bluuebunny/crossref_metadata_2025_split huggingface dataset:
Application of Surface Display into Shape Forming Task
Authors: Hirota Koichi ,   Dept. of Information and Computer Sciences, Toyohashi University of Technology, 1-1, Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441, Japan, Saito Jun , Hirose Michitaka ,   Document Engineering Lab. Corporate Research Labs. Fuji Xerox Co., Ltd., 430 Sakai, Nakai-machi, Ashigarakami-gun, Kanagawa 259-01, Japan,   Dept. of Mechanical Engineering, the University of Toikyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo 113, Japan
Published: April 2016

The sensation of Touch and force is generated or conducted through the phenomenon of contact. This fact make us aware of a new force feedback method, which was named the concept of Surface Display. In this concept, we are remarking not on the force between the user and the object but on the surface and existence of the object. The force feedback device based on this concept presents the surface of an object, the user interact with surface. Force is caused only as a result and it is measured by the device for the simulation of the behavior of the object. In this paper, the application of the device into a shape forming task is discussed. We have developed a kind of the virtual clay modeling environment, in which the shape of the surface can be changed by pushing directly on the surface. Sensation of making contact with the surface and the sensation of force caused by the elas ticity of the clay is fedback by using the device.	From an experiment in the environment, the importance and effectiveness of force feedback were made clear.
Media Heavy Industries
Authors: Hirose Michitaka ,   Dept. of Mechanical Engineering, the University of Tokyo, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113, Japan
Published: April 2016

The term multimedia is now one of the most important keywords of modern society. This is a leading-edge field for computer technology, but has drastically different characteristics from the conventional computer technology from various standpoints.
At one time in the past, the computer was, literally speaking, a machine for 'computing'. If its source is traced back, it is found that there was an interest in knowing how much a machine would be able to approach man's intelligence, i.e. logical thinking. As a consequence, the computer is an artificial 'brain', and we have been thinking of the computer by using 'brain' as metaphor.
However, if we try to apply this metaphor to the computer of the multimedia age, we realize that it does not work from many perspectives. This is because multimedia technology appears to be developing in a direction somewhat different from the direction for artificially creating a highly intelligent machine called the brain.
Special Issue on Intelligent Integrated Systems for Human-Oriented Information Society
Authors: Kameyama Michitaka ,   Graduate School of Information Science, Tohoku UniversityAoba 05, Aramaki, Aoba-ku, Sendai 980,	Japan
Published: April 2016

Recent advance in the information technology makes our society very convenient from the viewpoint of human-to-human information communication. However, our new living style will require not only human-tohuman communication but also autonomous intelligent applications that support human beings such as an intelligent robot system, an intelligent transportation system, and a security/safe system as shown in Figure. These applications will contribute to human-oriented information society.Intelligent vehicle	Home service robot Security The use of special-purpose VLSI processors capable of processing a large amount of real-world data is essential to make such applications realistic. In recent industrial trend, the special-purpose processors are called ""System LSIs"". One of the most important environmental informations in real-world applications is a vision information. The factor common to the applications is to catch an environment information moment by moment and to respond quickly with it. Therefore, it is important to make the response time from inputs to outputs very small. In this case, sensor data transfer bottleneck is not allowed as well as memory-to-PE (Processing Element) data transfer bottleneck. An image sensor signal processing VLSI together with image sensor devices is a key issue in such applications. From the above point of views, this special issue was planned to demonstrate the recent results of this area. Finally, I would like to express my appreciation to the authors for their efforts and contributions to this special issue and also the members of the Editorial Board for their cooperation.
Furniture Model Creation Through Direct Teaching to a Mobile Robot
Authors: Yamazaki Kimitoshi ,   Grad. School of Science. and Inf. The Univ. of Tokyo ,7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan, Tsubouchi Takashi , Tomono Masahiro ,   Grad. School of Syst. and Inf. Eng. Univ. of Tsukuba, 1-1-1 Tennodai, Tsukuba, Iabaraki, Japan,   Dept. of Syst. Robotics, Toyo Univ., 2100 Kujirai, Kawagoe, Saitama, Japan
Published: April 2016

In this paper, a modeling method to handle furniture is proposed. Real-life environments are crowded with objects such as drawers and cabinets that, while easily dealt with by people, present mobile robots with problems. While it is to be hoped that robots will assist in multiple daily tasks such as putting objects in into drawers, the major problems lies in providing robots with knowledge about the environment efficiently and, if possible, autonomously.If mobile robots can handle these furniture autonomously, it is expected that multiple daily jobs, for example, storing a small object in a drawer, can be performed by the robots. However, it is a perplexing process to give several pieces of knowledge about the furniture to the robots manually. In our approach, by utilizing sensor data from a camera and a laser range finder which are combined with direct teaching, a handling model can be created not only how to handle the furniture but also an appearance and 3D shape. Experimental results show the effectiveness of our methods.
The Development of the Plantar Pressure Sensor Shoes for Gait Analysis
Authors: Hirasawa Masaki ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Okada Hidetaka , Shimojo Makoto 
Published: April 2016

