bluuebunny/crossref_metadata_2025_split huggingface dataset:
A Discrete Adaptive Auction-Based Algorithm for Task Assignments of Multi-Robot Systems
Authors: Dai Xuefeng ,   Center of Networks and Information, Qiqihar University, Yao Zhifeng , Zhao Yan ,   School of Computer and Control Engineering, Qiqihar University,   School of Communication and Electronic Engineering, Qiqihar University, Wenhua Str.42, Qiqihar, Heilongjiang 161006, China
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/10.jpg"" width=""300"" />Teammates trajectories</span></div> For reasons of production cost and differences in manufacturing dates for mobile robots, individual robots on a robot team have different processing, movement, and detection abilities. To maximize the potential ability of individual robots and minimize overall exploration time in unknown environments, this paper proposes a novel discrete adaptive auction-based algorithm for coordinating multirobot systems (MRSs). A utility calculation scheme that takes into account the dispersion of teammates is presented, followed by an identical performance index formula that converges to a value for measuring differences in exploration efficiency. The performance measure is taken into account in calculating bids for exploration tasks. We compared our results to other exploration strategies by simulation and results show improved exploration time. </span>
Development of Robotic Defecation Simulator
Authors: Tokoro Koushi ,   Department of Mechanical Engineering, Graduate School of Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan, Hashimoto Takuya , Kobayashi Hiroshi ,   Department of Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan,   Department of Mechanical Engineering, Tokyo University of Science, 6-3-1 Niijuku, Katsushika-ku, Tokyo 125-8585, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/11.jpg"" height=""200"" />Defecation robot</span></div> The processing of human excretion has become a serious problem in two specialized environments – the nursing care of elderly bed-ridden patients and the microgravity space environments as the International Space Station. To deal with such issues, the authors are developing a new type of toilet system, and they feel that a defecation simulator is needed to investigate and test such systems. This paper discusses development of a robotic defecation simulator (defecation robot) that mimics defecation involving the rectum, anal sphincter, puborectalis muscle, abdominal pressure, etc. </span>
Development of Flexible Manufacturing System
Authors: Yamazaki Yasuhiko ,   DENSO Corporation, 1-1 Showa-cho, Kariya-shi, Aichi 448-8661, Japan, Sugito Katsuhiko , Tsuc Sojiro 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/03.jpg"" width=""200"" />
HVAC assembly line</span></div> Since Denso started its Flexible Manufacturing System (FMS) in the mid-1970s, we have continued to develop it in order to stay competitive in the face of market fluctuations. In this paper, we present a typical new production system that was developed at the end of the 20th century. One characteristic of this system is that it has a longer life and lower facility life cycle cost than do other production systems in existence. We think this system has high potential in terms of production innovations. Since one of the most important devices for FMS is the robot, we hope this paper will be a guide for new production systems and new device development.	</span>
Recent Trends and Issues of Volcanic Disaster Response with Mobile Robots
Authors: Nagatani Keiji ,   Graduate School of Engineering, Tohoku University, 6-6-1 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/04.jpg"" width=""300"" />Volcano observation robots
</span></div> Typically, volcanic eruptions cause heavy damage in its vicinity area, and the eruption often continues for years. During this period, a restricted area is set up in the vicinity of the crater, in order to ensure the safety of people. Therefore, it is important for mitigation of volcanic disaster to realize observation of the eruption and mudslide-control construction based on teleoperation-type robotic technology. To promote development of such technologies, various types of volcano exploration robots have been researched and developed in Japan and overseas. With regard to volcanic observations, this paper presents conventional methods for volcanic teleoperated observation, and discusses technical issues and research topics for the future technologies, particularly, mobile robotics and flying robotics. With regard to mudslide-control construction, the paper describes the teleoperated construction system that has been developed at Fugendake of Mount Unzen, and discusses technical problems in current unmanned construction system to be solved in the near future.	</span>
The Application of Robot Technologies to Disasters from Torrential Rains on Japan’s Kii Peninsula
Authors: Tokuda Kenichi ,   Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama 640-8510, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/06.JPG"" width=""300"" />Deep-seated landslide site</span></div> In anti-disaster robotics, it is important to identify problems specific to a target disaster and examine what technological problems remain in the identified problems. In this paper, the results of a survey on a disaster caused by torrential rains that occurred on the Kii Peninsula, Japan and of a study on the existing technological problems of robots are presented.	</span>
