bluuebunny/crossref_metadata_2025_split huggingface dataset:
Design and Control of a Human-Operated Biped Robot for Transportation of Objects
Authors: Uchiyama Naoki ,   Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan, Kurita Dai , Sano Shigenori 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/08.jpg"" width=""200"" />Human-operated biped robot</div> Object transportation is a basic task for which mechanical systems provide support. Examples of the many types of mobile devices developed thus far are handcarts, unmanned autonomous vehicles, forklifts and turret trucks. Most such vehicles are based on wheeled mobile mechanisms, which would be difficult to use for moving objects in areas with high steps. A walking mobile mechanism, in contrast, enables steps to be ascended and descended, so it is expected that walking mechanisms could support object transportation in environments with stairs or steps. In this paper, we present a biped robot that supports object transportation involving stairs instead of human operators doing so. We start with the design of a biped robot with four actuators for one each for the hips and knees of each leg. Dynamics of the biped robot is then derived for simulation in which force applied by a human operator and a reaction from the ground are considered. A controller is presented for transporting objects up stairs having an unknown step height. Experimental results and photos confirm that the developed system successfully climbs the stairs of unknown height during human operation. </span>
Reduction of Distance Drift with Temperature in Uniaxial Laser Rangefinder by Using Multiecho Sensing
Authors: Ito Kouhei ,   Kanazawa Technical College, Ohya Akihisa , Shimaji Naohiro , Aoki Takeshi ,   University of Tsukuba,   Hokuyo Automatic Co., Ltd.
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/08.jpg"" width=""300"" />Uniaxial laser rangefinder</div> To expand the range of activities by unmanned aerial vehicles (UAVs), whose use at disaster sites and other dangerous locations has raised high expectations, UAVs must be capable of several functions, e.g., flight both indoor and outdoor environments. This requires making the airframe and major sensors as compact and light-weight as possible. To do so, we are developing uniaxial laser rangefinders to replace conventional scanning laser rangefinders. One developmental approach to uniaxial laser rangefinders and results regarding their validity are reported in this paper. Using a simulated model -- a modified scanning laser rangefinder -- we discuss the effectiveness of our approach. Specifically, this is to reduce the range drift due to heat, for which we propose using a multiecho to measure two echoes from a reference plate whose distance is known and that is placed outside of the sensor, and the target object, instead using the internal reference plate used in conventional two-dimensional scanning laser rangefinders. We also report the results of experiments verifying its validity.	</span>
LISA — A Mechatronic Wall for Assistance with ADLs
Authors: Georgoulas Christos ,   Chair of Building Realization and Robotics, Technische Universität München, Germany, Güttler Jörg , Linner Thomas , Bock Thomas 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/14.jpg"" width=""200"" />
Assistive mechatronic wall</div> The research project LISA (Living Independently in Südtirol Alto-Adige) investigated the possibilities of embedding assistive functions, systems, and services into wall “terminal” components that enable and support autonomy and independence with respect to Activities of Daily Living (ADLs), and which generate structured environments called Robotic micro-Rooms (RmRs).	</span>
Parameter Tuning in the Application of Stochastic Resonance to Redundant Sensor Systems
Authors: Koyama Nagisa ,   Graduate School of Engineering Science, Osaka University, Ikemoto Shuhei , Hosoda Koh 
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/04.jpg"" width=""340"" />Basic concept of proposed method</div> Stochastic resonance (SR) is a phenomenon by which the addition of random noise improves the detection of weak signals. Thus far, this phenomenon has been extensively studied with the aim of improving sensor sensitivity in various fields of engineering research. However, the possibility of actual application of SR has not been explored because the target signal has to be known in order to confirm the occurrence of SR. In this paper, we propose an optimization method for making SR usable in engineering applications. The underlying mechanism of the proposed method is investigated using information theory and numerical simulation. We developed a tactile sensing system based on the simulation results. The proposed method is applied to this system in order to optimize its parameters for exploiting SR. Results of the experiment show that the developed tactile sensing system successfully achieved higher sensitivity than a conventional system.
Impact Piezo-Driven Micro Dispenser and Precise MiniatureXYStage
Authors: Irie Yuuka ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Hirata Shinnosuke , Kanamori Chisato , Aoyama Hisayuki ,   Department of Mechanical and Control Engineering, Tokyo Institute of Technology
