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Editor's Choice
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JACIII Editor’s Choice 2015 (Vol.19)
- Vol.19 No.2 pp. 269-276 (March 2015)
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Jian Qi An, Kai Peng, Wei Hua Cao, and Min Wu
Abstract: This paper aims at building a Computational Fluid Dynamics (CFD) model which can describe the gas flow three dimensions (3D) distribution in blast furnace (BF) throat. Firstly, the boundary conditions are obtained by rebuilding central gas flow shape in BF based on computer graphics. Secondly, the CFD model is built based on turbulent model by analyzing ...<more>
- Vol.19 No.2 pp. 277-283 (March 2015)
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Ground Target Tracking and Collision Avoidance for UAV Based Guidance Vector Field
Zhihong Peng and Zhimin Chen
Abstract: This paper focuses on ground-moving target tracking of an unmanned aerial vehicle (UAV) in the presence of static obstacles and moving threat sources. Due to a UAV is restricted by airspace restrictions and measurement limitations during flight, we derive a dynamic path planning strategy by generating guidance vector filed combined Lyapunov vector field with...<more>
JACIII Editor’s Choice 2014 (Vol.18)
- Vol.18 No.3 pp. 320-323 (May 2014)
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The Usage and Behavior Patterns of Mobile BitTorrent Clients
Péter Ekler and Kristóf Csorba
Abstract: With the many changes in mobile phone use, it is now common for users to connect to the Internet and share social and multimedia data, and peer-to-peer technology remains one of the most efficient solutions to content sharing. We analysed the lifecycle of content shared using the BitTorrent network, focusing on torrents retrieved by mobile phone clients usin...<more>
JACIII Editor’s Choice 2013 (Vol.17)
- Vol.17 No.6 pp. 805-812 (November 2013)
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Design of Compensator for Input Dead Zone of Actuator Nonlinearities
Weijie Chen, Jundong Wu, and Jinhua She
Abstract: This paper considers the problem of tracking a periodic signal for a plant with an input dead zone in the actuator. The nonlinearity greatly degrades control performance. To solve this problem, we incorporate an equivalent-input-disturbance (EID) compensator into a repetitive control system (RCS), resulting in a new system configuration. We combine the linea...<more>
- Vol.17 No.6 pp. 813-817 (November 2013)
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Step Output Tracking Controller Design for Networked Control Systems
Zhong-Hua Pang, Guo-Ping Liu, and Donghua Zhou
Abstract: This paper is concerned with the step output tracking controller design problem for networked discretetime linear systems. The communication constraints such as network-induced delay, packet disorder, and packet dropout are considered, which are treated as the round-trip time (RTT) delay with an upper bound. An event-driven networked predictive control schem...<more>
- Vol.17 No.6 pp. 851-861 (November 2013)
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Modeling and Simulation of Road Traffic Behavior: Artificial Drivers with Personality and Emotions
George Leu, Neville J. Curtis, and Hussein Abbass
Abstract: This study uses an artificially generated, multi-agent traffic environment to bring to attention the behavioral aspects involved in the performance of road traffic networks. Artificial drivers with behavioral capabilities are used to understand how collective human behavior affects traffic performance. These drivers are also used to find optimal behaviors in...<more>
- Vol.17 No.4 pp. 573-580 (July 2013)
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Spherical Visualization of Image Data with Clustering
Yuichi Yaguchi and Ryuichi Oka
Abstract: This paper proposes to aid the search for images by visualization of the image data on a spherical surface. Many photographs were lost in the Tohoku tsunami, and those that were eventually found are now being scanned. However, the owners of the lost photographs are finding it difficult to search for their images within a large set of scanned images that cont...<more>
JRM Editor’s Choice 2013 (Vol.24)
- Vol.24 No.6 pp. 939-948 (December 2012)
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Mitsuhiro Kamezaki, Hiroyasu Iwata, and Shigeki Sugano
Abstract: In this paper, a quantitative analysis method for a comprehensive work flow in construction work for identifying work states in more detail is proposed. The proposed method is based on analyzing state transitions of simplified primitive static states (s-PSS), which consist of four symbolic work states defined by using the on-off state of lever operations and...<more>
- Vol.24 No.4 pp. 629-641 (August 2012)
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Alexander S. Boxerbaum, Matthew A. Klein, Jeffery E. Kline,
