A Symbolic Construction Work Flow Based on State Transition Analysis Using Simplified Primitive Static States

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>

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Alexander S. Boxerbaum, Matthew A. Klein, Jeffery E. Kline,
Stuart C. Burgess, Roger D. Quinn, Richard Harkins,
and Ravi Vaidyanathan

Abstract: 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>

A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles

Wanchao Chi, Kin Huat Low, Kay Hiang Hoon,
Johnson Tang, and Tiauw Hiong Go

Abstract: 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>

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>

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 Fukuda

Abstract: 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>

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 Hirose

Abstract: 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>

Creating Attraction for Technical Education Material and its Educational Benefit (Development of Robotic Education Material Characterized by 3D CAD/CAM and Compact Stereo Vision)

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>

Enhancing Student Engineering, Personal, and Interpersonal Skills Through Yumekobo Projects

Kosei Demura, Takumi Sakamoto, Yasuki Asano,
and Masakatsu Matsuishi

Abstract: 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>

Educating Robot Development in a University Laboratory from First Year – A Trial of a Robotics Club Under Observation at a Laboratory –

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>

Education Method of Robotics with Jigsaw Method by Using RT Component

Yasuo Hayashibara, Shinya Kotosaka, Naomi Miyake,
and Tomomasa Sato

Abstract: 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>

Range Estimation Technique Using Received Signal Strength Indication on Low Frequency Waves

Kenichi Ohara, Yuji Abe, Tomohito Takubo,
Yasushi Mae, Tamio Tanikawa, and Tatsuo Arai

Abstract: 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>

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 Ohba

Abstract: 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>

Software Deployment Infrastructure for Component Based RT-Systems

Noriaki Ando, Shinji Kurihara, Geoffrey Biggs,
Takeshi Sakamoto, Hiroyuki Nakamoto,
and Tetsuo Kotoku

Abstract: 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>

Automatic Cell Cutting by High-Precision Microfluidic Control

Akihiko Ichikawa, Tamio Tanikawa, Satoshi Akagi,
and Kohtaro Ohba

Abstract: 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>

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 Arai

Abstract: 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>

Nanoliters Discharge/Suction by Thermoresponsive Polymer Actuated Probe and Applied for Single Cell Manipulation

Masaru Takeuchi, Masahiro Nakajima, Masaru Kojima,
and Toshio Fukuda

Abstract: 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>

Electric Wheelchair Controlled by Human Body Motion -Classification of Body Motion and Improvement of Control Method-

Sho Yokota, Hiroshi Hashimoto, Yasuhiro Ohyama,
and Jinhua She

Abstract: 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>

Automatic Counting Robot Development Supporting Qualitative Asbestos Analysis -Asbestos, Air Bubbles, and Particles Classification Using Machine Learning-

Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata,
Hajime Asama, Taketoshi Mishima,
and Hiroshi Mizoguchi

Abstract: 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>

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>

Development of a Robot Balanced on a Ball - First Report, Implementation of the Robot and Basic Control -

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>

Design and Fabrication of All-in-One Unified Microfluidic Chip for Automation of Embryonic Cell Manipulation

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 Matsukawa

Abstract: 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>

Development of a Pneumatic Surgical Manipulator IBIS IV

Kotaro Tadano, Kenji Kawashima, Kazuyuki Kojima,
and Naofumi Tanaka

Abstract: 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>

Development of Dismantling Robot for Ceiling Boards - Human-Robot Cooperative System and System Design of the Robot -

Satoshi Ashizawa, Yusuke Kuromiya, Toshiya Watanabe,
Takeo Oomichi, and Junichiro Maeda

Abstract: 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>

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>

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>

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>

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>

Velocity and Acceleration Estimation by a Nonlinear Filter Based on Sliding Mode and Application to Control System

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>

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>

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 ...<more>

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>

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>

Trajectory Generation for Adaptive Motion by Phase Feedback - Synchronization of Multicycle Human Movement -

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>

A Study on Adaptive Arch Structure Applying Variable Geometry Truss (Mechanism of Movable Arch Roof with External Panel)

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>

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>

Quantitative Evaluation of Automatic Parts Delivery in “Attentive Workbench” Supporting Workers in Cell Production

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 Kimura

Abstract: 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>

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>

Stepwise Locomotion on a Deformable Surface Using Shear Displacement Produced by a Pneumatic Suction Device

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>