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/05.jpg"" width=""340"" />Micro dispense mechanism</div> Recently, micro-droplet dispensation has been required in printed-electronics (PE) technology. Devices with micro dispensing mechanism are of key importance in achieving a higher performance with these products. In fact, it is very difficult for the conventional dispenser to squeeze highly viscous liquid with picoliter resolution. This paper describes the development of a dispensing mechanism comprising a dispensing device andXYstage, both driven by the piezo impulsive force. The dispensing device is mainly composed of a pipette and a taper needle that is driven by a piezoelectric element. When the needle passes through the pipette, a droplet of the liquid adheres to the needle-tip end. A micro droplet can be transcribed to a target surface by bringing the droplet at the needle-tip end in contact with the target surface. On the contrary, in theXYstage, the small tables on the V-shaped grooves can be driven by the impulsive force generated by the mass connected to the piezoelectric element. TheXstage is stacked on theYstage, which allows fine positioning in the plane. In the experiment, an array of a small amount of 0.2-picoliter droplets was successfully developed on the glass plate.
Super Multi-Joint Manipulator by Using Creased Plate and Pneumatic Actuators Arranged Antagonistically
Authors: Kikuchi Shunon ,   Keio University, Yamada Yasuyuki , Higashi Ryoichi , Morita Toshio ,   Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/07.jpg"" width=""340"" />The manipulator when air flowed in</div> The new super multi-joint manipulator mechanism we introduce in this paper is constructed from a long flexible resinous plate in the center of the manipulator and a pneumatic actuator the same length as the arm arranged antagonistically. The number of power transmission mechanism is fewer than that of joints. Specialized in a winding grip, the mechanism is light and simple. From the effect of this property, the manipulator could be easily extended in the length. The experimental mechanism mode was developed and several experiments were conducted, such as driving on the vertical plane, grasping some objects and moving with flow rate adjustment. As a result, the manipulator could drive on the vertical plane, winds cylinders of 50–200 mm in diameter and controls winding behavior.
Behavior Acquisition in Partially Observable Environments by Autonomous Segmentation of the Observation Space
Authors: Inoue Kousuke ,   Department of Intelligent Systems Engineering, Faculty of Engineering, Ibaraki University, Arai Tamio , Ota Jun ,   Shibaura Institute of Technology,   Research into Artifacts, Center for Engineering (RACE), The University of Tokyo
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270003/09.jpg"" width=""340"" />State representation</div> In this paper, we propose a method by which an agent can autonomously construct a state-representation to achieve state-identification with a sufficient Markovian property. Furthermore, the agent does this using continuous and multi-dimensional observationspace in partially observable environments. In order to deal with the non-Markovian property of the environment, a state-representation of a decision tree structure based on past observations and actions is used. This representation is gradually segmented to achieve appropriate state-distinction. Because the observation-space of the agent is not segmented in advance, the agent has to determine the cause of its state-representation insufficiency: (1) insufficient observation-space segmentation, or (2) perceptual aliasing. In the proposed method, the cause is determined using a statistical analysis of past experiences, and the method of state-segmentation is decided based on this cause. Results of simulations in two-dimensional grid-environments and experiments with real mobile robot navigating in two-dimensional continuous workspace show that an agent can successfully acquire navigation behaviors with many hidden states.
Color Extraction Using Multiple Photographs Taken with Different Exposure Time in RWRC
Authors: Yamauchi Kenji ,   Graduate School of Engineering, Utsunomiya University, Akai Naoki , Ozaki Koichi 
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270004/06.jpg"" width=""450"" />Color extraction rsult in RWRC</div> Extracting the color of a target object from images in environments with different illumination conditions, such as outdoors, is difficult because color performance changes easily. The novel color extraction we propose enables the exact color of a target object to be extracted using multiple photographs taken with different exposure times. The object’s color performance transits due to changes in exposure time. This transition is the same as when environmental light sources do not change significantly. In outdoor environment, most situations are regarded as that situation. We first indicate this in an experimental analysis, then detail our proposal. Our method evaluates transition and realizes precise color extraction of target objects in outdoors. We apply this method to an orange cap in the Tsukuba Real-World Robot Challenge. Through experiments, we show that the cap is detected accurately in different environments and discuss the method’s effectiveness and usefulness in the real world. </span>
Flexible Parallel Link Mechanism Using Tube-Type Dielectric Elastomer Actuators
Authors: Jiang Changan ,   RIKEN-SRK Collaboration Center for Human-Interactive Robot Research, RIKEN, Takagi Kentaro , Hirano Shinya , Suzuki Tatsuya , Hosoe Shigeyuki , Hashimoto Kazunobu , Nozawa Akitoshi ,   Department of Mechanical Science and Engineering, Nagoya University,   Sumitomo Riko Company Limited,   Department of Mechanical Engineering, Ritsumeikan University
Published: April 2016

