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Journal of Robotics and Mechatronics
| ISSN : | 0915-3942(Print) / 1883-8049(Online) |
|---|---|
| DOI : | 10.20965/jrm.issn.1883-8049 |
| Editors-in-Chief : | Koichi Osuka (Osaka University) |
| Deputy Editors-in-Chief : | Takayuki Tanaka (Hokkaido University) |
| Akio Namiki (Chiba University) |
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- JRM Vol.37 No.6 (Dec. 2025)
Special Issue on “Hands-on STEM/STEAM Education” - Call for Papers
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2024-12-19T15:09:51+0000
Vol.10 (1998)
No.6
(Dec)
Special Issue on Analysis and Simulation Systems for Robotics and Mechatronics
Special Issue on Analysis and Simulation Systems for Robotics and Mechatronics
| Editorial: | p. 463 | |
| Analysis and Simulation Systems for Robotics and Mechatronics |
| |
| Haruhisa Kawasaki | ||
| Superior analysis and simulation systems play an important part in robotics and mechatronics R&D. Developing apparatuses involves repeating planning, trial manufacture, experiments, analysis, and improvement. Simulation and analysis are now executed before trial manufacture, decreasing the number of trial manufacture, shortening development, and cutting development cost. Virtual reality is often applied to simulation, and commercialization without trial manufactures will eventually be possible. Most commercialized simulation software are being improved for general use based on software made by researchers because existing analysis and simulation do not function sufficiently and researchers are often required to develop their own analysis and simulation. Simulation developed for research thus may be used by many technical experts and researchers in the future. This special issue introduces seven reports on basic mechanism analysis developed to survey simulation research. Michisuke Jo et al. developed a mechanism kinetic analysis Motor Drive using FORTRAN and MATLAB. This article, entitled Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory, considers kinematic analysis method using the latest drive version. Haruhisa Kawasaki et al. are developing robot analysis ROSAM II using C and Maple V. This article, entitled Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis, considers base parameter analysis of general robots with closed links. Hajime Morikawa et al. developed a robot simulator kinematically simulated by connecting graphic icons. This article, entitled Network-Based Robot Simulator Using Hierarchical Graphic Icons, considers construction of a robot simulator, kinetic analysis of multiple robot arms, dynamic analysis of forest trimmers, and an example applying remote control to space robots. Shigeki Toyama et al. developed general-use mechanism analysis simulator AI MOTION. This article, entitled Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis, considers an autonomous car travel simulator dynamically modeling tires combined into AI MOTION. The simulator ana...<more> | ||
| Paper: | pp. 464-474 | ||
| Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory |
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| Michisuke Jo and Tomoyoshi Sasaki |
| Paper: | pp. 475-481 | ||
| Symbolic Analysis of Robot Base Parameter Set Using Grobner-Basis |
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| Harushisa Kawasaki and Toshimi Shimizu |
| Paper: | pp. 482-487 | ||
| Network-Based Robot Simulator Using Hierarchical Graphic Icons |
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| Hajime Morikawa and Nobuaki Takanashi |
| Paper: | pp. 488-493 | ||
| Dynamic Autonomous Car Mobile Analysis Simulating Mechanical Systems Analysis – First Dynamic Characteristics of Running Mouse – |
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| Shigeki Toyama and Yasuo Murakuki |
| Paper: | pp. 494-498 | ||
| Software Package BDSP Developed to Simulate Hydraulic Systems |
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| Takayoshi Muto, Junji Fukumori, Akio Seko and Hironao Yamada |
| Paper: | pp. 499-504 | ||
| Development of 2-D Jaw Movement Simulator (JSN/S1) |
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| Shin-ichi Nakajima, Toyohiko Hayashi and Hiroshi Kobayashi |
| Paper: | pp. 505-514 | ||
| Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor |
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| Yoshiyuki Sankai, Tetsuya Nii and Shinichi Kariya |
| Paper: | pp. 515-520 | ||
| Sketching for Porcelain Using Image Processing |
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| Kazuhiko Shiranita, Kenichiro Hayashi and Akifumi Otsubo |
| Paper: | pp. 521-527 | ||
| Evaluation of Picture-taking System for Railway Vision |
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| Hiroshi Sasama |
| Paper: | pp. 528-532 | ||
| Optopneumatic Interface for Controlling Pneumatic Power Circuits |
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| Guido Belforte and Gabriella Eula |
| Development Report: | pp. 533-537 | ||
| Device Developed to Measure Drive Roller |
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| Hisaya Tanaka, Nobuyuki Sudo and Hideto Ide |
| Paper: | pp. 538-541 | ||
| Unattended Production Based on Cooperation between Offline and Online Robots |
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| Hong-Zhi Yang, Kazuo Yamafuji, Kouichiro Arita and Naoki Ohara |
Regular Papers
| News: | pp. 542-543 | ||
| Human Support Technology Division |
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| Satoshi Hashino and Keiko Homma |
No.5
(Oct)
Special Issue on Complex Systems in Robotics (2)
Special Issue on Complex Systems in Robotics (2)
| Paper: | pp. 377-386 | ||
| Mobile Operations Performed by Mobile Manipulators on Irregular Terrain - Torque Compensation Using Neural Networks for Disturbance Torques Produced by Irregular Terrain - |
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| Mamoru Minami, Masatoshi Hatano and Toshiyuki Asakura |
| Paper: | pp. 387-393 | ||
| Acquiring Behavioral Rules for Action-Based Robot Environments |
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| Koji Yamada, Satoshi Endo and Hayao Miyagi |
| Paper: | pp. 394-399 | ||
| Applying Vibrational Potential Method to Shop Scheduling Problems |
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| Ibrahim Kebbe, Hiroshi Yokoi and Yukinori Kakazu |
| Paper: | pp. 400-406 | ||
| Multilegged Vehicle Using Multireactive Agent |
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| Kensuke Takita, Hiroshi Yokoi and Yukinori Kakazu |
| Paper: | pp. 407-412 | ||
| Navigation for a Behavior-Based Autonomous Mobile Robot |
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| Kazumi Oikawa and Takeshi Tsuchiya |
| Paper: | pp. 413-417 | ||
| Autonomous Vehicle Navigation Behavior Generation by Reinforcement Learning |
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| Keitaro Naruse and Yukinori Kakazu and Ming C. Leu |
| Paper: | pp. 418-423 | ||
| A Framework for Evolution of Computer Systems on the Fly |
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| Norberto Eiji Nawa and Takeshi Furuhashi |
| Paper: | pp. 424-430 | ||
| Chaotic Evolutionary Parallel Computation on Intelligent Agents |
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| Naoki Kohata, Toru Yamaguchi, Takanobu Baba and Hideki Hashimoto |
| Paper: | pp. 431-438 | ||
| GA-Based Q-CMAC Applied to Airship Evasion Problem |
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| Yuka Akisato, Keiji Suzuki, and Azuma Ohuchi |
| Paper: | pp. 439-444 | ||
| Self-Tuning Neuro-PID for Stabilization of Double Inverted Pendulum |
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| Yoshiyuki Kishida, Sigeru Omatu and Michifumi Yoshioka |
| Paper: | pp. 445-449 | ||
| Consideration of Local Wind Energy |
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| Kouki Yamaji, Takaaki Hashimoto, Shoushi Inoue, and Yutaka Konishi |
| Paper: | pp. 450-454 | ||
| Deformation of Windmill Support and Operation |
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| Kouki Yamaji, Shoushi Inoue, Terumi Yamamoto, Yutaka Konishi and Takaaki Hashimoto |
| Paper: | pp. 455-461 | ||
| Evaluation of Slit Light System for Objects with Metallic Reflection and Application to Iron Wheels |
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| Hiroshi Sasama |
No.4
(Aug)
Special Issue on Complex Systems in Robotics (1)
Special Issue on Complex Systems in Robotics (1)
| Editorial: | p. 283 | |
| Complex Systems in Robotics |
| |
| Sadayoshi Mikami, and Mitsuo Wada | ||
| The Really "intelligent" robots predicted by science fiction have yet to appear, and robotics research seems to have reached a wall in dealing with the real-world environment. The robot is a unique device that it interfaces directly with the environments, including humans, machines, and nature. The world is very complex and changes dynamically. Robotic research must thus consider how to deal with such dynamcal complex world by means of machines. Our special issues on the complex systems in robotics introduce current representative approaches and attempts to answer these questions. The approach from a complex system point of view deals with new directions in robotics, for the above reasons and provides ways to view things dynamically, in a way that goes beyond traditional static control laws and rules. As these issues show approaches are divergent and ongoing. Modeling and forecasting the world is not haphazard. If requires direction. Even robots that navigate traffic, for example, must have a model to forecast unknown dynamics. Human interfacing requires far more difficult approaches than we take now. Recent developments in theory of chaos and non-linear predictions are expected to provide ways to enable these approaches. Robot interaction with the environment is one of the fundamental characteristics robots, and any interaction incorporates underlying dynamics; even robot-to-robot interaction exhibits deterministic dynamics. We will see how to deal with such complex phenomena through the articles predicting chaotic time series in these issues. Very rapid adaptation to the world is another way of coping using a brute-force approach. Reinforcement learning is a promising tool for working in a complex unknown environment. Learning robots affect both their environment and other robots. This is the situation in which we must think of the emergence of complexity. This may provide a rich source of possible tasks, and we must consider its dynamic nature of it. Many interesting phenomena are shown in the papers we present, applying reinforcement learning in multi-robots, for example. Finding good solutions wherever possible is a r...<more> | ||
| Paper: | pp. 284-288 | ||
| Generation Method of Evaluation for a Robot Considering Relations with Other Robots |
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| Kazuya Ohkawa, Takanori Shibata and Kazuo Tanie |
| Paper: | pp. 289-294 | ||
| TD Learning with Neural Networks |
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| Norio Baba |
| Paper: | pp. 295-300 | ||
| Position Estimation of Vehicle Using GPS Data and Internal Sensor Data |
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| Toshihiro Aono |
| Paper: | pp. 301-304 | ||
| Chaotic Short-Term Prediction to Water Flow into Hydroelectric Power Stations |
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| Masaya Koyama and Tadashi lokibe |
| Paper: | pp. 305-310 | ||
| Chaos Universal Learning Network Clustering Control |
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| Kotaro Hirasawa, Junichiro Misawa, Jinglu Hu, Junichi Murata, Masanao Ohbayashi and Yurio Eki |
| Paper: | pp. 311-314 | ||
| Robotic Mind -Subjectivity & Objectivity- |
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| Tetsuro Yabuta |
| Paper: | pp. 315-325 | ||
| Set Representation Using Schemata and its Constructing Method from Population in GA |
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| Naohiko Hanajima, Mitsuhisa Yamashita and Hiromitsu Hikita |
| Paper: | pp. 326-332 | ||
| Autonomous Mobile Robot Behavior Control Using Immune Network |
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| Yuji Watanabe, Akio Ishiguro and Yoshiki Uchikawa |
| Paper: | pp. 333-337 | ||
| Kinematic Description of Self-Organized Leg Motion Transition in Human Locomotion Learning |
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| Takashi Yokoi, Akihiko Takahashi and Tomohiro Kizuka |
| Paper: | pp. 338-349 | ||
| Sensory Network for Mobile Robotic Systems with Structured Intelligence |
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| Naoyuki Kubota and Toshio Fukuda |
| Paper: | pp. 350-357 | ||
| Logistic Chaos Protects Evolution against Environment Noise |
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| Masao Kubo, Akihiro Yamaguchi, Sadayoshi Mikami and Mitsuo Wada |
| Paper: | pp. 358-363 | ||
| Velocity Measurement for Planar Motions of Machines Using the LM Measuring Device |
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| Hua Qiu |
| Paper: | pp. 364-369 | ||
| Collision-Free Trajectory Planning for a Two-Dimensional Mobile Robot by Optimizing Continuous Curves |
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| Hiroaki Ozaki and Chang-jun Lin |
| Paper: | pp. 370-376 | ||
| Design Analysis of a Pneumatic Force Control Servosystem with Pressure Proportional Valve |
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| Massimo Sorli and Alessandro Vigliani |
No.3
(Jun)
Special Issue on Handling of Flexible Object
Special Issue on Handling of Flexible Object
| Editorial: | pp. 167-169 | |
| Handling of Flexible Object |
| |
| Masaru Nakazawa | ||