Stuart C. Burgess, Roger D. Quinn, Richard Harkins,
and Ravi VaidyanathanAbstract: Surf-zone environments represent an extreme challenges to robot operation. A robot that autonomously navigates rocky terrain, constantly changing underwater currents, hard-packed moist sand and loose dry sand characterizing this environment, would have significant utility in a range of defence and civilian missions. The study of animal locomotion mechanisms ...<more>
- Vol.24 No.4 pp. 642-648 (August 2012)
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A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles
Wanchao Chi, Kin Huat Low, Kay Hiang Hoon,
Johnson Tang, and Tiauw Hiong GoAbstract: Endurance is the critical problem that most Unmanned Aerial Vehicles (UAVs) will definitely encounter. By learning frombirds in nature that perch to reserve energy, however, this problem could probably be solved. The purposes of this paper are to gain inspiration from bird’s perching in a more systematic way, to further propose a design of bio-inspired...<more>
- Vol.24 No.1 pp. 261-267 (February 2012)
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Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles
Genya Ishigami, Jim Overholt, and Karl Iagnemma
Abstract: In this paper, a novel wheel design utilizing the anisotropic friction property for omnidirectional vehicles is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. Th...<more>
JACIII Editor’s Choice 2012 (Vol.16)
- Vol.16 No.2 pp. 349-357 (March 2012)
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Spatial Memory for Augmented Personal Working Environments
Young Eun Song, Peter Kovacs, Mihoko Niitsuma, and Hideki Hashimoto
Abstract: Augmented Personal Working Environments (APWEs) are 3D environments in which the physical surroundings of the user are overlaid with representations of a virtual reality. With the rapid technological evolution of personal informatics devices as well as a growing demand for more comfortable and efficient working environments, the partial virtualization of res...<more>
- Vol.16 No.1 pp. 48-54 (January 2012)
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Shunsuke Doi, Takahiro Suzuki, Gen Shimada, Mitsuhiro Takasaki, Shinsuke Fujita, Toshiyo Tamura, and Katsuhiko Takabayashi
Abstract: Recently, Electronic Medical Record (EMR) systems have become popular in Japan, and numerous discharge summaries are being stored electronically, although they have not yet been reutilized. We performed text mining by using the term frequencyinverse document frequency method along with a morphological analysis of the discharge summaries from 3 hospitals (the...<more>
JACIII Editor’s Choice 2011 (Vol.15)
- Vol.15 No.9 pp. 1230-1240 (November 2011)
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Document Analysis System Based on Awareness Learning
Jie Ji, Rung-Ching Chen, and Qiangfu Zhao
Abstract: The rapid growth of the Internet has naturally encouraged users to handle and process documents as online information rather than hard-copies, e.g., on paper. Dealing with large amounts of information efficiently requires classifying data into meaningful categories. Many machine-learning-based algorithms have been proposed for document classification, yieldi...<more>
- Vol.15 No.8 pp. 972-979 (October 2011)
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Learning Strategy in Time-to-Contact Estimation of Falling Objects
Hiroyuki Kambara, Keiichi Ohishi, and Yasuharu Koike
Abstract: The ability to estimate the time that remains before contact (Time-To-Contact or TTC) of a falling object is critical in daily life. In this paper, we investigated how the Central Nervous System (CNS) becomes able to estimate the TTC of a ball falling at various accelerations. According to experiments on the human ability to catch a ball falling at various a...<more>
- Vol.15 No.8 pp. 1030-1038 (October 2011)
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Sataya Takahashi, Yasutake Takahashi, Yoichiro Maeda, and Takayuki Nakamura
Abstract: This paper proposes a new method for learning the dynamic motion of an inverted-pendulum mobile robot from the observation of a human player’s demonstration. First, an inverted-pendulum mobile robot with upper and lower body links observes the human demonstration with a camera and extracts the human region in images. Second, the robot maps the region t...<more>
- Vol.15 No.8 pp. 1140-1148 (October 2011)
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Multi-Objective Scheduling for Space Science Missions
Mark D. Johnston and Mark E. Giuliano
Abstract: We have developed an architecture called MUSE (Multi-User Scheduling Environment) to enable the integration of multi-objective evolutionary algorithms with existing domain planning and scheduling tools. Our approach is intended to make it possible to reuse existing software, while obtaining the advantages of multi-objective optimization algorithms. This appr...<more>