<div class=""abs_img"">	<img src=""[disp_template_path]/JRM/abst-image/00270005/06.jpg"" width=""200"" />
Tube-type DEA based mechanism</div>	In this research, tube-type dielectric elastomer actuators (DEAs) are employed to develop a 3-DOF flexible parallel link mechanism instead of traditional actuators such as linear motors and pneumatic cylinders. As an application case, the developed mechanism fixed with a marker pen is used to implement one stroke draw and human like draw of alphabets on a plane. According to the prototype of this mechanism, kinematics and inverse kinematics problems are considered. Based on the kinematics and inverse kinematics equations, the numerical simulations are done for searching the reachable area of the tip of the marker pen and checking the lengths of DEAs during drawing. Finally, experiment results show the practicability of the developed mechanism.	</span>
The Global Shortest Path Visualization Approach with Obstructions
Authors: Dong Guan-Qiang ,   Institute of Systems Science and Engineering, Henan Engineering Laboratory of Wind Power Systems,, Yang Zong-Xiao , Song Lei , Ye Kun , Li Gen-Sheng 
Published: April 2016

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/15.jpg"" width=""200"" />Shortest path experiment device</div> The avoidance obstacle path planning problem is stated in an obstacle environment. The minimum Steiner tree theory is the basis of the global shortest path. It is one of the classic NP-hard problem in nonlinear combinatorial optimization. A visualization experiment approach has been used to find Steiner point and system’s shortest path is called Steiner minimum tree. However, obstacles must be considered in some problems. An Obstacle Avoiding Steiner Minimal Tree (OASMT) connects some points and avoids running through any obstacle when constructing a tree with a minimal total length. We used a geometry experiment approach (GEA) to solve OASMT by using the visualization experiment device discussed below. A GEA for some systems with obstacles is used to receive approximate optimizing results. We proved the validity of the GEA for the OASMT by solving problems in which the global shortest path is obtained successfully by using the GEA. </span>
Diagnosis, Treatment, and Outcome of Stenotrophomonas maltophilia Discitis and Cervical Osteomyelitis
Authors: Ilyas Haariss , Tabaie Sean , Place Howard 
Published: April 2016

Case:
A fifty-six-year-old man presented with a three-month history of worsening neck pain and weakness of the right arm. Magnetic resonance imaging revealed C5-C6 osteomyelitis and discitis and a prevertebral abscess from C3 to C7. He underwent staged instrumented anterior and posterior spinal fusion from C5 to C7, with an anterior C5-C6 cervical discectomy and a C6 corpectomy. Intraoperative cultures exhibited growth of Stenotrophomonas maltophilia. The patient subsequently received five months of oral trimethoprim/sulfamethoxazole therapy. At twelve months postoperatively, he had full recovery of motor strength bilaterally.