Humans are the only living things which make a erect bipedalism. We are evolving the lower extremity - below a pelvis, and gained the more complicated and more sophisticated gait pattern.In the area of the biomechanics or the rehabilitation, movement analysis instrument has been developed. However, almost of them are attended with the feeling of a constraint, or the measurement place will be limited.We tried to make sensor shoes which can survey operation of the leg without a feeling of a restraint as much as possible.
Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles
Authors: Sasaki Daisuke ,   Graduate School of Natural Science of Technology, Okayama University, Tsushimanaka 3-1-1, Okayama 700-8530, Japan, Noritsugu Toshiro , Takaiwa Masahiro 
Published: April 2016

A robot technology is exceedingly expected to solve a problem of a lack of a physical therapist. In this study, the bilateral type pneumatic wearable master-slave training device used by a trainer and a trainee is developed to feed back a force information to the trainer. In the case of the rehabilitation when separated human attaches the separated device, it has a threat of applying the excessive torque to a patient. To prevent the trainer from increasing excessive torque at the movable angle limit of the trainee, a reaction torque of the slave user is transmitted to the master user.In this paper, the structure of the developed device is discussed, and then the validity of the proposed device is evaluated from the experiments that assume knee rehabilitation.
Special Issue on MEXT 21st Century COE Programs (I)
Authors: Arai Tatsuo ,   Professor,, Yokokohji Yasuyoshi , Kurisu Masamitsu , Iwata Hiroyasu ,   Associate Professor,,   Professor,,   Associate Professor,
Published: April 2016

The Ministry of Education, Culture, Sports, Science, and Technology of Japan (MEXT) started the “21st Century COE Program” in 2002 to give targeted support to the creation of global-standard research and education bases. The five-year grant came to fund a total of 250 excellent programs from 95 universities. Topics related to robotics and mechatronics are treated in the following programs: (1) “Information Science and Technology Strategic Core,” University of Tokyo; (2) “Intelligent Human Sensing,” Toyohashi University of Technology; (3) “Innovation of Creative Engineering through the Development of Advanced Robotics,” Tokyo Institute of Technology; (4) “Micro- and Nano-Mechatronics for Information-Based Society,” Nagoya University; (5) “COE for Research and Education on Complex Functional Mechanical Systems,” Kyoto University; (6) “Paradigm Shift from Intelligence to Life,” Keio University; (7) “Human Adaptive Mechatronics (HAM),” Tokyo Denki University; and (8) “The Innovative Research on Symbiosis Technologies for Human and Robots in an Aging Society,” Waseda University. All of these programs were completed by March 2008.
Our editorial board has decided that the time is right to organize a special issue on MEXT 21st Century Programs to disseminate these invaluable research findings as widely as possible. Our three guest editors – Prof. Yasuyoshi Yokokohji of Kyoto University, Prof. Masamitsu Kurisu of Tokyo Denki University, and Prof. Hiroyasu Iwata of Waseda University – have all worked in the specialized areas featured here. Of the 30 papers submitted for this special issue, some 18 papers have been accepted for publication after a careful review, and some are still under review.
We thank the authors for their valuable contributions and the reviewers for their generous time and efforts in making this issue a success.
<flushright> Prof. Tatsuo Arai
Editor-in Chief </flushright>
HELIOS VIII: Toward Practical Robots for Search and Rescue Operations
Authors: Guarnieri Michele ,   Department of Mechanical and Aerospace Engineering,  Tokyo Institute of Technology, Ohokayama, Meguro-ku, Tokyo 152-8552, Japan, Takao Inoh , Fukushima Edwardo F. , Hirose Shigeo ,   International Rescue System Japan, 1-2 Minamiwatarida-machi, Kawasaki-ku, Kawasaki 210-0855, Japan
Published: April 2016

