation of surface asperities, which is likely to improve the fracture conductivity of induced unpropped fractures. The acidized shale matrix close to the fracture surface with increased abundance of macropores and accessibility to mesopores may serve as a preferred pathway for fluid flow, as well.
Use of COD, TOC, and Fluorescence Spectroscopy to Estimate BOD in Wastewater
Authors: Christian Evelyn , Batista Jacimaria R. , Gerrity Daniel 
Published: April 2016

ABSTRACT: Common to all National Pollutant Discharge Elimination System (NPDES) permits in the United States is a limit on biochemical oxygen demand (BOD). Chemical oxygen demand (COD), total organic carbon (TOC), and fluorescence spectroscopy are also capable of quantifying organic content, although the mechanisms of quantification and the organic fractions targeted differ for each test. This study explores correlations between BOD5 and these alternate test procedures using facility influent, primary effluent, and facility effluent samples from a full‐scale water resource recovery facility. Relative reductions of the water quality parameters proved to be strong indicators of their suitability as surrogates for BOD5. Suitable correlations were generally limited to the combined datasets for the three sampling locations or the facility effluent alone. COD exhibited relatively strong linear correlations with BOD5 when considering the three sample points (r = 0.985) and the facility effluent alone (r = 0.914), while TOC exhibited a suitable linear correlation with BOD5 in the facility effluent (r = 0.902). Exponential regressions proved to be useful for estimating BOD5 based on TOC or fluorescence (r > 0.95).
THE ROTATION AND GALACTIC KINEMATICS OF MID M DWARFS IN THE SOLAR NEIGHBORHOOD
Authors: Newton Elisabeth R. , Irwin Jonathan , Charbonneau David , Berta-Thompson Zachory K. , Dittmann Jason A. , West Andrew A. 
Published: April 2016

ABSTRACT
Rotation is a directly observable stellar property, and it drives magnetic field generation and activity through a magnetic dynamo. Main-sequence stars with masses below approximately 0.35

M

⊙

(mid-to-late M dwarfs) are fully convective, and are expected to have a different type of dynamo mechanism than solar-type stars. Measurements of their rotation rates provide insight into these mechanisms, but few rotation periods are available for these stars at field ages. Using photometry from the MEarth Project, we measure rotation periods for 387 nearby, mid-to-late M dwarfs in the northern hemisphere, finding periods from 0.1 to 140 days. The typical rotator has stable, sinusoidal photometric modulations at a semi-amplitude of 0.5%–1%. We find no period–amplitude relation for stars below 0.25

M

⊙

and an anticorrelation between period and amplitude for higher-mass M dwarfs. We highlight the existence of older, slowly rotating stars without Hα emission that nevertheless have strong photometric variability. We use parallaxes, proper motions, radial velocities, photometry, and near-infrared metallicity estimates to further characterize the population of rotators. The Galactic kinematics of our sample is consistent with the local population of G and K dwarfs, and rotators have metallicities characteristic of the solar neighborhood. We use the W space velocities and established age–velocity relations to estimate that stars with P < 10 days have ages of on average <2 Gyr, and that those with P > 70 days have ages of about 5 Gyr. The period distribution is dependent on mass: as the mass decreases, the slowest rotators at a given mass have longer periods, and the fastest rotators have shorter periods. We find a lack of stars with intermediate rotation periods, and the gap between the fast and slow rotators is larger for lower masses. Our data are consistent with a scenario in which these stars maintain rapid rotation for several gigayears, then spin down quickly, reaching periods of around 100 days by a typical age of 5 Gyr.
FORWARD MODELING OF STANDING KINK MODES IN CORONAL LOOPS. II. APPLICATIONS
Authors: Yuan Ding , Doorsselaere Tom Van 
Published: April 2016

ABSTRACT
Magnetohydrodynamic waves are believed to play a significant role in coronal heating, and could be used for remote diagnostics of solar plasma. Both the heating and diagnostic applications rely on a correct inversion (or backward modeling) of the observables into the thermal and magnetic structures of the plasma. However, due to the limited availability of observables, this is an ill-posed issue. Forward modeling is designed to establish a plausible mapping of plasma structuring into observables. In this study, we set up forward models of standing kink modes in coronal loops and simulate optically thin emissions in the extreme ultraviolet bandpasses, and then adjust plasma parameters and viewing angles to match three events of transverse loop oscillations observed by the Solar Dynamics Observatory/Atmospheric Imaging Assembly. We demonstrate that forward models could be effectively used to identify the oscillation overtone and polarization, to reproduce the general profile of oscillation amplitude and phase, and to predict multiple harmonic periodicities in the associated emission intensity and loop width variation.