| It is difficult to introduce highly versatile automation using robots to handling deformable objects such as thread, cloth, wire, long beams, and thin plates in plant production processes, compared to the handling of rigid objects. Office equipment handles deformable objects such as paper and plastic. Problems unique to these objects is caused by speeding up such equipment and demand for upgrading its accuracy. In agriculture and medical care, automatic, intelligent handling of deformable objects such as fruit and animals has long been desired and practical systems sought. Deformable objects whose handling should be versatiley and accurately automated are classified into two groups based on handling: (A) Flexible, mostly thin, fine objects capable of elastic deformation (B) Soft objects easily crushed, such as soft fruits or animals The problem in handling the first group is controlling object deformation of an infinite degree of freedom with a finite number of manipulated variables. In contrast, a significant problem in handling the second group is often how to handle them without exerting excessive stress and how to handle them safely and reliably. The handling of these two groups differ greatly in mechanics and control theory, and this special issue focuses on the first group — flexible objects — mechanical collection and transport studies, control, and software. Recent studies on their handling are classified into four groups for convenience based on handled objects and types of handling task: (a) Control of deformation, internal force, and vibration or path planning of flexible objects (mainly thin plates and beams) using single or multiple manipulators. (b) Task understanding in insertion of elastic into rigid parts and vice versa, and the study of human skills to help robots accomplish these task. (c) Approaches on improved accuracy, intelligent control, and vibration damping in handling and transfer of sheets and strings with low flexural rigidity, represented by paper or wire. (d) Strategies for grasping and unfolding sheets such as cloth whose flexural rigidity is almost nil. For (a), studies are acti...<more> | ||
| Paper: | pp. 170-177 | ||
| Manipulation of Sheet Metal by Multiple Robots |
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| Kazuhiro Kosuge, Hidehiro Yoshida, Toshio Fukuda, Kiyoshi Kanitani and Masaru Sakai |
| Paper: | pp. 178-183 | ||
| Optimal Path Planning for Flexible Plate Handling Using an n-Link Manipulator |
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| Fumitoshi Matsuno |
| Paper: | pp. 184-190 | ||
| Deformation Control of Elastic Object by Robot Arm - High-Precision Deformation Control by Adaptive Feed-forward Control - |
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| Hiroyuki Kojima, Masakazu Kamei and Tsuneo Akuto |
| Paper: | pp. 191-196 | ||
| Cylinder Insertion into Hole of Flexible Rubber Plate - Insertion Force Related to Position and Posture of Cylinder - |
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| Akas Sureng Brata, Keiji Sasaki and Shigeyuki Shimachi |
| Paper: | pp. 197-202 | ||
| Cylinder Insertion into Hole of Flexible Rubber Plate - Path Search for Local Minimum Insertion Force by Shifting Fitted Zone Regression - |
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| Keiji Sasaki, Akas Sureng Brata and Shigeyuki Shimachi |
| Paper: | pp. 203-208 | ||
| Task Understanding for the Beam-in-Hole Task with Initial One-Point Contact |
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| Fumitoshi Matsuno and Motohiro Kisoi |
| Paper: | pp. 209-213 | ||
| Transferring Human Motion to Mechanical Manipulator in Insertion of Deformable Tubes |
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| Shinichi Hirai |
| Paper: | pp. 214-220 | ||
| Sheet Sticking and Jamming Caused by Creases and Curling |
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| Kazushi Yoshida, Noriaki Hagiwara and Masaaki Aida |
| Paper: | pp. 221-228 | ||
| Study on Single Sheet Separation from Stacked Flexible Sheets |
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| Masaru Nakazawa, Takashi Kawamura and Hirotaka Ishikawa |
| Paper: | pp. 229-234 | ||
| Long-Distance Optical Fiber Cable Installation System Using Automatic Control Puller |
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| Takenori Morimitsu and Masao Terasawa |
| Paper: | pp. 235-243 | ||
| Unfolding Folded Fabric Using Outline Information with Vision and Touch Sensors |
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| Eiichi Ono, Nobuyuki Kita and Shigeyuki Sakane |
| Paper: | pp. 244-251 | ||
| Planning Strategy for Task Untangling Laundry - Isolating Clothes from a Washed Mass - |
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| Kyoko Hamajima and Masayoshi Kakikura |
| Paper: | pp. 252-257 | ||
| Service Robot for Housekeeping - Clothing Handling - |
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| Takashi Kabaya and Masayoshi Kakikura |
| Paper: | pp. 258-263 | ||
| The Influence of Environmental Conditions on Automated Fabric Handling |
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| Paul M. Taylor, Didier M. Pollet and Paul J. W. Abbott |
| Paper: | pp. 266-271 | ||
| Emotion Analysis using FST |
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| Hisaya Tanaka, Hideto Ide and Yuji Nagashima |
| Paper: | pp. 272-277 | ||
| Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer |
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| Hiroyuki Kojima, Toshihilo Hashimoto and Sadao Shimoyama |
| Paper: | pp. 278-282 | ||
| Development of Oxygen Sensor Using Fiber-optics Coupler |
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| Eiji Toba, Masahiro Ichikawa, Junji Kazama, Toyonori Nishimatsu and Hiroaki Aizawa |
No.2
(Apr)
Special Issue on Robotics and Mechatronics for Fusion Experimental Reactor (ITER)
Special Issue on Robotics and Mechatronics for Fusion Experimental Reactor (ITER)
| Editorial: | pp. 69-70 | |
| Robotics and Mechatronics for Fusion Experimental Reactor (ITER) |
| |
| Eisuke Tada | ||
| Engineering design activities (EDA) demonstrating the science and technology for the International Thermonuclear Experimental Reactor (ITER), are being conducted based on the four-party international collaboration of Japan (JA), the U.S.A (US), Europe (EU), and Russia (RF). EDA basically concerns engineering design required for ITER construction and technical development confirming design feasibility. In engineering R&D design, the central role is being played by an International Joint Design Team (JCT) consisting of scientists and engineers from the four parties, conducting work on detailed component design, buildings and plant facilities design, safety analysis and evaluation, and comprehensive overall system design. In engineering R&D, whose final objective is to demonstrate engineering technology necessary for ITER construction, a wide variety of technical development ranging from data acquisition on material characteristics to verification of system performance is being conducted through equal participation of the four parties. Because of the importance of principal ITER components, such as superconducting coils, vacuum vessel, in-vessel components such as diverters and blankets, and remote maintenance equipment, a large-scale project has been set up for manufacturing prototypes, including full-scale models, and for demonstrating performance. In-vessel components such as blankets and divertors are exposed radioactivity of 14 MeV neutrons due to DT operation, and therefore must be maintained or replaced remotely. Plansbased on stage-by-stage ITER operation call for shielding blankets to be replaced by blankets for breeding tritium. Diverters require scheduled maintenance and replacement because they are subjected to severe plasma heat and particle loads. For in-vessel components that undergo scheduled maintenance, remote maintenance is an important technical issue that may affect the performance of ITER, so component structures and layout consistent with remote handling receive top priority and will be subjected to remote maintenance demonstration-testing of using full-scale models. Remote ITER maintenance focuses on t...<more> | ||
| Paper: | pp. 71-77 | ||
| Remote Maintenance Development for ITER |
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| Eisuke Tada and Kiyoshi Shibanuma |
| Paper: | pp. 78-87 | ||
| Development of Blanket Remote Maintenance System |
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| Satoshi Kakudate, Masataka Nakahira, Kiyoshi Oka and Kou Taguchi |
| Paper: | pp. 88-95 | ||
| Development of Divertor Remote Maintenance System |
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| Nobukazu Takeda, Kiyoshi Oka, Kentaro Akou and Yuji Takiguchi |
| Development Report: | pp. 96-103 | ||
| Development of ITER In-Vessel Viewing and Metrology Systems |
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| Kenjiro Obara, Satoshi Kakudate, Masataka Nakahira and Akira Ito |
| Development Report: | pp. 104-109 | ||
| Development of Bore Tools for Pipe Welding and Cutting |
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| Kiyoshi Oka, Akira Ito and Yuji Takiguchi |
| Paper: | pp. 110-115 | ||
| Development of Bore Tools for Pipe Inspection |
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| Kiyoshi Oka, Masataka Nakahira, Kou Taguchi and Akira Ito |
| Paper: | pp. 116-120 | ||
| Development of Thick Wall Welding and Cutting Tools for ITER |
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| Masataka Nakahira, Hiroyuki Takahashi, Kentaro Akou and Koichi Koizumi |
| Development Report: | pp. 121-132 | ||
| Development of Radiation Hardness Components for ITER Remote Maintenance |
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| Kenjiro Obara, Satoshi Kakudate, Kiyoshi Oka, Akira Ito, Toshiaki Yagi and Yousuke Morita |
| Paper: | pp. 133-138 | ||
| Development of Standard Components for Remote Handling |
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| Kou Taguchi, Satoshi Kakudate, Masataka Nakahira and Akira Ito |
| Development Report: | pp. 139-145 | ||
| Measurement and Control System for ITER Remote Maintenance Equipment |
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| Kiyoshi Oka, Satoshi Kakudate, Nobukazu Takeda, Yuji Takiguchi and Kentaro Akou |
| News: | p. 146 | ||
| Introduction to Reactor Structure Laboratory - Remote Maintenance Development for ITER - |
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| Eisuke Tada |
| Paper: | pp. 147-153 | ||
| An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments |
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| Yasuhito Oooka, Haruhisa Kawasaki and Nobuhito Takemura |
| Paper: | pp. 154-157 | ||
| Study of Stress Analysis Using Facial Skin Temperature |
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| Hisaya Tanaka and Hideto Ide |
| Paper: | pp. 158-165 | ||
| Simple Adaptive Control of Systems with Bounded Nonlinear Disturbances |
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| Kazuya sato, Keigo Watanabe, Masahiro Oya and Toshihiro Kobayashi |
No.1
(Feb)
Special Issue on Promoting Intellectual Sports
Special Issue on Promoting Intellectual Sports
| Editorial: | p. 1 | |
| Promoting Intellectual Sports |
| |
| Shigeo Hirose | ||
| Are you acquainted with Hackel's hypothesis? Humans evolved over several billion years from simple creatures living in the sea, to quadrupeds, and finally to bipeds. According to the hypothesis of Ernst Heinrich Hackel (1834-1919), the same evolution takes place in eggs in the human birth process; that is, the phylogeny followed by the species reappears in the process of ontogeny. This hypothesis implies a very important suggestion regarding the training of young engineers who will be the support and driving force of the advanced technology society. Humans built a wonderful advanced technology society by accumulating the technologies developed by their predecessors. If this is to continue, what will be the best way of training genuine engineers able to further develop current advanced technologies? Neither top-down desk theory that teaches theories recursively based on experience nor superficial technical skill training designed to enable students to use state-of-the- art technology products can produce really creative engineers. Most important is not such education but the real experience in which students touch an object, designs the object themselves, and complete the object; that is, the process in which students experience for themselves the phylogeny of technology that humans followed in the process of ontogeny as individual engineers. The training of engineers is the most suitable field for applying Hackel's hypothesis. We are living in an age flooded with products that make the most of advanced technology. Most products incorporate advanced technology in the form of a black box, which makes the essence of an object more difficult to understand than in the past. Systematic efforts should be made to introduce a new system in which children experience Hackel's hypothesis without difficulty. One effective measure of achieving this objective is to popularize intellectual sports -- games of making objects that liberate people from the conventional fixed concept of objector product manufacturing synonymous with manufacturing activities, and enables them to unconsciously train their engineering sense by letting them natura...<more> | ||
| Review: | pp. 2-6 | ||
| Introduction of "Intelligent Sport" |
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| Shigeo Hirose |
| Review: | pp. 7-13 | ||
| The Design of Projects and Contests - the Rules of the Game |
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| Rolf Faste and Bernard Roth |
| Review: | pp. 14-17 | ||
| Creative Design I as Practical Education |
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| Hitoshi Tokura |
| Review: | pp. 18-21 | ||
| Of Intelligent Robot Contest and Intelligent Working Mobile Robot Japan Cup |
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| Eiji Nakano |
| Review: | pp. 22-26 | ||
| An Analysis of Contesting Robots - Micro Mouse and Sumo Robots |
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| Chie Kasuga |
| Review: | pp. 27-29 | ||
| ROBOLYMPIA Robot Contest |
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| Toshihiro Tsumura |
| Review: | pp. 30-33 | ||
| RoboCup-97 |
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| Minoru Asada |
| Review: | pp. 34-39 | ||
| Robot contest "Robocon Yamanashi" |
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| Noriaki Kiyohiro, Hiroshi Makino and Hideo Mori |
| Review: | pp. 40-46 | ||
| Machine Design Education to Stimulate Student Imagination and Originality at Department of Mechanical Engineering, Kyushu University |
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| Motoji Yamamoto |
| Review: | pp. 51-55 | ||
| Educational Effects of Robot Contests |