New Body Design for Flexible Mono-Tread Mobile Track: Layered Structure and Passive Retro-Flexion
Authors: Haji Takafumi ,   National Institute of Technology, Matsue College, 14-4 Nishiikuma-cho, Matsue, Shimane 690-0865, Japan, Kinugasa Tetsuya , Araki Shinichi , Hanada Daiki , Yoshida Koji , Amano Hisanori , Hayashi Ryota , Tokuda Kenichi , Iribe Masatsugu ,   Okayama University of Science, 1-1 Ridai-cho Kita-ku, Okayama 700-0005, Japan,   National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-machi, Chofu, Tokyo 182-8508, Japan,   Kagoshima University, 1-21-24 Korimoto, Kagoshima 890-8580, Japan,   Wakayama University, 930 Sakaedani, Wakayama-city 640-8510, Japan,   Osaka Electro-Communication University, 18-8 Hatsucho, Neyagawa-shi, Osaka 572-8530, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/08.jpg"" width=""300"" />Flexible mono-tread mobile track RT06</span></div> Robot technology is expected to be applicable to missions on rough terrain, such as rescue activities, environmental investigation, and planetary exploration. Tracked vehicles are effective in such environments because the contact pressure of the vehicle can be distributed more widely. To improve mobility, new mechanisms such as serpentine tracked vehicles have been proposed. We previously proposed the flexible mono-tread mobile track (FMT). The first prototype, WORMY, had a mechanical problem when it moves flexing, i.e., track belt interference and derailing. This paper proposes and confirms a new FMT design strategy using a layered structure to reduce space between vertebrae, solving derailing. A new prototype using the layered structure confirmed its mobility. We also used the prototype to evaluate the effectiveness of passive retro-flexion against obstacles. </span>
pico-FCV: Small Single-Operator Electric-Vehicle Using 20 W Hydrogen Fuel Cell Developed for Mechatronics Education
Authors: Takahashi Yoshihiko ,   Department of Vehicle System Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi, Kanagawa 243-0292, Japan, Tomike Masayuki , Hirayama Takahiro 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/15.jpg"" width=""300"" />pico-FCV: small fuel cell EV</span></div> A small, single-operator electric-vehicle using a 20 W hydrogen fuel cell, named pico-FCV, was developed for educational purposes. The design of the pico-FCV will promote student interest in environmental concerns. The project provides students with practical experience in mechatronics subjects such as mechanical design, electric circuit design, and programming. This paper will present the design and experimental results of the pico-FCV. The designed pico-FCV was able to run 2.7 km only using 5 l (0.5 g) hydrogen.	</span>
3-1 Piecewise NCP Function for New Nonmonotone QP-Free Infeasible Method
Authors: Liu Ailan ,   Department of Mathematics, Tongji University, No.1239, Siping Road, Shanghai 200092, China, Pu Dingguo ,   School of Mathematics and Physics, Shanghai University of Electric Power, No.2588, Changyang Road, Yangpu District, Shanghai, China,   School of Mathematics and Statistics, Henan University of Science and Technology, No.263, Kaiyuan Road, Luoyang 471023, China
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/04.jpg"" width=""300"" />Algorithm flow chart</div> We propose a nonmonotone QP-free infeasible method for inequality-constrained nonlinear optimization problems based on a 3-1 piecewise linear NCP function. This nonmonotone QP-free infeasible method is iterative and is based on nonsmooth reformulation of KKT first-order optimality conditions. It does not use a penalty function or a filter in nonmonotone line searches. This algorithm solves only two systems of linear equations with the same nonsingular coefficient matrix, and is implementable and globally convergent without a linear independence constraint qualification or a strict complementarity condition. Preliminary numerical results are presented.	</span>
Analysis and Optimization for Balancing Mechanism of High-Speed & Heavy-Load Manipulators
Authors: Xiao Yongfei ,   Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology, Institute of Automation, Shandong Academy of Science, No.19, Keyuan Road, Jinan, Shandong 250014, China, Bi Shuhui , Wang Xuelin , Li Xiangdong , Fan Xinjian 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/11.jpg"" width=""300"" />Balancing mechanism of robots</div> Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavyload manipulators, as shown through simulation and experiments.	</span>
Image-Projecting Desktop Arm Trainer for Hand-Eye Coordination Training