- Vol.15 No.6 pp. 662-670 (August 2011)
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Feature Extraction with Space Folding Model and its Application to Machine Learning
Minh Tuan Pham, Tomohiro Yoshikawa, Takeshi Furuhashi, and Kanta Tachibana
Abstract: Feature extraction provides an essential element in most machine learning methods, including supervised learning with neural networks. Linearly inseparable data distributions are often non-linearly transformed in some way to make them more linearly separable in the feature space. In this paper, we propose a method of feature extraction with a space folding m...<more>
- Vol.15 No.5 pp. 534-544 (July 2011)
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Dual-Hierarchical Control Mechanism of Interpersonal Embodied Interactions in Cooperative Walking
Takeshi Muto and Yoshihiro Miyake
Abstract: Interpersonal embodied interactions play a significant role as emergent functions in human development and rehabilitation. However, a framework for applying embodied interactions to “human interface systems” to support such emergent functions has not yet been suggested because the details of the motorcontrol mechanism have not yet been clarified....<more>
- Vol.15 No.3 pp. 264-287 (May 2011)
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Inference for Nonlinear Mapping with Sparse Fuzzy Rules Based on Multi-Level Interpolation
Kiyohiko Uehara, Shun Sato, and Kaoru Hirota
Abstract: An inference method is proposed for sparse fuzzy rules on the basis of interpolations at a number of points determined by α-cuts of given facts. The proposed method can perform nonlinear mapping even with sparse rule bases when each given fact activates a number of fuzzy rules which represent nonlinear relations. The operations for the nonlinear mappin...<more>
- Vol.15 No.3 pp. 322-328 (May 2011)
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Ricardo Sotolongo, Fangyan Dong, and Kaoru Hirota
Abstract: An algorithm based on semantic analysis of multiple detection tools’ reports using WordNet is proposed oriented on the refinement of code clones. It parses different detection tools’ reports looking for new clone specifications, and refines the location of existing ones using semantic information contained in source code. It is applied to a real ...<more>
- Vol.15 No.1 pp. 56-62 (January 2011)
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Risk Analysis of Portfolios Under Uncertainty: Minimizing Average Rates of Falling
Yuji Yoshida
Abstract: A portfolio model to minimize the risk of falling under uncertainty is discussed. The risk of falling is represented by the value-at-risk of rate of return. Introducing the perception-based extension of the average value-at-risk, this paper formulates a portfolio problem to minimize the risk of falling with fuzzy random variables. In the proposed model, rand...<more>
- Vol.15 No.1 pp. 95-101 (January 2011)
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Semi-Supervised Fuzzy c-Means Algorithm by Revising Dissimilarity Between Data
Yuchi Kanzawa, Yasunori Endo, and Sadaaki Miyamoto
Abstract: We propose two approaches for semi-supervised FCM with soft pairwise constraints. One applies NERFCM to the revised dissimilarity matrix by pairwise constraints. The other applies K-FCM with a dissimilarity-based kernel function, revising the dissimilarity matrix based on whether data in the same cluster may be close to each other or the data in the d...<more>
JRM Editor’s Choice 2011 (Vol.23)
- Vol.23 No.6 pp. 939-950 (December 2011)
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Development of Production Robot System that can Assemble Products with Cable and Connector
Rintaro Haraguchi, Yukiyasu Domae, Koji Shiratsuchi,
Yasuo Kitaaki, Haruhisa Okuda, Akio Noda,
Kazuhiko Sumi, Takayuki Matsuno, Shun’ichi Kaneko,
and Toshio FukudaAbstract: To realize automatic robot-based electrical and electronic product assembly, we developed the handling of cables with connectors - flexible goods which are an obstacle to automation. The element technologies we developed include 3D vision sensing for cable extraction, force control for connector insertion, error recovery for improving system stability, and t...<more>
- Vol.23 No.6 pp. 1041-1054 (December 2011)
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HELIOS Tracked Robot Team: Mobile RT System for Special Urban Search and Rescue Operations
Ryuichi Hodoshima, Michele Guarnieri,
Ryo Kurazume, Hiroshi Masuda, Takao Inoh,
Paulo Debenest, Edwardo F. Fukushima,
and Shigeo HiroseAbstract: Fire brigades and other specialized agencies are often required to undertake extremely dangerous search and rescue operations in which it is important first to verify the safety of the environment and then to obtain clear remote images of the inside of buildings and underground areas. Several studies have addressed the possibility of using robotic tools to m...<more>