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| Makoto Ami |
| Paper: | pp. 56-61 | ||
| Active Suspension Control of Elastic Car Structure |
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| Yasuhisa Fujisaki, Katsuaki Kodaka, Yasuhumi Kawagou, and Kazuto Seto |
| Paper: | pp. 62-68 | ||
| Estimation of Median-Plane Moving Sound Images by Analytic Hierarchy Process - Headphones - |
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| Manabu Ishihara, Makoto Matsuo and Jun Shirataki |
Vol.9 (1997)
No.6
(Dec)
Special Issue on Emerging Technology in Manufacturing
Special Issue on Emerging Technology in Manufacturing
| Editorial: | p. 419 | |
| Emerging Technology in Manufacturing |
| |
| Yoshimi Takeuchi | ||
| Manufacturing yields value from worthlessness. Thus, in recent years, manufacturing technologies have been undergoing rapid change in order to produce products of high quality, at a low cost and with short lead times. Improvements and innovations, with regard to manufacturing technologies, range from the fundamentals to large-scale systems. Therefore, the guest editor would like to introduce the new manufacturing technology, together with the latest research results. One of the most recent key technologies is the so-called rapid-prototyping technology. It shortens the development period of new products from the design stage. Many rapid-prototyping technologies are being developed concurrently. In this issue, the state of the art is explained clearly by an expert in the field. For mechanical products, manufacturing capabilities are highly dependent upon machine tools. In this issue, there is a research paper concerned with a design method for multi-purpose machine tools that can fabricate a variety of products. Machining efficiency is strongly influenced by the positioning accuracy and feed velocity of the axis movement of the machine tools. A control algorithm that can achieve high speed and accuracy is proposed in a paper in this issue. In order to make the most of NC machine tools, it is essential to provide NC data rapidly However, it is difficult to generate NC data, especially for multi-axis control machine tools capable of machining workpieces with complicated shapes. The development of 6-axis control CAM software for creating sculpted surfaces is reviewed in the issue. Another paper deals with NC data generation for sculpted surface processing using virtual reality. In FA systems, the nature of the programming/execution environment is shifting from a concentrated one to a distributed one, and a worker-friendly manufacturing environment is required for the workers. Two papers are presented for realizing such environments. Recently, ultra-precision machining and micro-machining technologies have been attracting great interest as a result of their ability to produce micro-mechanisms and micro-robots. One paper describe...<more> | ||
| Review: | pp. 420-426 | ||
| Technological Trends of Rapid Tooling by Layer Laminate Manufacturing |
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| Takeo Nakagawa |
| Paper: | pp. 427-433 | ||
| Design and Evaluation of a New-Type Multifunctional Machine Tool - Functional Requirements and Design - |
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| Nobuhiro Sugimura, Shigeru Ueno, Nozomi Mishima and Soichi Hachiga |
| Paper: | pp. 434-438 | ||
| Experimental Assessment for Examination of Curves and Surfaces by Auditory Sense |
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| Hidetomo Takahashi and Satoshi Kanai |
| Paper: | pp. 439-445 | ||
| Development of CAM System Based on Simulation of the Copy Operation - An Application to the Boundary Representation Method and High Efficiency Machining - |
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| Masahide Kohya, Hiroyuki Narahara and Hiroshi Suzuki |
| Paper: | pp. 446-454 | ||
| A Study on Controlling Algorithm to Realize High-Speed & High-Accuracy Control Systems - Proposal of modified Delta Operator - |
|
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| Tatsu Aoki, Yuji Furukawa and Nobuyuki Moronuki |
| Paper: | pp. 455-460 | ||
| A Combined Molecular Dynamics and Rigid-Plastic FEM Simulation of Atomic Level Cutting |
|
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| Keiji Manabe, Manabu Isobe and Kanji Ueda |
| Paper: | pp. 461-467 | ||
| The Programming/Execution Environment for Distributed FA Control Systems (1st Report) - The Design and Implementation of the Glue Logic - |
|
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| Masayuki Takata and Eiji Arai |
| Paper: | pp. 468-474 | ||
| Distributed Anthropocentric FA System - Manufacturing Machine and Human Interface with Intervention Support System - |
|
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| Jie Zhu, Tohru Ihara, Kimihiro Amano and Hiroyuki Hiraoka, |
| Development Report: | pp. 475-479 | ||
| Manufacture of Micropropellers by Means of Ultraprecision Milling Machine |
|
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| Yoshimi Takeuchi, Kiyoshi Sawada and Toshio Sata |
| News: | pp. 480-481 | ||
| Robotics and Computer Integrated Manufacturing System Laboratory |
|
||
| Yoshimi Takeuchi |
| Paper: | pp. 482-489 | ||
| Allocation of Proximity Sensors for Obstacle Detection of a Robot Manipulator |
|
||
| Takahiro Tsuchiya and Ryosuke Masuda |
| Paper: | pp. 490-495 | ||
| 3-D Measurement and Computer Graphics of Huge Rock |
|
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| Kazutaka Fujimoto, Sumio Nagata, Takakazu Ishimatsu |
| Paper: | pp. 496-502 | ||
| Natural Motion Generation of Biped Locomotion Robot using Hierarchical Evolutionary Algorithm in the Various Environments |
|
||
| Takemasa Arakawa and Toshio Fukuda |
| Development Report: | pp. 503-504 | ||
| Computer Interface Device for the Handicapped to Use Head Movement |
|
||
| Osamu Takami, Naoki Irie and Takakazu Ishimatsu |
| Development Report: | pp. 505-511 | ||
| The Study of Topograph Analysis of Somatosensory Evoked Potentials |
|
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| Hisaya Tanaka, Hideto Ide and Yuji Nagashima |
No.5
(Oct)
Regular Papers
Regular Papers
| Editorial: | p. 317 | |
| Honda's Humanoid Leads A New Robotic Century |
| |
| Takayuki Tanaka | ||
| The Honda Humanoid announced in the Nikkei Newspaper December 20, 1996, impressed down not only our generation of the famous animation named “Gundom,” but also professors as a great impulse. I had, through talks with colleagues, assumed that this type of human robot would be realized far in the future. I was given an opportunity to see the real product at a workshop sponsored by the International Robot and Factory Automation Association in February 1997. Representative researchers and students came to this workshop with high expectations and excitement. The Honda Humanoid was presented by Hiroyuki Yoshino, vice president of Honda Motor Co. Ltd. The real product was not exhibited at the workshop but presented through video films. However, it was worthy of being called a “fantastic” humanoid. The Humanoid caused viewers to imagine that it was created part of mankind in the real world. It had lived only in the animation or imaginary world. I was really amazed at the shocking behavior of the Humanoid. This is reality! The Humanoid walks on flat floors, on stairs, and on irregular surface smoothly just like a person. It also changes direction freely. If it is pushed from the front, it moves one leg backward to resist the force applied. It walks dynamically like a person wearing space gear. I got gooseflesh. During a break, I found some people mortified at being “beaten” in the creation of a biped walking robot and also those who were excited by the development. The Honda Humanoid will open a new century of robots, and shows the value of taking up a pioneering challenge. I congratulate the Honda development team and its great achievement! | ||
| Paper: | pp. 318-323 | ||
| Velocity-Based Control of Manipulator/Vehicle System Floating on Water |
|
||
| Hisashi Kajita and Kazuhiro Kosuge |
| Paper: | pp. 324-331 | ||
| An Analysis of Inverse Kinematics of Robot Manipulators using Grobner Basis |
|
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| Toshimi Shimizu and Haruhisa Kawasaki |
| Paper: | pp. 332-340 | ||
| A Learning Control Application for a Pneumatic Manipulator on Impact Motion |
|
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| Ismail Altuncu and Toshiro Noritsugu |
| Paper: | pp. 341-347 | ||
| Micro SCARA Robot for Miniature Parts Assembling |
|
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| Toyomi Miyagawa, Kohei Hori, Yukihisa Hasegawa, Koichi Suzumori and Hajime Sudo |
| Paper: | pp. 348-353 | ||
| Autonomous Mobile Robot System for Long Distance Outdoor Navigation on University Campus |
|
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| Shoichi Maeyama, Akihisa Ohya and Shin'ichi Yuta |
| Paper: | pp. 354-361 | ||
| Development of an Infrared Sensory System with Local Communication Facility for Collision Avoidance of Multiple Mobile Robots |
|
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| Sho’ji Suzuki, Yoshikazu Arai, Shin'ya Kotosaka, Hajime Asama,Hayato Kaetsu and Isao Endo |
| Paper: | pp. 362-372 | ||
| New Design Methodology for RCC Using Elastomer Shear Pads |
|
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| Sangwan Joo, Naotaka Yoshihara, Yasuhiro Masutani, Atsushi Nishikawa and Fumio Miyazaki |
| Paper: | pp. 373-379 | ||
| Simulation Language for Multiple Mobile Robots |
|
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| Yoshinobu Adachi and Masayoshi Kakikura |
| Paper: | pp. 380-386 | ||
| Environment Recognition and Path Planning by Multiple Mobile Robots |
|
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| Toshiyuki Kumaki, Masahito Nakajima and Masayoshi Kakikura |
| Paper: | pp. 387-392 | ||
| Bending and Torsional Vibration Control of a Flexible Structure Using H-infinity Based Approach |
|
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| Indra N. Kar and Kazuto Seto |
| Paper: | pp. 393-397 | ||
| Difference of Solution Regions due to Net Polarity |
|
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| Hiromu Gotanda, Hiroshi Shiratsuchi, Katsuhiro Inoue, and Kousuke Kumamaru |
| Paper: | pp. 398-405 | ||
| Studies on Cardinality of Solutions for Multilayer Nets and a Scaling Method in Hardware Implementations |
|
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| Hiromu Gotanda, Hiroshi Shiratsuchi, Katsuhiro Inoue and Kousuke Kumamaru |
| Paper: | pp. 406-411 | ||
| A Study on Quantification of Weight Sensation by EMG |
|
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| Hisaya Tanaka, Yoshimi Nakazono and Hideto Ide |
| Development Report: | pp. 412-418 | ||
| Study on Non-Contact Hold and Transfer Control of Spherical Magnetic Body by Magnetic Robot Hand with Prototype Gap Sensor System |
|
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| Hiroyuki Kojima, Osamu Itagaki, Toshikazu Okabe, and Toshio Kobayashi |
No.4
(Aug)
Special Issue on Robot with Integrated Locomotion and Manipulation
Special Issue on Robot with Integrated Locomotion and Manipulation
| Editorial: | p. 247 | |
| Robot with Integrated Locomotion and Manipulation |
| |
| Kan Taguchi | ||
| Recently, demand has risen for outdoor robots in architecture, civil engineering, agriculture, fire fighting, or restorations of earthquake disasters. For such cases, robots should have both locomotion and manipulation to work in unknown and unassisted fields. Since robot locomotion and manipulation have been researched independently, robots with integrated locomotion and manipulation are anticipated. However, problems involve the cooperative control of locomotor and manipulators or their integrated mechanisms. In January 1994, the Robotics Society of Japan set up an integrated locomotion and manipulation robot research committee whose aim is identify different aspects of such robots, such as analysis and synthesis of mechanisms, control theory for integrated locomotion and manipulation, and actual on-job applications. The Committee includes researchers from industry, government laboratories, and academia, who have discussed the possibilities of new type robots. The Committee organized sessions such as "Robots with Integrated Locomotion and Manipulations" in the 12th (1994) to 14th (1996) annual conferences of the Robotics Society of Japan and "Integrated Locomotion & Manipulation" in International Robotics Symposium IROS96. A special issue of "Integrated Locomotion and Manipulation" for the Journal of the Robotics Society of Japan was compiled and published in November 1995 by the Committee. In November 1996, the Committee handed in its final report to the Society and adjourned. The final report is in Japanese. As a Committee member, I have wanted to introduce some of the Final Report in English. Fortunately, the editors of the Journal of Robotics and Mechatronics have given me the opportunity to publish these reports in a special issue. Other Committee members have agreed to contribute as well. I thank the Committee -- especially Chairman Dr. Tatsuo Arai (MEL), who encouraged me in writing this article. Special thanks go to Prof. Yamafuji, who introduced me to the editors who gave me the chance to publish this article. | ||
| Review: | pp. 248-250 | ||
| Promises and Problems of Locomotion and Manipulation Integrated Robot |
|
||
| Kan Taguchi |
| Review: | pp. 251-255 | ||
| Robots with Integrated Locomotion and Manipulation and Their Future |
|
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| Tatsuo Arai |
| Paper: | pp. 256-261 | ||
| Mobile Robot in the Clean Room - SEL-CARRY ACE - |
|
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| Masanori Onishi |
| Paper: | pp. 262-266 | ||
| Control Strategy for Mobile Manipulators |
|
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| Hisashi Osumi and Eisuke Konishi |
| Paper: | pp. 267-274 | ||
| Three-Dimensional Stability Criterion of Integrated Locomotion and Manipulation |
|
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| Kan Yoneda and Shigeo Hirose |
| Paper: | pp. 275-282 | ||
| Development of the Intelligent Mobile Robot for Service Use Report 1: Environmental-Adjustable Autonomous Locomotion Control System |
|