Authors: Matsumaru Takafumi ,   Graduate School of Information, Production and Systems, Waseda University, 2-7 Hibikino, Wakamatsu-ku, Kitakyushu 808-0135, Japan, Liu Yang , Jiang Yi , Dai Chuankai 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/04.jpg"" width=""250"" />IDAT for Hand-Eye COORD TRNG</div> This paper presents a novel arm-training system, known as the image-projecting desktop arm trainer (IDAT), which is aimed at hand-eye coordination training. The projector displays an exercise image on a desktop in front of a seated patient, and the scanning range finder measures the behavior of the patient as he/she performs the exercise. IDAT is non-invasive and does not constrain the patient. Its efficiency is based on the voluntary movements of the patient, although it offers neither the physical assistance nor tactile feedback of some conventional systems. Three kinds of training content have been developed: “mole-hitting,” “balloon-bursting,” and “fish-catching.” These games were designed for training hand-eye coordination in different directions. A patient and/or medical professional can set a suitable training level, that is, the training time, speed of movement of the objects, and number of objects to appear at any one time, based on the patient’s condition and ability. A questionnaire survey was carried out to evaluate IDAT-3, and the results showed that it was highly acclaimed in terms of user-friendliness, fun, and usefulness. </span>
A Supporting System of Choral Singing for Visually Impaired Persons Using Depth Image Sensor
Authors: Kawarazaki Noriyuki ,   Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi-shi, Kanagawa 243-0292, Japan, Kaneishi Yuhei , Saito Nobuyuki , Asakawa Takashi ,   Asap System Co., Ltd., Setoru Higashioume 109, 2-18-5 Higashioume, Oume, Tokyo 198-0042, Japan,   Kinki University Technical College, 7-1 Kasugaoka, Nabari, Mie 518-0459, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/06.jpg"" width=""250"" />Supporting system of choral singing</div> Visually impaired persons may find it difficult to take part in a chorus or other singing group because they cannot see the beat indicated by conductor’s hand movements. This paper provides a chorus support system for visually impaired persons using depth image sensor. This consists of an electric music baton with an acceleration sensor, a radio module, haptic interface devices with vibration motors, a depth image sensor, and a PC. The electric music baton transmits the signal indicating the conductor’s motion to visually impaired players based on sensor acceleration. Since the conductor must give individual instruction to player, we use a depth image sensor to indicate the direction in which the conductor’s baton points. This direction is estimated based on the conductor’s posture. We also attempted to develop a chorus support system without using the electric music baton. The beat is obtained by the maximum velocity position of the conductor’s hand motion using a depth image sensor. The effectiveness of our system is clarified by several experimental results. </span>
Proposal of Framework Based on 4W1H and Properties of Robots and Objects for Development of Physical Service System
Authors: Nakamura Yukihiro ,   Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan, Muto Shin-yo , Maeda Yoshio , Mizukawa Makoto , Motegi Manabu , Takashima Youichi ,   NTT Service Evolution Labs., 1-1 Hikarino-oka, Yokosuka-shi, Kanagawa 239-0847, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/09.jpg"" width=""300"" />Service development platform</div> We propose a framework for forming the development of object delivery services provided through cooperation among heterogeneous robots and sensors. For this, we extended the previous framework based on 4W1H abstraction to develop informative and physical robotic services. The proposed framework abstracts information about sensors and robots as 4W data for users, objects and robots, robotic functions, and property data of robots and objects. We then develop physical services done one by one in combination with service information. We also describe the service application development platform based on the framework. Experimental results show that service applications can be efficiently developed by using the service application development platform.	</span>
Analysis of Trunk Stabilization Effect by Passive Power-Assist Device
Authors: Imamura Yumeko ,   Graduate School of Information Science and Technology, Hokkaido University, N14-W9, Kita-ku, Sapporo 060-0814, Japan, Tanaka Takayuki , Suzuki Yoshihito , Takizawa Kazuki , Yamanaka Masanori ,   Smart Support Technologies Inc., S1-W5, Chuo-ku, Sapporo 060-0061, Japan,   Institute for the Advancement of Higher Education, Hokkaido University, N17-W8, Kita-ku, Sapporo 060-0817, Japan,   Graduate School of Health Science, Hokkaido University, N12-W5, Kita-ku, Sapporo 060-0812, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/12.jpg"" width=""200"" />Passive power-assist supporter</div> We are developing a passive power assist supporter calledSmart Suit Lite. Smart Suit Lite, a compact, lightweight device, uses the force of elastic belts both to support muscles and to stabilize the torso in a way similar to the corset. It is reported that the corset stabilizes posture, and decreases intradiscal pressure by applying pressure around the pelvis. The mechanism behind this remains to be fully elucidated, however, and has not been used actively for power assist devices. This study aims to construct a mechanical model of trunk stabilization generated by assistive devices. In this paper, we propose modeling based on basic experiments measuring motions under static conditions. </span>