- Vol.23 No.5 pp. 665-675 (October 2011)
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Takeshi Morishita
Abstract: This paper describes an attractive technical education program and material for engineering students that consists of 3D CAD/CAM technology, CAD/CAM circuit board manufacture, an image information processing system, stereo vision technology and control experiments involving a simple and compact robot equipped with a stereo vision system. In addition, this ma...<more>
- Vol.23 No.5 pp. 811-821 (October 2011)
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Enhancing Student Engineering, Personal, and Interpersonal Skills Through Yumekobo Projects
Kosei Demura, Takumi Sakamoto, Yasuki Asano,
and Masakatsu MatsuishiAbstract: The Kanazawa Institute of Technology (KIT) established Yumekobo (the Factory for Dreams and Ideas) in 1993 to give students a place to create things freely and safely in extracurricular activities. Yumekobo has come to impact strongly on domestic and overseas universities promoting educational reform. The Yumekobo project supporting creative student group ac...<more>
- Vol.23 No.5 pp. 822-829 (October 2011)
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Masaaki Kumagai
Abstract: A special trial university course by the author in robotics and mechatronics enables students hoping to explore robot development to use the author’s laboratory, equipment, machines, and consumable supplies such as screws, aluminum materials, and electrical parts freely in the hope that these students start developing mechatronics devices in their firs...<more>
- Vol.23 No.5 pp. 830-839 (October 2011)
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Education Method of Robotics with Jigsaw Method by Using RT Component
Yasuo Hayashibara, Shinya Kotosaka, Naomi Miyake,
and Tomomasa SatoAbstract: This paper introduces an educationmethod of robotics with the jigsaw method by using the RT component. Robotics contains many areas of technologies, such as mechanism, electronics, and computer programming. Therefore, it may be a desirable academic discipline for studying current complex technologies. For studying robotics efficiently, we propose an educatio...<more>
- Vol.23 No.4 pp. 466-474 (August 2011)
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Range Estimation Technique Using Received Signal Strength Indication on Low Frequency Waves
Kenichi Ohara, Yuji Abe, Tomohito Takubo,
Yasushi Mae, Tamio Tanikawa, and Tatsuo AraiAbstract: Recently, with the downsizing of computers and the development of wireless communication advances, sensor networks are being widely studied. However, it is necessary to know the location of each node, in order to apply sensor data. Many researchers have tried to find a good approach to position estimation in indoor environment. In our study, we focus on posi...<more>
- Vol.23 No.4 pp. 484-493 (August 2011)
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Visual Marker System for Autonomous Object Handling by Assistive Robotic Arm
Hideyuki Tanaka, Tetsuo Tomizawa, Yasushi Sumi,
Jae Hoon Lee, Hyun Min Do, Bong Keun Kim,
Tamio Tanikawa, Hiromu Onda, and Kohtaro OhbaAbstract: The environment structuring concept has been used to design and develop a visual marker system for automating a robotic arm that assists those with upperlimb problems to lead independent lives. Confirmation experiments demonstrate the feasibility of our system in meeting different practical performance requirements. Combining semiautonomous control, simple v...<more>
- Vol.23 No.3 pp. 350-359 (June 2011)
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Software Deployment Infrastructure for Component Based RT-Systems
Noriaki Ando, Shinji Kurihara, Geoffrey Biggs,
Takeshi Sakamoto, Hiroyuki Nakamoto,
and Tetsuo KotokuAbstract: In component-based Robotic Technology (RT) systems, launching the system involves installing component binary files to the target computers, instantiation of components, and establishing connections between components. In order to operate RT systems with many CPU nodes effectively, the deployment features provided by the middleware are important. Deployment ...<more>
- Vol.23 No.1 pp. 13-18 (February 2011)
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Automatic Cell Cutting by High-Precision Microfluidic Control
Akihiko Ichikawa, Tamio Tanikawa, Satoshi Akagi,
and Kohtaro OhbaAbstract: We have developed automated cell cutting by highprecision microfluidic control using a high-response and high-precision syringe pump. A microfluidic chip containing 2 orthogonal microchannels was used for cutting animal cells softened by cytochalasin and aspirated and fixed in 1 microchannel, then a high-velocity microchannel flow was generated from another ...<more>
JRM Editor’s Choice 2010 (Vol.22)
- Vol.22 No.5 pp. 623-630 (October 2010)
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2DOF Magnetically Driven Microtool for Soft Peeling of Zona Pellucida