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| Takayuki Tanaka, Kazuo Yamafuji and Hidenori Takahashi |
| Paper: | pp. 283-286 | ||
| Position Control of a Manipulator on PWS-type Locomotor |
|
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| Kan Taguchi, Hiroyuki Handa and Kazuo Yamafuji |
| Paper: | pp. 287-292 | ||
| Farming Robots |
|
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| Junichi Sato |
| Development Report: | pp. 293-298 | ||
| Development of a Construction Robot for Marking on Ceiling Boards |
|
||
| Kouetsu Tanaka, Makoto Kajitani, Chisato Kanamori and Yasunori Abe |
| Development Report: | pp. 299-303 | ||
| Soft Computing with New Physical Measure of Controllability for Intelligent Control of the Two-Link Manipulator (1st Report: Study of Free Motion of Nonlinear Control Object) |
|
||
| Viktor S. Ulyanov, Kazuo Yamafuji, Sergei V. Ulyanov, Ludmila V. Litvintseva, and Kan Taguchi |
| Paper: | pp. 304-309 | ||
| Intrinsically Safe Pneumatic Amplifier for Mechatronic Systems |
|
||
| G. Belforte, G. Eula, A. Ivanov, A. Manuello Bertetto and V. Viktorov |
| Paper: | pp. 310-316 | ||
| Automapping by Autonomous Mobile Robot using Ultrasonic Range Sensor |
|
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| Shogo Kimura, Hisaya Tanaka and Hideto Ide |
No.3
(Jun)
Special Issue on Element Technology for VR
Special Issue on Element Technology for VR
| Editorial: | pp. 169-170 | |
| Element Technology for VR |
| |
| Hisato Kobayashi | ||
| The most common means for sending and receiving information is language. It is often difficult, however, to represent information in linguistic symbols or determine what the communicator really means. It is natural to feel more comfortable with information received directly through sensory organs such as the eyes or skin. Conventionally, most then coded information was received via media. When television appeared in the latter half of the 20th century. Non coded information was first distributed to individual households. Critics warned that the Japanese would be made a nation of fools by the now technology. Certainly, releasing the human brain from coding work may cause it to lose some acuity, but however, no remarkable side effects of television have been found. Virtual reality (VR) encourages non coded information to be directly used. VR technology has drawn increased attention for several years, but only its convenience has been emphasized, and not its side effects. The only exception is the Sony head-mount game display, whose use is prohibited by small children. Since this product is the only one that has the possibility of becoming popular in the general household, considerations have been given to possible side effects. Taking the above into account, VR technology is still in its infancy, unlike television when it appeared, and there is no sign VR will spread to individual households. Conversely, VR technology has sufficient room to grow until its side effect can be discussed seriously. VR technology is very attractive. Many cannot imagine a life without television. In the same way, they will not be able to imagine life without VR in the future. In any case, VR technology should be developed positively and fully, and any side effects resolved sa a matter of course. The five human senses are visual, aural, olfactory, taste, and tactile. For the visual sense, almost all two-dimensional problems have been solved, and for the aural sense, almost all problems, including stereos, have been solved. The olfactory and taste senses are still not solved and it is difficult to reproduce them from the viewpoint of engineering. T...<more> | ||
| Paper: | pp. 171-176 | ||
| 20 DOF Five Fingered Glove Type Haptic Interface - Sensor Glove II - |
|
||
| Toshio Kitada, Yasuharu Kunii and Hideki Hashimoto |
| Paper: | pp. 177-184 | ||
| Space Interface Device for Artificial Reality – SPIDAR – |
|
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| Makoto Sato, Yukihiro Hirata and Hiroshi Kawarada |
| Paper: | pp. 185-192 | ||
| Application of Surface Display into Shape Forming Task |
|
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| Koichi Hirota, Jun Saito and Michitaka Hirose |
| Paper: | pp. 193-196 | ||
| Media Heavy Industries |
|
||
| Michitaka Hirose |
| Paper: | pp. 197-202 | ||
| A Study on Tele-Existence of the Tactile Sense |
|
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| Tohru Ifukube |
| Paper: | pp. 203-207 | ||
| Application of Artificial Reality in Manufacturing Industry |
|
||
| Masanori Igoshi |
| Paper: | pp. 208-212 | ||
| Recognition by Inconsistent Information from Visual and Haptic Interface |
|
||
| Yukio Fukui, Makoto Shimojo and Juli Yamashita |
| Paper: | pp. 213-219 | ||
| A Virtual Work Space for Both Hands Operations |
|
||
| Masahiro Ishii, Motohiro Swawatari and Makoto Sato |
| Paper: | pp. 220-230 | ||
| Design and Evaluation of a Visual Display with a Sensation of Presence in Tele-existence System |
|
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| Susumu Tachi and Hirohiko Arai |
| Paper: | pp. 231-238 | ||
| Active Visual Feedback Control of Robot Manipulator |
|
||
| Wei-Yun Yau and Han Wang |
| Paper: | pp. 239-242 | ||
| Extraction of Features in EEG |
|
||
| Ichiro Hamamoto, Hisaya Tanaka, Masafumi Uchida and Hideto Ide |
No.2
(Apr)
Special Issue on New Evolution in Vision System
Special Issue on New Evolution in Vision System
| Editorial: | pp. 83-84 | |
| New Evolution in Vision System |
| |
| Masanori Idesawa | ||
| A human being can carry on his activities flexibly in his three-dimensional environment by grasping and judging objects and various situations in the external world through his senses. Of these senses, the visual sense plays the most important role. And almost all the processing of visual information is carried out by the brain, just as the saying, "The eye is a branch of the brain," goes. We see things not with the eye but rather with the brain. The mechanism of information processing inside the brain is an ultimately fine example of an information system, and in recent years, attention has increasingly been paid to the elucidation of this mechanism among information scientists as well as information processing engineers. In the past, studies on the visual function have been carried out and developed energetically by neuro-physiologists and anatomists, as well as by psychologists and psycho-physicists. In recent years, new research techniques and measurement methods have been developed and refined and, so, past knowledge has been corrected or new discoveries made; for this reason, it is now _ cnsidered necessary to carry out studies from new standpoints, including ng information science and other scientific fields. It is desired that automatic systems, such as robots and the like, be also equipped with a visual system corresponding to the human visual sense. Studies on the artificial realization of visual functions and their applications, which started roughly in the latter half of the 1960s, were concerned, at the initial stages, with the reading of characters and figures as pattern recognition and image processing. After that time, various fields of research have been formed and developed, such as image understanding as well as robot vision and computer vision as visual systems for intelligent robots. From about 1985, research called "Shape from X" based on computational vision by Marr1) has been carried out actively. Recently, however, the research in this field has collide with a mysterious wall, and has therefore been somewhat in a stagnant state. For this reason, a new breakthrough is strongly desired jus...<more> | ||
| Review: | pp. 85-91 | ||
| A Study on Visual Mechanism with Optical Illusions |
|
||
| Masanori Idesawa |
| Review: | pp. 92-97 | ||
| 3D Image Media and Computer Vision -From CV as Robot Technology to CV as Media Technology- |
|
||
| Yuichi Ohta |
| Paper: | pp. 98-103 | ||
| Simulation of Depth Interpolation from Surface Boundary in Binocular Viewing |
|
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| Weifu Shi and Masanori Idesawa |
| Paper: | pp. 104-110 | ||
| Direct Interpretation of Dynamic Images and Camera Motion for Visual Servoing Without Image Feature Correspondence |
|
||
| Koichiro Deguchi |
| Paper: | pp. 111-120 | ||
| Saccade Mechanism Based on Processes for Depth Estimation and Incongruity Detection between Binocular Retinal Images – Analysis of Gazing Positions and Inter-saccade Intervals – |
|
||
| Hiroaki Kudo, Kenya Uomori, Mitsuho Yamada, Noboru Ohnishi and Noboru Sugie |
| Paper: | pp. 121-125 | ||
| Volume Perception and a Processing Method of Unpaired Region in Stereo Vision |
|
||
| Tatsuya Iwamoto and Masanori Idesawa |
| Paper: | pp. 126-131 | ||
| Matching of Affine Transformed Images by Using Similarity Based on Local Concentric Features |
|
||
| Atsushi Sakai, Seiji Ujifuku, and Yoshihiko Nomura |
| Letter: | pp. 132-134 | ||
| Some Notes for Anaglyph Stereo Method in the Presentation of Moving Objects |
|
||
| Hitomi Koike and Masanori Idesawa |
| Letter: | pp. 135-139 | ||
| A Corner Detection Using Adaptive Octants Filter |
|
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| Atsushi Sakai and Yoshihiko Nomura |
| Paper: | pp. 140-145 | ||
| Uncertainty Analysis of Three-Dimensional Coordinate Measuring Machines |
|
||
| Jiro Matsuda |
| Paper: | pp. 146-151 | ||
| Emergence and Effectiveness of Communication Interface in a System of Distributed Intelligent Agents |
|
||
| Arvin Agah and George A. Bekey |
| Paper: | pp. 152-159 | ||
| Study on the Control of a Robot with Very Large Number of Freedoms |
|
||
| Shigeru Kurono, Shigeto Aramaki, Yoshikazu Fujino and Takashi Toyofuku |
| Paper: | pp. 160-167 | ||
| Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller |
|
||
| Jun Tang, Keigo Watanabe, and Akira Nomiyama |
No.1
(Feb)
Special Issue on Human Oriented Technology in Robotics and Mechatronics
Special Issue on Human Oriented Technology in Robotics and Mechatronics
| Editorial: | p. 1 | |
| Human Oriented Technology in Robotics and Mechatronics |
| |
| Mitsuo Wada | ||
| As a desire for leeway and richness in human living rises with the twenty-first century close at hand, the following problems are becoming social subjects of discussion; a rapid progress in the coming of the advanced aged society, a large number of women's participation to the society, and the internationalization of our life; a decrease in population of the young generation , an increase in the responsibility of an age of DANKAI (people who were born in a baby boom just after the World War II), and an increase in handicapped people caused by the rising accidents. In such circumstances, the technology that is based on the society and can cope with the various needs result from the transition and diversity of value judgment in our life is requested. This technology includes how to live healthily, how to lead a worthwhile life, how to make the most of spare time, reduction of domestic affairs, prevention of stress, realization of the safe and received social life that occurs no accidents, consideration on a global scale to our environment and so on. Therefore, in point of the human oriented technical development in the fields of robotics and mechatronics, development and realization of the "human friendly", "reliable" technology are greatly expected that considers the mind and the intellect concerning human nature and sociality and especially thinks highly of human individuality. The human oriented technology in robots and machines is a technology to join men ourselves, life and technology at a "mind" level. Its produce a new technological paradigm that changes household products and industrial technology from the usual state of being based on the advanced technological development in property and efficiency to the state of being basd on human life side on the basis of health, safety, convenience, and confort. This special article has been organized from the point of view of such human oriented technology, specially in the field of robotics and mechatronics. I would like to express my thanks to those who have found time in their busy lives to express my thanks to this special article. There are more papers that were presente...<more> | ||
| Review: | pp. 2-6 | ||
| Towards a Mind Based Technology |
|
||
| Mitsuo Wada |
| Paper: | pp. 7-13 | ||
| Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot |
|
||
| Toshiro Noritsugu |
| Paper: | pp. 14-23 | ||
| Evaluation of a New Force Display using Metal Hydride Alloys |
|
||
| Shunji Shimizu, Shuichi Ino, Takeshi Tsuruga, Tohru Ifukube Yuichi Wakisaka and Takashi Izumi |
| Paper: | pp. 24-32 | ||
| A study on Force Feed-back Device Using 6 D.O.F Cartesian Robot (Adaptive control method for human spatial movement) |
|
||
| Hiroshi Yokoi, Yukio Fukui, Juji Yamashita, Makoto Shimojo |
| Paper: | pp. 33-40 | ||
| Safety Materials and Control of Human-Cooperative Robots |
|
||
| Toshio Morita and Shigeki Sugano |
| Paper: | pp. 41-45 | ||
| Individual Identification Using Images of Eyes |
|
||
| Satoshi Tanigawa, Masafumi Uchida and Hideto Ide |
| Paper: | pp. 46-56 | ||
| On Robotic Rescue Facilities for Disastrous Earthquakes -From the Great Hanshin-Awaji (Kobe) Earthquake |
|
||
| Satoshi Tadokoro, Toshi Takamori, Saburo Tsurutani, and Koichi Osuka |
| Paper: | pp. 57-64 | ||
| Learning Control Method for Robotic Dynamical System |
|
||
| Tohru Kumagai, Mitsuo Wada, Sadayoshi Mikami, Ryoichi Hashimoto |
| Paper: | pp. 65-70 | ||
| Evaluation of Human Pain Tolerance and Its Application to Designing Safety Robot Mechanisms for Human-Robot Coexistence |
|
||
| Yoji Yamada |
| Paper: | pp. 71-78 | ||
| Project and Experimentation of a Photoacoustic Cell |
|
||
| G. Belforte, T. Raparelli, V Viktorov, G. Eula, A. Ivanov |
| Letter: | pp. 79-82 | ||
| Pantomime Effect and Sustaining Cues in the Perception of a 3-D Illusory Transparent Object with Binocular Viewing |
|
||
| Qi Zhang, Masanori Idesawa and Yutaka Sakaguchi |
Vol.8 (1996)
No.6
(Dec)
Special Issue on Integration of Intelligence for Robotics in VLSI Chips
Special Issue on Integration of Intelligence for Robotics in VLSI Chips
| Editorial: | p. 491 | |
| Integration of Intelligence for Robotics in VLSI Chips |
| |
| Michitaka Kameyama | ||