With the progress and new technology developments in robotics research, the realization of practical tools for urban and industrial disaster response, from a mere dream, became a reality.
Crawler vehicles, because of their terrain adaptability, have a considerable importance for rescue operations and tasks performed on damaged areas (i.e. unstructured environments). This contribution proposes a tracked robot named HELIOS VIII, consisting of a manipulator utilized not only for handling operations but mainly to assist the motion of the robot itself. In order to prove the efficacy of HELIOS vehicle concept, an overview on the experiments carried out with the first developed prototype HELIOS VII will be presented. Afterwards the new vehicle HELIOS VIII will be introduced illustrating in detail its mechanical design as well as its control architecture. Improvements from the previous version are explained and justified with emphasizing the mechanical design of a new soft gripper consisting of four fingers actuated by a single motor. The new end-effector consists also of a special mechanism for the connection of the vehicle to another crawler unit. This solution can improve the system terrain adaptability on very rough terrains. Finally tests will be explained and discussed as well as the impact of the proposed solution toward the realization of effective tools for disaster relief.
Control of a Two-Joint, Two-Steering Snake-Like Robot
Authors: Yamaguchi Hiroaki ,   Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Sagamihara-shi, Kanagawa 229-8558, Japan
Published: April 2016

This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations.
This paper is the full translation from the transactions of JSME Vol.71, No.706.
Eccentricity Compensator for Wide-Angle Fovea Vision Sensor
Authors: Shimizu Sota ,   California Institute of Technology, Division of Biology, MC 139-74, Pasadena, CA 91125, USAWaseda University, Advanced Research Institute for Science and Engineering, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan, Burdick Joel W. ,   California Institute of Technology, Department of Bioengineering
Published: April 2016

This paper aims at the acquisition of a robust feature for rotation, scale, and translation-invariant image matching of space-variant images from a fovea sensor. The proposed model eccentricity compensator corrects deformation in log-polar images when the fovea sensor is not centered on the target image, that is, when eccentricity exists. An image simulator in a discrete space implements this model through its geometrical formulation. This paper also proposes Unreliable Feature Omission (UFO) using the Discrete Wavelet Transform. UFO reduces local high frequency noise appearing in the space-variant image when the eccentricity changes. It discards coefficients when they are regarded as unreliable, based on digitized errors in the input image from the fovea sensor. The first simulation estimates the compensator by comparing it with other polar images. This result shows the compensator performs well, and its root mean square error (RMSE) changes only by up to 2.54% on the condition that the eccentricity is within 34.08°. The second simulation shows UFO performs well for the log-polar image remapped by the eccentricity compensator when white Gaussian noise (WGN) is added. The result from the Daubechies (7, 9) biorthogonal wavelet shows UFO reduces the RMSE by up to 0.40 %, even if the WGN is not added, when the eccentricity is within 34.08°.
This paper is the full translation from the transactions of JSME Vol.73, No.733.
EU CyberCars-2 Final Demo Results: IAI-CSIC Standpoint
Authors: Alonso Javier ,   Centro de Automática y Robótica, UPM-CSIC, Carretera de Campo Real, km. 0.200, 28500 La Poveda, Arganda del Rey, Madrid, Spain, Pérez Joshué , Milanés Vicente , González Carlos , Pedro Teresa de 
Published: April 2016

In our work on decision and control algorithms for cooperative driving maneuvers developed by the AUTOPIA group of the IAI-CSIC1 in EU project CyberCars-2 (CC2), we focused on defining and developing the software architecture and procedures enabling transparent cooperation between cybercars and dual-mode cars in complex maneuvers tested in the final CyberCars-2 demo. After briefly outlining a common architecture definition, a detailed study of cooperative maneuvers and an analysis of decision and control primitives for cooperative driving, we report on the final demonstration, the data it provided and its control algorithms. The main contributors to this work are: IAI-CSIC, INRIA, and TNO. Note that three different vehicles with different architectures and different control can cooperate using the data exchanged and a common decision algorithm to conduct complex cooperative maneuvers.
1. The Industrial Automation Institute (IAI-CSIC) merged with the Polytechnic University of Madrid to become the Robotics and Automation Center (CAR-UPM-CSIC) on March 1, 2010.
Development of a Human Symbiotic Assist Arm “PAS-Arm” (Design of Mechanism · CVT and Experimental System)
Authors: Higuchi Mineo ,   Advanced Technology R&D Center, Mitsubishi Electric Corporation, 8-1-1 Tsukaguchi-honmachi, Amagasaki-shi, Hyogo 661-8661, Japan
Published: April 2016