Yoko Yamanishi, Tomohiro Kawahara, Tomohiro Iyanagi,
Masaya Hagiwara, Takehito Mizunuma, Naoki Inomata,
Shogo Kudo, and Fumihito AraiAbstract: We automated removal of the swine oocyte zona pellucida using a 2DOF magnetically driven microtool (MMT) on a microfluidic chip. Multiple oocytes can be manipulated simultaneously highly stably, providing strong advantages over conventional manual manipulation using pipetting. We propose automating this process by activating a soft polymer microtool on a dis...<more>
- Vol.22 No.5 pp. 644-650 (October 2010)
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Masaru Takeuchi, Masahiro Nakajima, Masaru Kojima,
and Toshio FukudaAbstract: We propose the Thermoresponsive Polymer Actuated (TPA) probe which uses thermoresponsive polymer poly (N-isopropylacrylamide) (PNIPAAm) volume change as an actuator. The proposed probe is applicable to single cell analysis, especially single cell manipulation. The TPA probe can discharge and suck solution in several nanoliters (nl) using the volume change. N...<more>
- Vol.22 No.4 pp. 439-446 (August 2010)
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Sho Yokota, Hiroshi Hashimoto, Yasuhiro Ohyama,
and Jinhua SheAbstract: This paper classifies human body movements when an electric wheelchair was controlled using a Human Body Motion Interface (HBMI) by a Self-Organizing Map (SOM) and proposes control based on classification results. The Human Body Motion Interface (HBMI) uses body movement following voluntary motion. This study focuses on electric wheelchair control as an appl...<more>
- Vol.22 No.4 pp. 506-513 (August 2010)
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Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata,
Hajime Asama, Taketoshi Mishima,
and Hiroshi MizoguchiAbstract: Asbestos, particle, and air bubble counting generally supports qualitative asbestos analysis, using such procedures as dispersion staining. Operators conventionally check and count asbestos fibers visually using a microscope - a difficult, time-consuming process. The microscopic observation robot we are automating to support qualitative asbestos analysis ima...<more>
- Vol.22 No.4 pp. 514-525 (August 2010)
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Adaptive Division-of-Labor Control Algorithm for Multi-Robot Systems
Yusuke Ikemoto, Toru Miura, and Hajime Asama
Abstract: An advanced function for multi-robot systems is the division of labor. There are some studies proposing a multi-agent reinforcement learning method for a division of labor. However, it often requires much time to converge. Many studies focusing on division-of-labor control inspired biological phenomenon have been reported. In those methods, whether heterogen...<more>
- Vol.22 No.3 pp. 348-355 (June 2010)
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Masaaki Kumagai and Takaya Ochiai
Abstract: This paper proposes the implementation and control scheme of a robot balanced on a ball. Unlike a twowheeled inverted pendulum, such as the Segway Human Transporter, an inverted pendulum using a ball moves in any direction without changing orientation, enabling isotropic movement and stabilization. The robot on the ball can be used in place of the twowheeled...<more>
- Vol.22 No.3 pp. 371-379 (June 2010)
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Yoko Yamanishi, Shinya Sakuma, Tomohiro Iyanagi,
Fumihito Arai, Tatsuo Arai, Akiyuki Hasegawa,
Tamio Tanikawa, Akihiko Ichikawa, Osamu Satoh,
Akihiro Nakayama, Hiroshi Aso, Mitsuhiro Goto,
Seiya Takahashi, and Kazutsugu MatsukawaAbstract: We developed a microfluidic chip for automation of cloning process based on a new protocol. The protocol is based on removal of the zona pellucida outside the chip which contributes to simplify on-chip automation of cloning. Then, the oocytes are put into the chip. The design concept of the chip is summarized as follows. (1) The oocyte is cut into two parts....<more>
- Vol.22 No.2 pp. 179-188 (April 2010)
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Development of a Pneumatic Surgical Manipulator IBIS IV
Kotaro Tadano, Kenji Kawashima, Kazuyuki Kojima,
and Naofumi TanakaAbstract: In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable ...<more>
- Vol.22 No.2 pp. 204-211 (April 2010)
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Satoshi Ashizawa, Yusuke Kuromiya, Toshiya Watanabe,
Takeo Oomichi, and Junichiro MaedaAbstract: We have developed a dismantling robot for ceiling boards. The system design of the dismantling robot actually includes a cooperative system between humans and robots. It has a hierarchical system of the independent robot. Indeed, we carried out the dismantlement of ceiling boards by a new method of cutting ceiling boards, and verified the effectiveness of th...<more>
- Vol.22 No.1 pp. 65-75 (February 2010)