Conclusion:
Osteomyelitis with S. maltophilia is associated with agricultural-machinery-related injuries. Surgical intervention for cervical osteomyelitis should be considered if the patient presents with a neurologic deficit or a paravertebral abscess.
Stick/Slip Detection and Friction-Factor Testing With Surface-Based Torque and Tension Measurements
Authors: Lai Stephen W. , Bloom Matthew R. , Wood Mitchell J. , Eddy Aaron , Holt Trevor L. 
Published: April 2016

Summary
Recently, there has been a strong push toward automation and the use of real-time models in the drilling industry. However, it has been recognized that these new methods require a dramatic improvement in the quality of sensor data gathered at the rig. In this paper, we investigate how accurate measurement of drillpipe torque and tension at the surface can be used to diagnose downhole conditions.
A surface-based torque-and-tension sub (TTS) was used to perform measurements while drilling several horizontal wells in the Dilly Creek area of the Horn River Basin, which is onshore in Canada. A filtered version of surface torque was used to calculate a stick/slip metric, which was compared to stick/slip measurements acquired with a downhole tool. The results show that there is reasonable correlation between surface and downhole metrics, but the correlation is highly dependent on torque filter start and stop frequencies. A comparison is also performed between the hookload measured with a deadline sensor and the tension measurement from the surface sub. The results show a systematic discrepancy of approximately 5% that is likely caused by sheave friction. A commercial torque-and-drag (T&D) software package is used to show that values for casing friction factor (FF) may be underestimated if sheave friction is present but ignored in the analysis.
The results from this study show that an advanced measurement sub placed below the topdrive can provide valuable information regarding drilling performance. Specifically, the torque signal can be used to estimate the level of downhole stick/slip, which alleviates the need for an expensive downhole-dynamics tool. Also, the tension signal can be used to obtain accurate measurements of wellbore FF, which can be compared with theoretical values obtained with T&D analysis. With an appropriate-software implementation, these measurements can be performed in real time, which would enable rig crews to react quickly whenever excessive stick/slip or wellbore drag is encountered during drilling operations.
Arsenic removal from groundwater using low-cost carbon composite electrodes for capacitive deionization
Authors: Lee Ju-Young , Chaimongkalayon Nantanee , Lim Jinho , Ha Heung Yong , Moon Seung-Hyeon 
Published: April 2016

Abstract
Affordable carbon composite electrodes were developed to treat low-concentrated groundwater using capacitive deionization (CDI). A carbon slurry prepared using activated carbon powder (ACP), poly(vinylidene fluoride), and N-methyl-2-pyrrolidone was employed as a casting solution to soak in a low-cost porous substrate. The surface morphology of the carbon composite electrodes was investigated using a video microscope and scanning electron microscopy. The capacitance and electrical conductivity of the carbon composite electrodes were then examined using cyclic voltammetry (CV) and electrochemical impedance spectroscopy (EIS), respectively. According to the CV and EIS measurements, the capacitances and electrical conductivities of the carbon composite electrodes were in the range of 8.35–63.41 F g–1 and 0.298–0.401 S cm–1, respectively, depending on ACP contents. A CDI cell was assembled with the carbon composite electrodes instead of with electrodes and current collectors. The arsenate removal test included an investigation of the optimization of several important operating parameters, such as applied voltage and solution pH, and it achieved 98.8% removal efficiency using a 1 mg L–1 arsenate solution at a voltage of 2 V and under a pH 9 condition.
Benefits for Type 2 Diabetes of Interrupting Prolonged Sitting With Brief Bouts of Light Walking or Simple Resistance Activities
Authors: Dempsey Paddy C. , Larsen Robyn N. , Sethi Parneet , Sacre Julian W. , Straznicky Nora E. , Cohen Neale D. , Cerin Ester , Lambert Gavin W. , Owen Neville , Kingwell Bronwyn A. , Dunstan David W. 
Published: April 2016