| Intelligence is one of the most important subjects in information and electronics systems. In many applications such as multi media systems, home electronics systems, factory automation systems, security systems and aerospace systems, advanced intelligent processing technologies are more required to be developed as shown in Figure. There are two approaches to increase intelligence, although they are closely related each other and may not be separable. One is an algorithm-based approach to directly increase intelligence quality. The other is a computational-power-based approach to directly increase processing performance. Even if a single operation is very simple, its repeated operations often make the processing intelligent. The problem is how to increase the computational power. It is obvious that software acceleration using general-purpose microprocessors has some limitation. Therefore, special acceleration using newly developed chips is one of the most important solutions. In particular, real-world applications need to achieve very quick response for dynamically changing real-world environment. Therefore, special-purpose processors and special-purpose accelerators or engines, are essential to make the above applications realistic. Another words, "to realize high speed processing intelligence" On the other hand, solid-state circuits technology enabling single-chip systems have rapid advancement resulting in dramatic improvements in both performance and cost oer function. In fact, one-giga-bit DRAMs, ten SPECint95 microprocessors containing ten million transistors are being developed by recent VLSI technology. It is no more a dream to develop practical special processors using the recent VLSI technology. Moreover, new architecture and new concept circuits have been actively studied for the next-generation integration technology. From the above point of view, this special issue was planned to demonstrate the above important area. Especially, intelligent robot is a typical class of applications, soits intelligence technology makes also any other application promising. Finally, I would like to express my application to the a...<more> | ||
| Review: | pp. 492-495 | ||
| Highly-Safe Intelligent Integrated Systems |
|
||
| Michitaka Kameyama |
| Paper: | pp. 496-499 | ||
| VLSI Processor System for Robotics |
|
||
| Michitaka Kameyama and Yoshichika Fujioka |
| Paper: | pp. 501-507 | ||
| Robot Vision VLSI Processor for the Rectangular Solid Representation of 3-Dimensional Objects |
|
||
| Masanori Hariyama, Yuichi Araumi, and Michitaka Kameyama |
| Paper: | pp. 508-515 | ||
| Implementing Intelligence in Silicon Integrated Circuits Using Neuron-Like High-Functionality Transistors |
|
||
| Tadashi Shibata and Tadahiro Ohmi |
| Paper: | pp. 516-523 | ||
| Optimal Design of a VLSI Processor with Spatially and Temporally Parallel Structure |
|
||
| Michitaka Kameyama and Masayuki Sasaki |
| Paper: | pp. 524-530 | ||
| Design of a Parallel Processor for Visual Feedback Control Based on the Reconfiguration of Word Length |
|
||
| Yoshichika Fujioka and Nobuhiro Tomabechi |
| Paper: | pp. 531-537 | ||
| Tactile Based Active Sensing for Detecting Stiffness and Contact Point Using Robotic Finger |
|
||
| Tatsuya Shirai, Nobuaki Imamura, Toshio Fukuda and Makoto Kaneko |
| Paper: | pp. 538-554 | ||
| Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms |
|
||
| Takayuki Tanaka, Junji Ohwi, Ludmila V. Litvintseva, Kazuo Yamafuji and Sergei V. Ulyanov |
| Paper: | pp. 555-560 | ||
| Forecast Method of Obstacle Region in Dynamic Environment |
|
||
| Masafumi Uchida, Hideto Ide and Syuichi Yokoyama |
| Paper: | pp. 561-570 | ||
| Extraction and Motion Estimation of 3D Objects from Stereo Image Sequence |
|
||
| Hiroshi Katsulai |
| Paper: | pp. 571-579 | ||
| Study of the Stability and Motion Control of a Unicycle (5th Report: Experimental Results by Fuzzy Gain Schedule PD Controllers) |
|
||
| Zaiquan Sheng, Kazuo Yamafuji and Sergei V. Ulyanov |
No.5
(Oct)
Special Issue on Distributed Robotic Systems
Special Issue on Distributed Robotic Systems
| Editorial: | p. 395 | |
| Distributed Robotic Systems |
| |
| Hajime Asama | ||
| Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T...<more> | ||
| Paper: | pp. 396-402 | ||
| A Study on Dynamically Reconfigurable Robotic System (Communication Reduction with Risk Estimate in Cellular Robotic System) |
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| Kousuke Sekiyama and Toshio Fukuda |
| Paper: | pp. 403-407 | ||
| Collaborative Manipulation by Independent Manipulators |
|
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| Kuniaki Kawabata and Hisato Kobayashi |
| Paper: | pp. 408-419 | ||
| Design Disquisition on Modular Robot Systems |
|
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| Takafumi Matsumaru |
| Paper: | pp. 420-426 | ||
| Elemental Technologies for Collective Robots |
|
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| Hajime Asama, Teruo Fujii, Hayato Kaetsu and Isao Endo |
| Paper: | pp. 427-434 | ||
| Clock Synchronization Mechanisms for a Distributed Autonomous System |
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| Shigeru Kokaji, Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita |
| Paper: | pp. 435-441 | ||
| Decentralized Motion Control of Dual Manipulators in Coordination Using Vision and Force Sensors |
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| Kazuhiro Kosuge, Daiji Taguchi, Koji Takeo |
| Paper: | pp. 442-446 | ||
| Processor Performance Required for Decentralized Kinematic Control Algorithm of Module-Type Hyper-Redundant Manipulator |
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| Shinichi Kimura and Toshiyuki Okuyama |
| Paper: | pp. 447-453 | ||
| An Approach to Emergence Mechanism of Affordance |
|
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| Jun Hakura and Yukinori Kakazu |
| Paper: | pp. 454-458 | ||
| Acquiring Objective Functions in Distributed Rule-Based Systems from Examples |
|
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| Kenichi Matsuura and Yukinori Kakazu |
| Paper: | pp. 459-466 | ||
| Collision Avoidance Using Communication between Autonomous Mobile Robots |
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| Koichi Ozaki, Hajime Asama, Yoshiki Ishida, Akihiro Matsumoto, and Isao Endo |
| Paper: | pp. 467-472 | ||
| On Sign-board Based Inter-Robot Communication in Distributed Robotic Systems |
|
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| Jing Wang |
| Paper: | pp. 473-480 | ||
| Representation of a Product Assembly Architecture for Assembly Sequence Generation |
|
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| Isao Nagasawa, Yasushi Adachi, Toru Morita, Shigeto Aramaki and Shigeru Kurono |
| Paper: | pp. 481-490 | ||
| Construction of Robot Structure Design Support System by Constraint Logic Programming |
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| Akira Aiba, Shinichi Sato and Shigeto Aramaki |
No.4
(Aug)
Special Article of Chaos, Self-Organized System
Special Article of Chaos, Self-Organized System
| Editorial: | p. 317 | |
| Special Article of Chaos, Self-Organized System |
| |
| Mitsuo Wada | ||
| The actual environments under which robots are going to operate from now on are complex and sometimes unstable unlike the arranged environments in factories. It is becoming increasingly necessary for the robots to be able to cope with complexities by maintaining a symbiotic relationship with man who are behaving in mental world in various manners and life styles. This is not a task for the distant future but has already been posing daily problems in the fields of computer information communications that reach an international networked society. In this world, there is already a limitation to top-down controls based on hierarchical knowledge and guidance instructions. Rather, the situations indicate that this world should be taken as a complex adaptive system that requires recognition of the environments based on an autonomy of the system, adaptation and learning by behavior, and formation of orders according to self-organization, through a bottom-up approach. This is a considerable task to be tackled from now on if it is desired that robots are to play an active role in various parts of society in the near future. In considering this problem, it is important to learn from nature, ecological systems, and life systems. In recent years, new academic research fields have been generated that imitate the information processing functions of creatures such as recognition, evolution and adaptation, then reproduce these information processing functions in CG's and robots, and apply them to science and technology. This has been posing large topics relating to the autonomy, adaptation, learning and evolution of complex systems and finally to the creativity of a living body system. The key concept in this case is a chaos edge system called by Langton. In a complex system like a life, there is a self-organization marginal level of a certain scale, above which information is scattered, and below which information is fixed like a crystal. An integration is progressed and emerged in these systems. This characteristic is called the chaos edge system. Along with the outbreak of research in this new field, this has given substantial influence...<more> | ||
| Review: | pp. 318-322 | ||
| An Approach to Chaos and Self-Organizing Behaviors in Symbiotic Relationships between Human and Robots |
|
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| Mitsuo Wada and Sadayoshi Mikami |
| Review: | pp. 323-328 | ||
| "Mind" Left by Modern Science |
|
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| Tetsuro Yabuta |
| Paper: | pp. 329-332 | ||
| An Application for Diagnosis by Chaotic Approach (An Application to Discrimination of Arrhythmia) |
|
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| Tadashi Iokibe, Masaya Koyama and Toshifumi Sugiura |
| Paper: | pp. 333-337 | ||
| Self-Organization and Basis Functions of Neural Network Controllers |
|
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| Takayuki Yamada, Norifumi Yasue and Takenori Morimitsu |
| Paper: | pp. 338-344 | ||
| Intelligent Robot Prototyping Based on Chaotic Retrieval |
|
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| Toru Yamaguchi, Michihiro Yoshihara and Yoshiyuki Wakamatsu |
| Paper: | pp. 345-350 | ||
| A Proposal of Multi-Module Network for Association of Patterns and Symbols |
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| Yoichiro Hattori, Takeshi Furuhashi, Yoshiki Uchikawa |
| Paper: | pp. 351-355 | ||
| A Study on Self-Organization of Heuristics Using Analogy |
|
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| Kenichi Matsuura and Yukinori Kakazu |
| Paper: | pp. 356-363 | ||
| Obstacle Avoidance Using Vibrating Potential Method (Self-Organization in a Narrow Path) |
|
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| Hiroshi Yokoi, Takafumi Mizuno, Masatosi Takita, and Yukinori Kakazu |
| Paper: | pp. 364-371 | ||
| Self-Organization of Lower Limb Motion in Human Locomotion |
|
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| Takashi Yokoi, Akihiko Takahashi, Keigo Ohyama Byun |
| Paper: | pp. 372-377 | ||
| Control of a Robot Arm by Electromyogram -Recognition of Arm Motion by Neural Network |
|
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| Masafumi Uchida, Hideto Ide |
| Paper: | pp. 378-382 | ||
| Analysis of Somatosensory Evoked Potentials by Tactile Board Stimuli Skin |
|
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| Hideto Ide and Masafumi Uchida |
| Paper: | pp. 383-391 | ||
| Robot Manipulators Control with Guaranteed Stability Using Feedback Error Learning Neural Networks |
|
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| Ju-Jang Lee, Sung-Woo Kim, and Kang-Bark Park |
| Paper: | pp. 392-393 | ||
| Artificial Emotional Creature Project to Intelligent Systems |
|
||
| Takanori Shibata |
No.3
(Jun)
Special Issue on Control Systems in Mechatronics
Special Issue on Control Systems in Mechatronics
| Editorial: | p. 217 | |
| Control Systems in Mechatronics |
| |
| Kiyoshi Ohishi | ||
| The special issue on Control Systems in Mechatronics is a significant and timely issue since many robotics and mechatronics engineers now pay attention to the research field of motion control and control theory. In Japan, advanced motion control technology is a key technics to improving the performance of robot systems and/or mechanical automation equipment. The definition of motion control in this issue is the control of mechanical systems driven by electrical actuators such as a do servo motor or an ac servo motor. The means or strategy of motion control has so far been of interest only to electrical engineers and mechanical engineers; it has not been as familiar to robotics engineers. Recently, a control system has been developed with industry applications. Advanced motor control technology in Japan is based on the robust control system, such as the disturbance observer, the H00 control system, the two-degrees-of-freedom control system and so on. The disturbance observer has a simple structure, and it is quite valid for disturbance torque rejection. The robust control system based on the disturbance observer is now widely used in robot and mechanical systems in Japan. The disturbance observer is the original Japanese technology designed by two electrical engineers, Prof. Ohnishi and myself, from the viewpoint of the electrical actuator but control theory. Ho control is linear control technics popular around the world. It can make the desired loop shaping of frequency characteristics for a plant system such as the actuator of a mechanical system. The robust control system based on the mixed sensitivity problem of H00 control theory has good frequency characteristics. Moreover, the availability of large amounts of computational power has enabled us to use complex control theory, and actuators for robotics applications are now mainly electrical ones because of the remarkable progress in power electronics. This change in the control of mechanical systems is a new and attractive one. Motion control is becoming a field of interest to control, electrical, and mechanical engineers who work in robotics. In this issue, the eight ...<more> | ||
| Review: | pp. 218-225 | ||