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Automatic ROI Detection and Evaluation in Video Sequences Based on Human Interest
Mohammad Rokunuzzaman, Kosuke Sekiyama, and Toshio Fukuda
Abstract: This paper describes an approach for automatic detection and evaluation of Region of Interest (ROI) based on human psychology of interest and relevance. It is very challenging to determine the cognitive boundary of the scene in real time due to its complexity in decision making. We have proposed a novel method to solve this problem by using human cognitive p...<more>
- Vol.22 No.1 pp. 76-81 (February 2010)
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Facial-Expression-Based Arousal Evaluation by NST
Hirotoshi Asano and Hideto Ide
Abstract: Fatigue accumulation and poor attention could cause accidents in situations such as flight control, and automobile operation. This has contributed to international interest in intelligent transport system (ITS) research and development. We evaluated human sleepiness arousal based on facial thermal image analysis, in doing so based on nasal skin temperature f...<more>
JACIII Editor’s Choice 2010 (Vol.14)
- Vol.14 No.7 pp. 813-824 (November 2010)
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Robot Group Adaptation Gestures Based on Utterance Content and Social Position
Daisuke Katagami, Ken Ogawa, and Katsumi Nitta
Abstract: We suggest adaptive gestures for robots adapting to groups based on utterance situations and social position and study the differences in type and number of teaching gestures based on the difference in groups in equivalence utterance. Gesture data is collected in which group members are directly taught to a robot through utterance situations and social posit...<more>
- Vol.14 No.6 pp. 624-630 (September 2010)
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Applying Naive Bayes Classifier to Document Clustering
Jie Ji and Qiangfu Zhao
Abstract: Document clustering partitions sets of unlabeled documents so that documents in clusters share common concepts. A Naive Bayes Classifier (BC) is a simple probabilistic classifier based on applying Bayes’ theorem with strong (naive) independence assumptions. BC requires a small amount of training data to estimate parameters required for classification. ...<more>
- Vol.14 No.5 pp. 512-522 (July 2010)
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Integrating Process and Work Breakdown Structure with Design Structure Matrix
Jonathan Lee, Whan-Yo Deng, Wen-Tin Lee, Shin-Jie Lee, Kuo-Hsun Hsu, and Shang-Pin Ma
Abstract: In software development, project plans document scope, cost, effort, and schedule, guide project managers, and control project execution. Developing a project plan without incorporating how an organization doing things - i.e., organizational culture - may lead to project failure. To ensure stable process performance and to benefit from organizational culture...<more>
- Vol.14 No.4 pp. 402-407 (May 2010)
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Learning Similarity Matrix from Constraints of Relational Neighbors
Masayuki Okabe and Seiji Yamada
Abstract: This paper describes a method of learning similarity matrix from pairwise constraints assumed used under the situation such as interactive clustering, where we can expect little user feedback. With the small number of pairwise constraints used, our method attempts to use additional constraints induced by the affinity relationship between constrained data and...<more>
- Vol.14 No.2 pp. 122-127 (March 2010)
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Syoji Kobashi, Nao Shibanuma, and Yutaka Hata
Abstract: Three-Dimensional (3-D) shape reconstruction of total knee arthroplasty (TKA) implants in vivo plays a key role to investigate implanted knee kinematics. TKA implants typically consist of metal femoral and tibial components and a polyethylene tibial insert. X-ray computed tomography (CT) causes severe metal artifacts, making the 3-D shape in reconstru...<more>
JRM Editor’s Choice 2009 (Vol.21)
- Vol.21 No.6 pp. 672-679 (December 2009)
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3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments
Masahiro Tomono
Abstract: Object models are indispensable for robots to recognize objects when conducting tasks. This paper proposes a method of creating object models from images captured in real environments using a monocular camera. In our framework, an object model consists of a 3D model composed of 3D points reconstructed from image edge points and 2D models composed of image ...<more>
- Vol.21 No.6 pp. 780-788 (December 2009)
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An Optical Tactile Sensor Assuming Cubic Polynomial Deformation of Elastic Body
Kiyoshi Hoshino, Daisuke Mori, and Motomasa Tomida