OBJECTIVETo determine whether interrupting prolonged sitting with brief bouts of light-intensity walking (LW) or simple resistance activities (SRA) improves postprandial cardiometabolic risk markers in adults with type 2 diabetes (T2D).RESEARCH DESIGN AND METHODSIn a randomized crossover trial, 24 inactive overweight/obese adults with T2D (14 men 62 ± 6 years old) underwent the following 8-h conditions on three separate days (with 6–14 days washout): uninterrupted sitting (control) (SIT), sitting plus 3-min bouts of LW (3.2 km · h−1) every 30 min, and sitting plus 3-min bouts of SRA (half-squats, calf raises, gluteal contractions, and knee raises) every 30 min. Standardized meals were consumed during each condition. Incremental areas under the curve (iAUCs) for glucose, insulin, C-peptide, and triglycerides were compared between conditions.RESULTSCompared with SIT, both activity-break conditions significantly attenuated iAUCs for glucose (SIT mean 24.2 mmol · h · L−1 [95% CI 20.4–28.0] vs. LW 14.8 [11.0–18.6] and SRA 14.7 [10.9–18.5]), insulin (SIT 3,293 pmol · h · L−1 [2,887–3,700] vs. LW 2,104 [1,696–2,511] and SRA 2,066 [1,660–2,473]), and C-peptide (SIT 15,641 pmol · h · L−1 [14,353–16,929] vs. LW 11,504 [10,209–12,799] and SRA 11,012 [9,723–12,301]) (all P &lt; 0.001). The iAUC for triglycerides was significantly attenuated for SRA (P &lt; 0.001) but not for LW (SIT 4.8 mmol · h · L−1 [3.6–6.0] vs. LW 4.0 [2.8–5.1] and SRA 2.9 [1.7–4.1]).CONCLUSIONSInterrupting prolonged sitting with brief bouts of LW or SRA attenuates acute postprandial glucose, insulin, C-peptide, and triglyceride responses in adults with T2D. With poor adherence to structured exercise, this approach is potentially beneficial and practical.
Multinational Home Use of Closed-Loop Control Is Safe and Effective
Authors: Anderson Stacey M. , Raghinaru Dan , Pinsker Jordan E. , Boscari Federico , Renard Eric , Buckingham Bruce A. , Nimri Revital , Doyle Francis J. , Brown Sue A. , Keith-Hynes Patrick , Breton Marc D. , Chernavvsky Daniel , Bevier Wendy C. , Bradley Paige K. , Bruttomesso Daniela , Del Favero Simone , Calore Roberta , Cobelli Claudio , Avogaro Angelo , Farret Anne , Place Jerome , Ly Trang T. , Shanmugham Satya , Phillip Moshe , Dassau Eyal , Dasanayake Isuru S. , Kollman Craig , Lum John W. , Beck Roy W. , Kovatchev Boris ,   for the Control to Range Study Group
Published: April 2016

OBJECTIVE
To evaluate the efficacy of a portable, wearable, wireless artificial pancreas system (the Diabetes Assistant [DiAs] running the Unified Safety System) on glucose control at home in overnight-only and 24/7 closed-loop control (CLC) modes in patients with type 1 diabetes.

RESEARCH DESIGN AND METHODS
At six clinical centers in four countries, 30 participants 18–66 years old with type 1 diabetes (43% female, 96% non-Hispanic white, median type 1 diabetes duration 19 years, median A1C 7.3%) completed the study. The protocol included a 2-week baseline sensor-augmented pump (SAP) period followed by 2 weeks of overnight-only CLC and 2 weeks of 24/7 CLC at home. Glucose control during CLC was compared with the baseline SAP.

RESULTS
Glycemic control parameters for overnight-only CLC were improved during the nighttime period compared with baseline for hypoglycemia (time &lt;70 mg/dL, primary end point median 1.1% vs. 3.0%; P &lt; 0.001), time in target (70–180 mg/dL: 75% vs. 61%; P &lt; 0.001), and glucose variability (coefficient of variation: 30% vs. 36%; P &lt; 0.001). Similar improvements for day/night combined were observed with 24/7 CLC compared with baseline: 1.7% vs. 4.1%, P &lt; 0.001; 73% vs. 65%, P &lt; 0.001; and 34% vs. 38%, P &lt; 0.001, respectively.

CONCLUSIONS
CLC running on a smartphone (DiAs) in the home environment was safe and effective. Overnight-only CLC reduced hypoglycemia and increased time in range overnight and increased time in range during the day; 24/7 CLC reduced hypoglycemia and increased time in range both overnight and during the day. Compared with overnight-only CLC, 24/7 CLC provided additional hypoglycemia protection during the day.