| Robust Motion Control by Disturbance Observer |
|
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| Kouhei Ohnishi |
| Paper: | pp. 226-234 | ||
| Hybrid Position and Force Control Without Force Sensor |
|
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| Kiyoshi Ohishi, Masaru Miyazaki and Masahiro Fujita |
| Paper: | pp. 235-242 | ||
| A Robust Control Strategy of Redundant Manipulator by Workspace Observer |
|
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| Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi |
| Paper: | pp. 243-251 | ||
| Hybrid Position/Force Control of Robot Manipulators Based on Second Derivatives of Position and Force |
|
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| Satoshi Komada, Muneaki Ishida, Kouhei Ohnishi and Takamasa Hori |
| Paper: | pp. 252-258 | ||
| Servo System Design Considering Low-Stiffness of Robot |
|
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| Akira Shimada |
| Paper: | pp. 259-265 | ||
| Variable-Structure Disturbance Observer for Decoupling Control of Robot Manipulators |
|
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| Yasuaki Kuroe and Hsin-Nan Lin |
| Paper: | pp. 266-271 | ||
| Three Dimensional Digital Simulation of Legged Robots |
|
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| Yasutaka Fujimoto and Atsuo Kawamura |
| Paper: | pp. 272-277 | ||
| State Estimation for Mobile Robot using Partially Observable Markov Decision Process |
|
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| Daehee Kang, Hideki Hashimoto and Fumio Harashima |
| Paper: | pp. 278-285 | ||
| Flexible Manipulator Control Based on Inverse Dynamics Model and Joint Feedback |
|
||
| Joško Petrić and Joško Deur |
| Paper: | pp. 286-291 | ||
| Efficiency Assessment of Performance of Decentralized Autonomous Multi-Robot Systems |
|
||
| Arvin Agah and George A. Bekey |
| Paper: | pp. 292-296 | ||
| Force Controlled Pneumatic Manipulator |
|
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| Guido Belforte, Terenziano Raparelli, and Mauro Velardocchia |
| Paper: | pp. 297-301 | ||
| GA in Continuous Space and Fuzzy Classifier System for Opening a Door with a Manipulator of Mobile Robot: New Benchmark of Evolutionary Intelligent Computing |
|
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| J. Ohwi, S.V. Ulyanov and Kazuo Yamafuji |
| Paper: | pp. 302-311 | ||
| Modeling and Robust Control of a Flexible Solar Array Paddle as Clamped-Clamped-Free-Free Rectangular Plates |
|
||
| Fumitoshi Matsuno |
| Paper: | pp. 312-314 | ||
| The University of Tokyo – Hori Laboratory – |
|
||
| Yoichi Hori |
| Paper: | pp. 315-316 | ||
| Mie University, Faculty of Engineering, Hori Research Laboratory |
|
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| Takamasa Hori, Muneaki Ishida and Satoshi Komada |
No.2
(Apr)
Special Issue on Biological Information
Special Issue on Biological Information
| Editorial: | p. 129 | |
| Biological Information |
| |
| Hideto Ide | ||
| The issues facing Japan at the present moment may be represented by three key phrases: population aging, information, and internationalization. Among these, the problem of population aging is not such a relaxed research issue involving the question 'I wish we had such a machine.', but rather a serious one which might destroy the very fabric of society unless some machines were used to solve the problem. The average age of the population in Japan is rising at an alarming rate, and the fact that the population composition is top-heavy does not need any explanation. An abrupt change causes a transitory phenomenon, and the problem becomes even more serious. Soon after the beginning of the 20th century, the aging of the population became the most serious condition, and it was thought that the situation would improve if that condition could be overcome. Population aging causes not only a lack of capacity in medical treatments, maintenance of health, and nursing for the society as a whole but also a variety of problems, in a wider sense, related to aged workers, the morale of the society, etc. The society would certainly like to see workable, healthy old people work and only slightly handicapped people do what they want to do on their own. There is every likelihood that in the future an increasing number of people will require nursing help, thereby causing a shortage of nursing people. This shortage must be filled by machines. Unless machines come to assistance, the society will not function on its own. There are people who talk of the aged as people having handicapped, dark images, but since a majority of the society will become aged, the society itself must be designed to suit the aged. Who is going to take care of the aged? Your own children or spouse? The answer is No. From now on, one should take care of his needs entirely by himself. However, those who are physically unwell cannot take care of themselves. Then who? It is a 'robot'. For that, a robot must be developed who is understanding, warm-hearted, resembling a grandchild or a sweetheart. At present, robots are used in every industrial sector. At first, each of them had...<more> | ||
| Paper: | pp. 130-135 | ||
| Analysis of Correlation Dimension of P300 by Stimulation of Auditory Sense |
|
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| Kouji Taguchi, Masafumi Uchida, and Hideto Ide |
| Paper: | pp. 136-143 | ||
| Apparent Temperature Patterns Superposed on Thermal Infrared Images and Their Removal |
|
||
| Minoru Inamura |
| Paper: | pp. 144-148 | ||
| On Features Obtained by Insertion of White Noise into Intermittently Removed Intervals of Speech Signals |
|
||
| Manabu Ishihara, and Jun Shirataki |
| Paper: | pp. 149-152 | ||
| Estimation of Vocal Spectra Using Maximum Entropy Method - on Number of Sample Data and Estimation Order |
|
||
| Jun Shirataki and Manabu Ishihara |
| Paper: | pp. 153-157 | ||
| Analysis of Body Temperature Distributions Generated by an Ultrashortwave Apparatus |
|
||
| Yoshiyuki Kageyama, Toshihiro Tsutzuki, Kazuo Matsushima, Go Kihara, Hideyuki Suzuki and Koichi Takahashi |
| Paper: | pp. 158-162 | ||
| Method for Measurement of Body Image |
|
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| Toshinori Kobayashi, Torn Ishikawa, Kuninao Minakawa and Michihiko Nakamura |
| Paper: | pp. 163-166 | ||
| Frequency Analysis System for Auditory Nerves with Auditory Brainstem Response (ABR) by Harmonious Tone |
|
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| Hideto Ide and Masafumi Uchida |
| Paper: | pp. 167-170 | ||
| Recognition System for Awakening and Sleeping by Fuzzy Reasoning |
|
||
| Takashi Oyabu |
| Paper: | pp. 171-176 | ||
| A Region-Based Stereo |
|
||
| Hiroshi Katsulai and Hirotaka Niwa |
| Paper: | pp. 177-182 | ||
| Discrimination of Material Properties by Mono-Structural Touch Sensor with Capacitive-Inductive Function |
|
||
| Desheng Li and Katsunori Shida |
| Development Report: | pp. 183-189 | ||
| Ultrasonic Telemetering System for the Electrocardiograms of Scuba Divers |
|
||
| Etsuzo Ohdaira and Masao Ide |
| Development Report: | pp. 190-194 | ||
| Theoretical Analysis of Repetitive Firings in Muscle Membranes |
|
||
| Kazuko Terada, Shuji Yoshizawa and Chiaki Nishimura |
| Development Report: | pp. 195-199 | ||
| Development of a High-Resolution Optical Heterodyne Interferometer and its Applications |
|
||
| Koichiro Miyagi |
| Paper: | pp. 211-216 | ||
| Modeling of Knee Joint in The Human Lower Extremity by Using Cam-Follower and Revolute-Translational Composite Joint |
|
||
| P. Eko Purwanto, Shigeki Toyama and Atsuhiko Kamijima |
No.1
(Feb)
Special Issue on Robot Motion Planning
Special Issue on Robot Motion Planning
| Editorial: | p. 1 | |
| Robot Motion Planning |
| |
| Hiroshi Noborio and Takashi Tsubouchi | ||
| This special issue is devoted to robot motion planning. The main scope of this issue covers research work on mobile robotics. Motion planning is necessary when the robot determines its own actions. For the last decade, the paradigm of motion planning in mobile robotics has shifted from off-line motion planning to on-line motion planning and from planning in a static environment to planning in a time-varying environment. Recent progress of computational power has enabled this paradigm shift, since on-line motion planning and planning in time-varying environments require repeated computation based on sensory information which is always renewed. The guest editors organized this special issue in order to highlight those two new paradigms. We present two survey papers: One is a survey of on-line motion planning for a sensor-based navigation of a mobile robot, and the other is a survey of motion planning for mobile robots in a time-varying environment. Along with the survey papers, distinguished technical papers are provided in this special issue. Concerning path planning, a paper describing a case study on motion planning with teaching is included (Ogata et al). Motion planning based on Fuzzy logic is one approach, and three papers from Maeda, Ishikawa et al. and Nagata et al. also belong to this category. To offer a case study on reactive motion decision making, one paper by Ando et al. is included. A recently emerging subject is related to motion planning for cooperation of multiple mobile robots or a single robot among multiple moving obstacles. Three papers from Yoshioka et al., Ota et al., and Fujimura discuss problems on motion planning for cooperation of multiple mobile robots. One paper from Tsubouchi et al. discussed the motion planning of a single robot among multiple moving obstacles. Motion planning to select an appropriate corner cube as a landmark is addressed in the paper from Hashimoto et al. The guest editors hope that this special issue will provide the readers with a lock at some current issues and new perspectives on robot motion planning. | ||
| Review: | pp. 2-14 | ||
| On a Sensor-Based Navigation for a Mobile Robot |
|
||
| Hiroshi Noborio |
| Review: | pp. 15-24 | ||
| Motion Planning for Mobile Robots in a Time-Varying Environment: A Survey |
|
||
| Takashi Tsubouchi and Markus Rude |
| Paper: | pp. 25-32 | ||
| Path Planning Based on Task Knowledge and User’s Intention |
|
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| Hiroyuki Ogata and Tomoichi Takahashi |
| Paper: | pp. 33-39 | ||
| A Reactive Wall Following Algorithm and Its Behavior of an Autonomous Mobile Robot with Sonar Ring |
|
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| Yoshinobu Ando, Takashi Tsubouchi and Shin’ichi Yuta |
| Paper: | pp. 40-48 | ||
| Sensor-Based Traffic Rules for Multiple Automata Based on a Geometric Deadlock-Free Characteristic |
|
||
| Takashi Yoshioka and Hiroshi Noborio |
| Paper: | pp. 49-57 | ||
| Fuzzy Real-time Advanced Shell for Intelligent Control with Fuzzy Algorithm Compiler |
|
||
| Yoichiro Maeda |
| Paper: | pp. 58-66 | ||
| Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and Their Velocities |
|
||
| Takashi Tsubouchi, Tomohide Naniwa and Suguru Arimoto |
| Paper: | pp. 67-74 | ||
| Motion Planning of Multiple Mobile Robots Using Virtual Impedance |
|
||
| Tamio Arai and Jun Ota |
| Paper: | pp. 75-80 | ||
| Planning Cooperative Motion for Distributed Mobile Agents |
|
||
| Kikuo Fujimura and Karansher Singh |
| Paper: | pp. 81-92 | ||
| A Method of Piloting an Autonomous Mobile Robot in Dynamically Changing Environment Including Moving Obstacles |
|
||
| Shigeki Ishikawa and Shun’ichi Asaka |
| Paper: | pp. 93-103 | ||
| Position Estimation Method for Wheeled Mobile Robot by Integrating Laser Navigation and Dead Reckoning Systems |
|
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| Masafumi Hashimoto, Fuminori Oba, Yasushi Fujikawa, Kazutoshi Imamaki, and Tetsuo Nishida |
| Paper: | pp. 104-111 | ||
| Intelligent Control Concerning Obstacle Avoidance of Mobile Robot |
|
||
| Hideo Nagata, and Takeshi Tsuchiya |
| Paper: | pp. 112-121 | ||
| Control Experiment of a Flexible Robot Arm Using the Floating Frame Model |
|
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| Roberto Caracciolo, Enrico Ceresole, and Marco Giovagnoni |
Vol.7 (1995)
No.6
(Dec)
Special Issue on New Actuators
Special Issue on New Actuators
| Editorial: | p. 421 | |
| New Actuators |
| |
| Akihito Sano | ||
| The field of robotics and mechatronics can benefit greatly from the development of its peripheral elements. At the time when the author began studies on legged locomotion robots in 1984, many researchers in the fields of mechanical engineering, control engineering, and electrical engineering became interested in this subject, and it was becoming possible to carry out not only the theoretical discussions on the basis of simulations but also the experimental discussions using actual machines. This is because, at that time, computers were rapidly increasing their performance and were becoming relatively inexpensive so that they were being introduced into work even at research laboratories of universities. Needless to say, without such development of computer technology, the advances not only in the legged locomotion robots but also in a number of mechatronic devices would have been hampered. For us who have gotten hold of high-performance computers, one of the present overriding issues is an appearance of new high-performance actuators. Almost every legged locomotion robot uses either an electric motor or a hydraulic actuator. However, its energy sources are placed outside the robot, and these actuators themselves have not really been miniaturized to any remarkable extent up to now. Computer control is indispensable for mechatronic devices that are equipped with actuators. At present, various control theories are being proposed in an effort to raise control performance by compensating restrictions on hardware (such as power-weight ratio, responsiveness, nonlinearity, etc.) as many as possible. It is necessary to continue such control-theoretic discussions in the future as well. On the other hand, however, rapid progress in hardware involving actuators and sensors may have a possibility of raising such performance drastically all at once. In the future, it is hoped that researchers are not well versed in the robotics or mechatronics may participate to develop the actuators based on new principles. The fact that an electro-rheological fluid may be used as actuators is attracting attention, for example. In actually developing de...<more> | ||