Abstract: Assuming that the elastic body makes cubic polynomial deformation, we propose a compact three-dimensional (3D) optical tactile sensor for high-speed detection of three-axial directional force components. We constructed a 3D tactile sensor using thin, soft elastic and without pattern delineation or pigment injection such as that used in light-section mea...<more>
- Vol.21 No.5 pp. 590-596 (October 2009)
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Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, and Yukinori Kobayashi
Abstract: Proportional-integral-derivative (PID) control commonly used to operate mechanical systems has limited performance accuracy due to the influence of gravity, friction, and joint interaction caused by modeling error. Digital acceleration control is robust against modeling errors and superior to PID control, but the need for positioning, velocity, and acce...<more>
- Vol.21 No.5 pp. 597-606 (October 2009)
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Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier
Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Yukinobu Sakata, and Maria Q. Feng
Abstract: The simultaneous joint torque and angle recognition for dynamic movement we propose using ultrasound echo and is test feature classifier is for application in human-machine systems such as wearable robots. Ultrasound emitted on the skin surface and reflected within the body is used to recognize features extracted from the echo. Features is change based ...<more>
- Vol.21 No.4 pp. 443-452 (August 2009)
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A Service System Adapted to Changing Environments Using “Kukanchi”
Yusuke Fukusato, Eri sato–Simokawara, Toru Yamaguchi, and Makoto Mizukawa
Abstract: Robots have been expected to coexist with people, providing them with suitable services. To provide services, robots need to recognize the environment, situation, context, and so on. Additionally, robots observe people’s movements in their daily life and ascertain the relations among their movements, the environment, and services. This information is inh...<more>
- Vol.21 No.4 pp. 515-523 (August 2009)
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Observation of Human Activities Based on Spatial Memory in Intelligent Space
Mihoko Niitsuma and Hideki Hashimoto
Abstract: Intelligent Space (iSpace) we propose as an intelligent environment provides information and physical services to users via intelligent agents such as mobile robots, computer devices, and digital equipment. A suitable human interface is needed to enable users to operate agents in iSpace. For this, we previously proposed spatial memory. Here, we have improv...<more>
- Vol.21 No.3 pp. 324-331 (June 2009)
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Parameter Setting Method for Sit-Stand Assist System Based on Human Model
Yasuhisa Hirata, Jun'ichi Higuchi, Takuro Hatsukari, and Kazuhiro Kosuge
Abstract: The simple sit-stand support we have designed consists of a handrail and height-adjustable electric bed for assisting the user to stand from sitting on the bed. The human-model-based evaluation indexes for sit-stand movement enabled us to set support parameters such as handrail position, bed height, and foot positioning stabilizing the user and reducing the ...<more>
- Vol.21 No.3 pp. 342-352 (June 2009)
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Takayuki Ubukata, Shinya Kotosaka, and Hideyuki Ohtaki
Abstract: Synchronous motion is one of the important ability for the co-operation work by human. The focus of our research is to develop a robust and adaptive synchronous trajectory generation method for the robot. To be able to follow the uncertain action by human co-worker, the trajectory generation method must be required adaptability to frequency and phase o...<more>
- Vol.21 No.2 pp. 172-178 (April 2009)
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Fumihiro Inoue
Abstract: This paper describes a movable arch roof with external panels as an actual design of an adaptive structure using a VGT (Variable Geometry Truss) mechanism comprising an elementary truss structure with extendable members. This movable arch structure comprises several VGT units jointed in series and pin jointed at each end. It is a stable structure because...<more>
- Vol.21 No.2 pp. 229-235 (April 2009)
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On-Chip Droplet Dispensing by a Magnetically Driven Microtool
Yoko Yamanishi, Yuki Kihara, Shinya Sakuma, and Fumihito Arai
Abstract: We have investigated an active size controlled droplet generation system by using magnetically driven microtool (MMT). With a lateral motion of the MMT in microchannels, the continuous phase can be pinched off by the movement of MMT to obtain size-controlled droplets actively. With this method particle-enclosed droplet can be produced on demand to fit t...<more>
- Vol.21 No.1 pp. 135-145 (February 2009)
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Masao Sugi, Ippei Matsumura, Yusuke Tamura,
Makoto Nikaido, Jun Ota, Tamio Arai, Kiyoshi Kotani,