We describe a new robotic assist device: a passive assist arm (PAS-Arm). PAS-Arms are intended for direct physical interaction with a human operator, handling a shared payload. PAS-Arms are physically passive. Their purpose is not to enhance human strength, but to provide virtual guiding surfaces, which constrain and guide the motion of the payload within a shared workspace. PAS-Arms have three joints and a three-dimensional workspace, but possess only a two degrees of freedom, due to the reduction of degrees of freedom created by a combination of Continuously Variable Transmissions (CVTs) and differential gears. We have developed an experimental system of the PAS-Arm. In this paper, we describe kinematic specification of the experimental system. We discuss the differential relation of transmission ratios created by the CVTs. We conducted the relationship between transmission ratio resolutions of the CVTs and resolutions of normal vector of the virtual guiding surface, and the relationship between angular velocities of PAS-Arm’s joints and time derivative of the transmission ratios. Assuming that the Euclidean norm of the angular velocities is constant, maximum time derivative of transmission ratios is in proportion to link lengths of the PAS-Arm. We also describe the design of the CVT for use in the experimental system.1
1. This paper is the full translation from the transactions of JSME, Series C, Vol.75, No.749, pp. 104-112, 2009.
High-Frame-Rate Structured Light 3-D Vision for Fast Moving Objects
Authors: Liu Yongjiu ,   University of Science and Technology of China, Hefei, Anhui 230026, China, Gao Hao , Gu Qingyi , Aoyama Tadayoshi , Takaki Takeshi , Ishii Idaku ,   Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui 230031, China,   Hiroshima University, 1-4-1 Kagamiyama, Higashihiroshima, Hiroshima 739-8527, Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/04.jpg"" width=""300"" />HFR 3D vision system</span></div> This paper presents a fast motion-compensated structured-light vision system that realizes 3-D shape measurement at 500 fps using a high-frame-rate camera-projector system. Multiple light patterns with an 8-bit gray code, are projected on the measured scene at 1000 fps, and are processed in real time for generating 512 × 512 depth images at 500 fps by using the parallel processing of a motion-compensated structured-light method on a GPU board. Several experiments were performed on fast-moving 3-D objects using the proposed method. </span>
On-Line Collision Avoidance of Two Command-Based Industrial Robotic Arms Using Advanced Collision Map
Authors: Afaghani Ahmad Yasser ,   Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan, Aiyama Yasumichi 
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/05.jpg"" width=""300"" />
Collision check of robots</span></div> This research aims to build a system for detecting and avoiding collisions between two industrial robotic arms that are controlled using point-to-point commands in on-line mode. Both robots have no prior knowledge of the commands which will be sent after starting the system. For this purpose, a collision map method has been improved to detect potential collisions between the robots and represent them as a collision area on the map. Commonly, industrial robotic arms have a cylindrical or a near-rectangular shape. The links of the robots have been approximated geometrically by using the swept sphere volume which presents tight modelling. Moreover, it is extremely easy to check for collisions and, therefore, feasible for on-line applications. To produce a collision-free trajectory for the robot, scheduling of the command execution time is necessary to avoid any collision areas on the map. The system has been tested on an OpenGLbased simulator to demonstrate the effectiveness of the system. </span>
Robust Hybrid Control for Two-Dimensional Handheld Micromanipulator
Authors: Boksuwan Sungwan ,   Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan, Benjanarasuth Taworn , Kanamori Chisato , Aoyama Hisayuki ,   Faculty of Engineering, King Mongkut’s Institute of Technology Ladkrabang, 1 Chalongkrung Soi 1, Ladkrabang District, Bangkok, Thailand
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/06.jpg"" width=""300"" />A handheld micromanipulator</span></div> This paper proposes a two-dimensional handheld micromanipulator oriented toward bio cell handling. The micromanipulator consists of two flexible links, each of which is constructed with a parallel beam structure. Electric coils and permanent magnets are used to produce an actuator to form double drivers. An explicit model predictive control combined with a PID controller called a robust hybrid control is proposed not only to achieve robust tracking performance, but also to dampen the vibration of the mechanism. The experimental results are compared to results from a standard PID controller to investigate the effectiveness of the micromanipulator. </span>
Characteristics and Individual Differences of Human Actions for Avoiding Harm to Eyes from a Robot
Authors: Hattori Takamasa ,   Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan, Yamada Yoji , Okamoto Shogo , Mori Shuji , Yamada Shunsuke ,   Faculty of Information Science and Electrical Engineering, Kyushu University, 744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan,   Mitsui Chemicals, Inc., Japan
Published: April 2016

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/09.jpg"" width=""300"" />The assumed situation</span></div> To investigate harm-avoidance actions in human beings in close contact with a robot, we conducted psychological experiments in which one of the sharp end effectors of a robot was made to approach the eyes of a facing participant suddenly. We define three parameters for analyzing harm-avoidance actions: avoidance reaction time, maximum avoidance acceleration, and maximum avoidance speed. Results suggest that avoidance reaction time depends on the initial distance between the human eyes and the approaching object, but not on the type of work being performed. We derive a novel nonparametric multiple comparison for statistically testing multivariate data on human actions. Results show that bivariate data for avoidance reaction time andmaximumavoidance speed differ for most participants. These findings are expected to contribute positively to determining human-robot conditions for safe coexistence. </span>