| Review: | pp. 422-428 | ||
| Development and Progress of Expected New Actuator Technology |
|
||
| Toshi Takamori |
| Paper: | pp. 429-435 | ||
| Development of Micro Actuator Using ER Fluid |
|
||
| Akihito Sano, Junji Furusho and Hideo Fujimoto |
| Paper: | pp. 436-442 | ||
| Hybrid-Type Position and Force Control of Robot Manipulator Using Artificial Rubber Muscle |
|
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| Toshiro Noritsugu, Fuminori Ando, Shujiro Dohta and Takashi Yamanaka |
| Paper: | pp. 443-448 | ||
| Dynamic Properties of the Visco-Elastic Actuator Designed as an Artificial Muscle |
|
||
| Masami Saito Youjiro Tamura and Junji Furusho |
| Paper: | pp. 449-457 | ||
| A millimeter-Sized Robot Using SMA and Its Control |
|
||
| Katsutoshi Kuribayashi and Seiji Shimizu |
| Paper: | pp. 458-466 | ||
| Basic Consideration of Actuators with Multi DOF Having an Identical Center of Rotation |
|
||
| Tomoaki Yano and Makoto Kaneko |
| Paper: | pp. 467-473 | ||
| Motion Control of a Piezopolymer Bimorph Flexible Microactuator |
|
||
| Minoru Sasaki and Masayuki Okugawa |
| Paper: | pp. 474-482 | ||
| Pneumatic Bellows Actuator with Force Sensing Ability and Its Application to a Pneumatic Robot |
|
||
| Yasuhiro Hayakawa and Sadao Kawamura |
| Paper: | pp. 483-487 | ||
| Control of Vertebrate Backbone System by Using Artificial Rubber Muscles (Control of Two-Degree-of-Freedom System by Using Three Artificial Rubber Muscles) |
|
||
| Takashi Kawamura, Hisayoshi Kawahara and Masaru Nakazawa |
| Development Report: | pp. 488-492 | ||
| Miniature Robot with Micro Capillary Capturing Probe for Surface Clearing Operation |
|
||
| Hisayuki Aoyama, Futoshi Iwata, Jisuke Fukaya and Akira Sasaki |
No.5
(Oct)
Special Issue on Advanced Maintenance Robots
Special Issue on Advanced Maintenance Robots
| Editorial: | p. 353 | |
| Advanced Maintenance Robots |
| |
| Hidemi Hosokai | ||
| At present, inspection and maintenance operations on various types of pipelines, structures, and others are carried out manually by human operators. Such operations are often performed, in general, under adverse environments such as high places and narrow areas. In addition, fire fighters in blazing high-rise buildings may be subjected to dangers involving high places and fires. Moreover, the robotization of grinding work in factories, for example, require a large number of empirical technologies. In order to mechanize tasks under such adverse environments and under special working conditions, research has been conducted, including studies of mobile mechanisms on inner walls and outer walls of piping, on wall surfaces of structures, etc. or studies of force control methods. Under these circumstances, this issue will be specialized in technical progress of various types of maintenance robots. First, a navigation system of a wind quantity inspection robot using a fuzzy neural network will be discussed by Messrs. Fukuda and Abe. Next, a report will be given by Messrs. Ishikawa and Shiire on the mechanism and functions of a pile recovery robot for large-diameter pipes, with a view to carrying out cleaning work inside cooling water pipes of electric power generation plants, as well as on its field testing. Furthermore, Messrs. Kawaguchi and Yoshida will be asked to report on the mechanism of an inspection robot for use on the inner surfaces of gas piping buried in the ground. In addition, a discussion will be carried out by Messrs. Naruse and Takada on the mechanism and fire extinguishing capability of a hybrid robot system for use in combatting fires in high-rise buildings. Moreover, Messrs. Ozaki and Jinno will be discussing the mechanism and force control system of a grinding robot. In addition, a discussion will be carried out by Messrs. Hosokai and Hara regarding the motion function of a piping inspection robot having a lazy tong mechanism and also regarding its piping test results. Finally, Messrs. Amano and Kakikura will be called upon to give a discussion concerning a robot for carrying out exfoliation of finishing mate...<more> | ||
| Paper: | pp. 354-366 | ||
| Navigation System for Air Conditioning Equipment Inspection Robot |
|
||
| Yasunori Abe, Toshio Fukuda, Kouetsu Tanaka, Yoshio Tanaka, Fumihito Arai, Koji Shimojima and Shigenori Ito |
| Paper: | pp. 367-370 | ||
| Development of a Maintenance Work Robot for Large Diameter Water Piping – A Vacuum-Cleaning Vehicle Robot – |
|
||
| Yoshinobu Ishikawa and Hidetake Shiire |
| Paper: | pp. 371-376 | ||
| Development of Internal Gas Pipe Inspection Robot |
|
||
| Yoshifumi Kawaguchi, Itsuo Yoshida, Keizo Iwao and Takashi Kikuta |
| Paper: | pp. 377-382 | ||
| Hybrid Robot System Fire-Defense in High-Rise Buildings |
|
||
| Toshihisa Naruse and Yoshinori Takada |
| Paper: | pp. 383-388 | ||
| A Force Controlled Finishing Robot System with a Task-Directed Robot Language |
|
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| Fumio Ozaki, Makoto Jinno, Takashi Yoshimi, and Kyoichi Tatsuno, Mikio Takahashi, Masakazu Kanda, Yasuhiko Tamada, and Shintaro Nagataki |
| Paper: | pp. 389-396 | ||
| Maneuverability of Control in Passing Over a Reducer and Pipeline Diagnostic Results of Mark V Robot with Lazy Tongs Mechanism |
|
||
| Hidemi Hosokai, Fumio Hara, Yasuyuki Uchida, Yasunori Abe, Koetsu Tanaka, and Yoshio Tanaka |
| Paper: | pp. 397-403 | ||
| Evaluation of Removed Quantity for Wall Coating Removing Robot Using Image Processing |
|
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| Masayoshi Kakikura, Masaru Amano, and Osamu Okamoto |
| Paper: | pp. 404-409 | ||
| Detection of Blobs Using Variable Windows |
|
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| Machi Saitoh and Hiroshi Katsulai |
| Paper: | pp. 410-418 | ||
| Force Control of Manipulators Based on H∞ Controller (Application of Joint Torque Feedback) |
|
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| Guoguang Zhang, Junji Furusho and Akihito Sano |
| Paper: | p. 419 | ||
| Digital Control Parallel VLSI Processor |
|
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| Michitaka Kameyama |
No.4
(Aug)
Special Issue on Advanced Vehicle Dynamics and, Control
Special Issue on Advanced Vehicle Dynamics and, Control
| Editorial: | p. 273 | |
| Advanced Vehicle Dynamics and, Control |
| |
| Kazuto Seto | ||
| Various attempts have been made from olden days on vehicles for better riding comfort and for improved maneuverability. Past vehicles have achieved vibration isolation performance, which relaxes impact from road surfaces, by means of link mechanisms and passive suspensions consisting of springs and dampers, as well as basic motion performance such as running, turning, and stopping. However, as far as passenger cars are concerned, a passive suspension has its own limitation, and the contradiction that if riding comfort is to be improved at low speeds, the maneuverability during high-speed operations becomes bad has not been solved. Demand of users has become stronger and stronger for vehicles which satisfy riding comfort and maneuverability at the same time. Moreover, as far as trains are concerned, the past technology has increased the vibration of trains as they are operated at higher speeds; thus a drop in riding comfort has been a cause for preventing high-speed operations. Nevertheless, in line with progress in mechatronic technology, active suspensions have been adopted aggressively in automobiles and trains in recent years, and attempts have been started for improving both riding comfort and maneuverability to satisfy demand of users. Some passenger cars have already appeared which are equipped with an active suspension. A similar trend is found in the case of trains; by the introduction of active suspensions, operations of trains on conventional lines at higher speeds are being started. Under these circumstances, this special issue has been created. Although high performance in vehicles may be achieved by means of active suspensions, the problem of increased energy consumption has become a serious issue, which has been brought to the fore with the bursting of the bubble. This problem seems to be solved by saying how effectively semi-active suspensions may be realized. In this special issue, new trends have been taken up, such as vehicle dynamics, design theory on active suspension systems, reduction of engine vibration by optimum design of hydraulic engine mounts, design of control systems for neural networks of sem...<more> | ||
| Paper: | pp. 274-279 | ||
| Automotive’s Vibration Analysis by Dynamic Impedance Method (Available Criterion in Use of Singular Value Decomposition) |
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| Masanobu Nakamura, Akio Nagamatsu, Takeshi Sawanobori, Yoshinobu Kamada and Hideyuki Hata |
| Paper: | pp. 280-284 | ||
| Theory of Active Suspension Design |
|
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| Kunihiko Ichikawa |
| Paper: | pp. 285-294 | ||
| Vibration Control of Engine Roll and Bounce Using Hydraulic Engine Mounts |
|
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| Kazuto Seto, Masao Ishihama, Akio Nagamatsu and Kazuhiro Doi |
| Paper: | pp. 295-300 | ||
| Integration of Bilinear Systems and Neural Networks for Designing Nonlinear Semi-Active Suspensions |
|
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| Antonio Moran, Tomohiro Hasegawa and Masao Nagai |
| Paper: | pp. 301-306 | ||
| Vehicle Dynamics Control with Variable Alignment Suspension |
|
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| Mitsuhiko Harara, Hidekazu Suzuki, Tsuyoshi Takeo and Keiji Isoda |
| Paper: | pp. 307-311 | ||
| Improvement of Ride Comfort with Active Suspension System Using Preview Control Law |
|
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| Hideo Tobata, Takeshi Kimura and Yohsuke Akatsu |
| Paper: | pp. 312-318 | ||
| The Estimation of Ambiguous Change in 4WS Control System Using Failure Detection Filter |
|
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| Hiroyuki Yamaguchi, Masataka Osawa, Norio Iwama and Masaki Yamamoto |
| Paper: | pp. 319-323 | ||
| H∞ Vibration Control of Active Suspension for High-Speed Train |
|
||
| Akihiko Shimura and Kazuo Yoshida |
| Paper: | pp. 324-328 | ||
| Enhanced Curving Performance of Unsymmetric Suspension Trucks with Semiactive Control Concept Even under Acting Traction/Brake Torque |
|
||
| Juraj Grenčík and Yoshihiro Suda |
| Paper: | pp. 329-335 | ||
| Dynamics of the Mechanical Levitation Control System for Maglev Transport Vehicle (Effect of Guide Wheel Stiffness and Dead Zone Element) |
|
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| Hitoshi Tsunashima, Takehiko Fujioka and Masato Abe |
| Paper: | pp. 336-343 | ||
| Solution Space and BP Learning Behavior of Multilayer Networks Whose Units Are Different in Polarity |
|
||
| Hiromu Gotanda, Yoshihiro Ueda and Hiroshi Siratsuchi |
| Paper: | pp. 344-352 | ||
| Modeling of Dynamics and Model-Based Control of DELTA Direct-Drive Parallel Robot |
|
||
| Karol Miller and Boris S. Stevens |
No.3
(Jun)
Special Issue on 2nd Japan-France Congress on Mechatronics
Special Issue on 2nd Japan-France Congress on Mechatronics
| Editorial: | p. 195 | |
| 2nd Japan-France Congress on Mechatronics |
| |
| Seiji Hata | ||
| Following the I st congress in Besancon in 1992, the 2nd Japan-France Congress on Mechatronics was held at Takamatsu City in Japan from November 1 to 3, 1994. The congress was co-sponsored by Kagawa University, the Japan Society for Precision Engineering, and l'Institut des Microtechniques de Franche-Comte. A total of 282 persons participated in the congress, 49 from France, 209 from Japan, and 24 from other countries including China, U.S., Turkey, Korea, and Switzerland. Researchers and engineers from a total of 15 countries participated in the congress. The congress continues to become more international and exciting. There are six sessions at the congress. The session names and the number of the papers belonging to each are as follows: (1) Mechatronics, 33 papers; (2) Robotics, 53 papers; (3) Sensors, 26 papers; (4) Vision, 33 papers; (5) Microelectro Mechanical Systems, 20 papers; and (6) CIM & Systems, 21 papers. The total number of papers 186. Additionally, three keynote speakers discussed the current status and future of the mechatronics technologies. The papers were presented at the oral sessions and the poster sessions. In this special issue, 11 papers from these fields are presented to describe the current technological status in Japan. Takamatsu is charming old city near Osaka. The congress was held at the exhibition center in Intelligent Park in Takamatsu, which was newly developed as the technological center of the area. The congress was held at such a location so that participants from abroad could gain a feel for ordinary life in Japan. In addition to the congress, there were two technical tours before and after the congress. The technical tour to the industries in Takamatsu showed the vivid medium size manufacturers in Japan. It is the another viewpoint contrary to the huge companies of Japan. During the congress, there were warm and friendly technological interactions between Japan and Europe. This should be further encouraged, and more countries should be included in the congress. The 3rd French-Japanese Congress on Mechatronics will be held at Besancon, France in 1996. It will also be the first European-...<more> | ||
| Review: | pp. 196-199 | ||
| CIM, Its Application, Technology and Future |
|
||
| Yuji Furukawa |
| Review: | pp. 200-203 | ||
| Packaged Sensors, Microactuators and Three-Dimensional Microfabrication |
|
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| Masayoshi Esashi |
| Review: | pp. 204-208 | ||
| Human Reader: A Paradigm for a Multimedia-Based Human Interface |
|
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| Yasuhito Suenaga |
| Review: | pp. 209-212 | ||
| Robotic Intelligence for Man-Robot Cohabitation - Model-Based Approach - |
|
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| Tsutomu Hasegawa |
| Paper: | pp. 213-217 | ||
| A Robotic Truck Crane with Vibration Sensors |
|
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| Yoshio Tanaka, Tetsushi Ueta, Hiroshi Kawakami and Takashi Sumitomo |