Kiyoshi Takamasu, Hiromasa Suzuki, Akio Yamamoto,
Yoichi Sato, Seiichi Shin, and Fumihiko KimuraAbstract: The attentive workbench (AWB) is a new cell production system that supports human workers physically and informationally. Here we focus on physical assembly support through parts delivery, using automatically-moving parts trays. We quantitatively evaluated processing time in actual assembly experiments employing an implemented AWB system....<more>
- Vol.21 No.1 pp. 20-27 (February 2009)
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Development of MRI Compatible Manipulandum for Hand and Arm Movement
Toshiyuki Aodai and Shigeki Toyama
Abstract: The paper subscribes development of Magnetic Resonance Imaging (MRI) compatible using an ultrasonic motor, to work within the limits of MRI scanner workspace and environment, dimensions involving upper-limbs biomechanics. The manipulandum consists of hand mechanism and an arm-reaching mechanism having a two-degree-freedom (2DOF) haptic interface enabli...<more>
- Vol.21 No.1 pp. 74-80 (February 2009)
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Toshiaki Horie and Satoshi Konishi
Abstract: The present paper introduces a stepwise locomotion of a micro robot using the shear displacement of a deformable object by a pneumatic suction device. We consider a locomotion function of a micro robot for medical application. A medical micro robot introduced into the abdominal cavity has been investigated as an extension of endoscopic technology. A micr...<more>
JACIII Editor’s Choice 2009 (Vol.13)
- Vol.13 No.6 pp. 615-623 (November 2009)
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About Profit Sharing Considering Infatuate Actions
Wataru Uemura
Abstract: In reinforcement learning systems based on trial-and error, the agent, that is the subject or the system that perceives its environment and takes actions which maximize its chances of success, is rewarded when it attains the target level of learning of the learning exercise. In Profit Sharing, the reinforcement learning process is pursued for the accumu...<more>
- Vol.13 No.6 pp. 649-657 (November 2009)
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Information Theoretic Approach for Measuring Interaction in Multiagent Domain
Sachiyo Arai and Yoshihisa Ishigaki
Abstract: Although a large number of reinforcement learning algorithms have been proposed for the generation of cooperative behaviors, the question of how to evaluate mutual benefit or loss among them is still open. As far as we know, an emerged behavior is regarded as a cooperative behavior when embedded agents have finally achieved their global goal, regardless...<more>
- Vol.13 No.4 pp. 352-359 (July 2009)
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Shusaku Nomura and Yasuo Kudo
Abstract: This study aims at an application of rough set theory to illustrate the relationship between human psychological and physiological states. Recent behavioral medicine studies have revealed that various human secretory substances change according to mental states. These substances, the hormones and immune substances, show temporal increase against mental ...<more>
- Vol.13 No.4 pp. 373-379 (July 2009)
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Multiobjective Random Fuzzy Linear Programming Problems Based on the Possibility Maximization Model
Takashi Hasuike, Hideki Katagiri, and Hiroaki Ishii
Abstract: Two multiobjective random fuzzy programming problems considered based on the possibility maximization model using possibilistic and stochastic programming are not initially well defined due to the random variables and fuzzy numbers included. To solve them analytically, probability criteria are set for objective functions and chance constraints are intro...<more>
- Vol.13 No.3 pp. 185-192 (May 2009)
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Operation Planning of District Heating and Cooling Plants Considering Contract Violation Penalties
Kosuke Kato, Masatoshi Sakawa, Keiichi Ishimaru, and Satoshi Ushiro
Abstract: Urban district heating and cooling (DHC) systems operate large freezers, heat exchangers, and boilers to stably and economically supply hot and cold water, steam, etc., based on customer demand. We formulate an operation-planning problem as a nonlinear integer programming problem for an actual DHC plant. To reflect actual decision making appropriately, ...<more>
- Vol.13 No.3 pp. 262-267 (May 2009)
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A Normative Approach to Fuzzy Logic Reasoning Using Residual Implications
Yahachiro Tsukamoto
Abstract: Logical problems with fuzzy implications have been investigated minutely (Baczynski and Jayaram [1]). Considering some of the normative criteria to be met by generalized modus ponens, we have formulated a method of fuzzy reasoning based on residual implication. Among these criteria, the specificity possessed by the conclusion deduced by generaliz...<more>