GEWOS — A Mechatronic Personal Health & Fitness Assistance System
Authors: Linner Thomas ,   Chair of Building Realization and Robotics, Technische Universität München, Germany, Schulz Thorsten ,   Chair of preventive Pädiatrics, Technische Universität München, Germany
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/13.jpg"" width=""300"" />Measured oxygen saturation</div> GEWOS (Healthy Living in an Assisted Environment) is a BMBF-funded R&D-project (budget: 3.6 million €) in which a mechatronic chair for personal health and fitness assistance was developed and evaluated. Besides the chairs of the authors, several industrial partners joined the project team. The mechatronic chair is able to monitor a variety of the user's/patient's training activities and vital signs and assists with providing a customized exercise program.	</span>
The Development of Intra-House Mobility, Logistics and Transfer Solutions in PASSAge
Authors: Bock Thomas ,   Chair of Building Realization and Robotics, Technische Universität München, Germany, Güttler Jörg , Georgoulas Christos , Linner Thomas 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/15.jpg"" width=""300"" />Transfer and logistic solution</div> Within the ongoing research project, the Chair of Building Realization and Robotics is identifying, developing and validating robotic-based concepts for intra-house mobility, logistics and transfer to support elderly people within their home environment. The project is conducted jointly with several research and industry partners.	</span>
Model-Based Footstep Planning Method for Biped Walking on 3D Field
Authors: Kobayashi Daiki ,   Graduate School of Engineering, Osaka City University, Takubo Tomohito , Ueno Atsushi 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270002/05.jpg"" width=""300"" />	Footstep planning on the 3D field</div> This paper proposes a model-based 3D footstep planning method. A discrete-time kinematic model, in which vertical motions are independent of horizontal motions, describes the biped walking of the humanoid robot. The 3D field environment is represented by geographical features divided into the meshes, determined from measurements obtained by a sensor, where the inclinations in each mesh are assumed. The optimal plan is obtained by solving a constrained optimization problem based on the foot placements of the model. A goal-tracking evaluation of the problem on horizontal foot placements is carried out to reach the goal, while vertical motions are adopted to meet constraints consisting of the foot workspace and contact with the 3D field surface. A quadratic programming method is implemented to solve the problem based on the humanoid robot NAO in real time.	</span>
Wearable Device for High-Speed Hand Pose Estimation with a Ultrasmall Camera
Authors: Tomida Motomasa ,   Graduate School of Systems and Information Engineering, University of Tsukuba, Hoshino Kiyoshi 
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270002/06.jpg"" width=""300"" />	Hand pose estimation with ultrasmall camera</div> Operating a robot intentionally by using various complex motions of the hands and fingers requires a system that accurately detects hand and finger motions at high speed. This study uses an ultrasmall camera and compact computer for development of a wearable device of hand pose estimation, also called a hand-capture device. The accurate estimations, however, require data matching with a large database. But a compact computer usually has only limited memory and low machine power. We avoided this problem by reducing frequently used image characteristics from 1,600 dimensions to 64 dimensions of characteristic quantities. This saved on memory and lowered computational cost while achieving high accuracy and speed. To enable an operator to wear the device comfortably, the camera was placed as close to the back of the hand as possible to enable hand pose estimation from hand images without fingertips. A prototype device with a compact computer used to evaluate performance indicated that the device achieved high-speed estimation. Estimation accuracy was 2.32°±14.61° at the PIP joint of the index finger and 3.06°±10.56° at the CM joint of the thumb – as accurate as obtained using previous methods. This indicated that dimensional compression of image-characteristic quantities is important for realizing a compact hand-capture device. </span>
Fast and Robust Vision System for Shogi Robot
Authors: Koutaki Gou ,   Kumamoto University, Uchimura Keiichi 
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270002/08.jpg"" width=""150"" />Developed shogi robot system</div> The authors developed a low-cost, safety shogi robot system. A Web camera installed on the lower frame is used to recognize pieces and their positions on the board, after which the game program is played. A robot arm moves a selected piece to the position used in playing a human player. A fast, robust image processing algorithm is needed because a low-cost wide-angle Web camera and robot are used. The authors describe image processing and robot systems, then discuss experiments conducted to verify the feasibility of the proposal, showing that even a low-cost system can be highly reliable. </span>