| Paper: | pp. 218-220 | ||
| Rotation Measurement and Control of Optically Trapped Particles |
|
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| Akihiro Yamamoto and Ichirou Yamaguchi |
| Paper: | pp. 221-224 | ||
| 3-D Shape Measurement Sensor for Specular Objects |
|
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| Harunobu Kawai, Toshihiro Hamada, Hiroki Nakanishi and Seiji Hata |
| Paper: | pp. 225-229 | ||
| Inspection System of Soldering Joint on Printed Circuit Board by Using Neural Network |
|
||
| Shunichiro Oe, Kennichi Kaida, Daisuke Nagai, Mituo Nakamura, Tomohiro Kimura and Koichi Kameyama |
| Paper: | pp. 230-233 | ||
| Automatic Combination of Modular Machine Elements Forming Complex Manufacturing Cell |
|
||
| Yoshimi Takeuchi, Naoki Asakawa and Yoshihiro Totani |
| Development Report: | pp. 234-237 | ||
| High-Speed Machine Vision System Based on Human Sensibility Analysis for Automotive Cluster Dial Inspection |
|
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| Yoshio Yokoyama and Eiji Ichihashi |
| Development Report: | pp. 238-241 | ||
| Measurement of Color CRT Beam Profile and Its Application to Focus Evaluation |
|
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| Toshio Asano, Jun Mochizuki, Kinuyo Hagimae, Takashi Ohta and Nobuo Fukuhara |
| Paper: | pp. 242-249 | ||
| Simplified Adaptive Nonlinear Robust Controller for Linearized Pantagraph-Type Manipulator |
|
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| Kiyotaka Izumi, Keigo Watanabe and Masatoshi Nakamura |
| Paper: | pp. 250-262 | ||
| Adaptive Reinforcement Learning and Its Application to Robot Compliance Learning |
|
||
| Boo-Ho Yang and Haruhiko Asada |
| Development Report: | pp. 263-269 | ||
| Autonomous Mobile Robot for Hospitals |
|
||
| Gerald Seet, R.S. Senanayake and Eicher Low |
| Letter: | pp. 270-272 | ||
| Miniaturized Light Source Direction Sensitive Device: DSD |
|
||
| Masanori Idesawa |
No.2
(Apr)
Special Issue on Biological Information Sensors
Special Issue on Biological Information Sensors
| Editorial: | p. 91 | |
| Biological Information Sensors |
| |
| Hideto Ide | ||
| Robot researchers are always aiming at expanding robot functions, but no doubt the foremost aim in the expansion of functions is learning ability. Without learning ability, it is impossible to cope with the environment which changes in million different ways. Speaking from the present level of knowledge, it will be impossible for a robot to approach anything close to a human being even in the year 2000. This time, let us lower our aim one step below the ideal level and look our eyes at reality, which encompasses biological information and sensors. A human hand is an excellent actuator as well as an excellent sensor. The functions as an actuator have a close interaction with the functions as a sensor, and through this interaction, many functions are recognized and actions are realized. Generally speaking, it is common knowledge that the operation of an actuator is assisted by sensor information in the form of feedback, but in thecase of a hand, there exist not only this form but also a reverse form, namely a form in which an actuator is used in order to realize the sensing function; in addition, a form in which these two forms are mixed also exists. Thus, the motion of a mere hand contains very complex elements. This special issue, as was the case with the issue of last year published in a similar fashion, is considered interesting in order to learn what topics have been created in the past year. Thanks are expressed to those authors who have contributed their papers to this issue. | ||
| Paper: | pp. 92-99 | ||
| A Diagram Acquisition and Generation System for Blind Persons Using Tactile and Auditory Senses |
|
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| Hiroki Minagawa, Noboru Ohnishi and Noboru Sugie |
| Paper: | pp. 100-107 | ||
| Identification of Fuzzy Rule on Manual Control of an Unstable System |
|
||
| Shigehiro Masui, Toshiro Terano and Yoshimasa Sugaya |
| Paper: | pp. 108-111 | ||
| Low Dose Radio Frequency Irradiation at 906MHz did not Cause Any Adverse Effects on Growth of Several Organs in Mice but Caused Elongation of the Gestation Period |
|
||
| Kenichi Saito, Nobuo Goto, Kenkichi Imamura and Katsushi Suzuki |
| Paper: | pp. 112-118 | ||
| Evaluation of the Arousal Level in Motorcar Driving Using Skin Potential Level II: Its Effectiveness Compared with Other Electrophysiological Quantities |
|
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| Chiaki Nishimura, Akio Kosaka, Kazuko Terada, Shuji Yoshizawa and Jun’ichi Nagumo |
| Paper: | pp. 119-124 | ||
| Recognition of Shaded Patterns with Noise by Using a Layered MVL Neural Network |
|
||
| Masayuki Matsumoto and Tatsuki Watanabe |
| Paper: | pp. 125-130 | ||
| Extraction of Feature Elements of Faces by Sequential Search |
|
||
| Tatsuko Sakai, Kayoko Nakajima, Guo Su Mei and Hiroshi Katsulai |
| Paper: | pp. 131-134 | ||
| Shock on Head and Bone Conduction Speech |
|
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| Manabu Ishihara and Jun Shirataki |
| Paper: | pp. 135-140 | ||
| Estimation of the Under-Surface Temperature Pattern by Dynamic Remote Sensing |
|
||
| Minoru Inamura and Hiromichi Toyota |
| Paper: | pp. 141-146 | ||
| Analysis on Mishearing of Speech Signals Whose Constant Intervals are Periodically Eliminated, and Its Characteristics |
|
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| Jun Shirataki, and Manabu Ishihara |
| Paper: | pp. 147-150 | ||
| New Model of the Ultrasonic Walking Aid for the Blind |
|
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| Etsuzo Ohdaira and Masao Ide |
| Paper: | pp. 151-155 | ||
| Relationship between Circadian Rhythm in Body Temperature and Ultradian Variations of Psychological and Physiological States in Arousal |
|
||
| Yoichi Tsuji and Kazuyuki Nagasawa |
| Paper: | pp. 156-160 | ||
| Determination of Water Content in Brake Fluids by Using Capacitance Sensors and Measurement of Fluid Quantity by Dielectric Constant |
|
||
| Ryou Minagawa, Sadao Yamazaki, Teruo Negishi and Minoru Hara |
| Paper: | pp. 161-168 | ||
| Hand Manipulation and Impedance Adjustment |
|
||
| Koji Ito |
| Development Report: | pp. 169-171 | ||
| Stress Analysis of Dental Implant Bodies by Three-Dimensional Finite Element Method |
|
||
| Yoshiyuki Kageyama, Mari Shimura, Eiichi Nagai, Yoshinori Sato and Hideyuki Majima |
| Development Report: | pp. 172-178 | ||
| On the Relationship between Contact Resistance and Friction Coefficient |
|
||
| Terutaka Tamai |
| Development Report: | pp. 179-185 | ||
| Basics of Magnetic Stimulation of Living Bodies and Its Applications |
|
||
| Shoogo Ueno |
| Letter: | pp. 186-187 | ||
| Application of Fluency Theory to Analysis of Event-Related Potentials |
|
||
| Hideto Ide, Satoki P. Ninomija, Satoshi Suzuki and Mariko F. Funada |
| Letter: | pp. 188-189 | ||
| Analysis of Somatosensory Evoked Potentials by Air-Puff Stimulated Skin |
|
||
| Hideto Ide, Satoki P. Ninomija, Satoshi Suzuki and Mariko F. Funada |
| Letter: | pp. 190-193 | ||
| Development of Feeble Grasping Power Sensor Based on Rubber Optical Fiber |
|
||
| Eiji Toba, Ichiro Furihata, Mitsuo Naito and Tokuji Yokozeki |
No.1
(Feb)
Special Issue on Fuzzy Control
Special Issue on Fuzzy Control
| Editorial: | p. 1 | |
| Fuzzy Control |
| |
| Keigo Watanabe | ||
| This special issue is devoted to the study of Fuzzy Control applied to robotics and mechatronics. In particular, it contains a collection of fuzzy-neural network approaches, together with the conventional fuzzy reasoning or new approaches. Since the first pioneering work on fuzzy sets and fuzzy logic reported in 1965 by Zadeh, many control application papers have been published with the fundamental fuzzy controllers based on the so-called Mamdani's min-max centroidal method, the TakagiSugeno's functional reasoning, and the simplified reasoning. However, it is recognized that much trial and error is necessary in the design of the conventional fuzzy controller, because the fuzzy reasoning methods mentioned above are not fundamentally related to any control or system theory. In addition, it should be noted that the total number of control rules grows exponentially as the number of input variables to the conventional fuzzy reasoning increases. Thus, in order to improve the conventional approach and develop the new approach for large-scale systems, most current work on fuzzy control is concerned with an effective design, construction, or analysis of the fuzzy controller by invoking the neural network theory, genetic algorithm, and other control or system theories. Although the literature, both in Japanese and in English, on fuzzy control and applications is now very rich, I believe that this special issue provides an important impact on the advanced fuzzy control. This issue would not have been possible without the enthusiastic support of the contributors. I am indebted to all of them for their up-to-date contributions and to the editorial staff for care throughout the editorial and printing process. | ||
| Review: | pp. 2-8 | ||
| Applications of Neuro Fuzzy Technology in Consumer Electronics Products |
|
||
| Ryu Katayama |
| Review: | pp. 9-11 | ||
| Applications of Fuzzy Control to Automobiles |
|
||
| Hiroshi Takahashi |
| Paper: | pp. 12-20 | ||
| Block Hierarchical Fuzzy-Neural Networks and Their Application to a Mobile Robot Control |
|
||
| Jun Tang, Keigo Watanabe, and Masatoshi Nakamura |
| Paper: | pp. 21-28 | ||
| Robot Manipulator Control Using Fuzzy Gaussian Potential Neural Networks |
|
||
| Mohammad Teshnehlab and Keigo Watanabe |
| Paper: | pp. 29-35 | ||
| Structure Organization of Hierarchical Fuzzy Model Using Genetic Algorithm |
|
||
| Toshio Fukuda, Yasuhisa Hasegawa and Koji Shimojima |
| Paper: | pp. 36-44 | ||
| Fuzzy Control for Inverted Pendulum Using Fuzzy Neural Networks |
|
||
| Shin-ichi Horikawa, Masahiro Yamaguchi, Takeshi Furuhashi and Yoshiki Uchikawa |
| Paper: | pp. 45-51 | ||
| A Systematic Design of Fuzzy Control System for Inverted Pendulum |
|
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| Shigeyasu Kawaji, Nobutomo Matsunaga, and Teruyuki Maeda |
| Paper: | pp. 52-56 | ||
| Parking Motion Planning and Control of a Car-Like Robot Using a Fuzzy Neural Network |
|
||
| Motoji Yamamoto, Masaaki Kobayashi, and Akira Mohri |
| Paper: | pp. 57-62 | ||
| Back-Upper Control of a Car-Like Robot Having a Trailer via Model-Based Fuzzy Control |
|
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| Kazuo Tanaka |
| Paper: | pp. 63-68 | ||
| Positioning System with Progressive Wave-Type Ultrasonic Motor under Self-Tuning Fuzzy Control |
|
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| Junji Fukumi, Takuya Kamano, Takayuki Suzuki and Yu Kataoka |
| Paper: | pp. 69-74 | ||
| Cooperative Control of Human-Robot System Using Fuzzy Reasoning |
|
||
| Toshiro Noritsugu and Hiroyuki Inoue |
| Paper: | pp. 75-85 | ||
| Expert Fuzzy-Neuro Controller Design for Wall Climbing Robot for Decontamination of Nuclear-Power Station |
|
||
| Sergei V. Ulyanov, Kazuo Yamafuji, Valery G. Gradetsky and Andrea Pagni |
| Paper: | pp. 86-90 | ||
| A Study of Line-Fitting Method by Using Genetic Algorithm |
|
||
| Takatoshi Yamagishi and Takehiko Tomikawa |
Vol.6 (1994)
No.6
(Dec)
Special Issue on Intelligent Manufacturing Systems
Special Issue on Intelligent Manufacturing Systems
| Editorial: | p. 441 | |
| Intelligent Manufacturing Systems |
| |
| Yoshio Mizugaki | ||
| Production engineering and manufacturing industries face difficulties in developing a new paradigm to cope with the post mass-production era. Consumers' preferences change very quickly and vary over a wide range of taste. A product's life cycle becomes shorter than shorter. Thus, rapid prototyping techniques have been requested, and some new concepts on manufacturing have been presented including Flexible Manufacturing System, Factory (or Flexible) Automation, Computer Integrated Manufacturing System, and Concurrent Engineering. After the termination of the cold war, many regional economies combined through international trade and dynamically evolved into global economies. Such change had significant effects on manufacturing industries and consequently on production engineering. As a new paradigm in the post mass-production era, the creation of manufacturing culture has been advocated by Prof. Hiroyuki Yoshikawa, President of University of Tokyo. It contains not only the movement towards standardization of conventional manufacturing knowledge but also the development of a global manufacturing system with use of computerization. At his advocation, the international research project of Intelligent Manufacturing Systems (IMS) was initiated. This bimonthly journal is a special issue on the IMS project and similar topics widely covering intelligent manufacturing systems. The former part of the contents is the description of the IMS project. It consists of the commentary articles quoted from the IMS news and the latest reports of IMS international test cases. The Japan IMS center publishes the IMS news and strongly supports the IMS project itself with collaboration of Ministry of International Trade and Industry of Japan (MITI). The authors of these reports are primarily enrolled in the actual responsibility to promote their projects and newly write the articles for this journal. I would like to thank the IMS center and each author for their contributions to this special issue on the IMS project. The latter part of the contents consists of the articles on the STandard for the Exchange of Product model data (STEP) and some techni...<more> | ||
| Development Report: | pp. 449-452 | ||
| Clean Manufacturing in the Process Industries |
|
||
| Tetsuya Oishi and Tetsu Shimatani |
| Development Report: | pp. 453-458 | ||
| Globeman2l |
|
||
| Tetsuya Oishi and Kouji Ueki |
| Development Report: | pp. 459-463 | ||
| Holonic Manufacturing Systems |
|
||
| Shunji Mohri and Kenji Tokunaga |
| Development Report: | pp. 464-469 | ||
| GNOSIS Knowledge Systematization: Configuration Systems for Design and Manufacturing |
|
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| Moriki Toyama and Niall Murtagh |
| Paper: | pp. 470-473 | ||
| Product Model Structures in STEP |
|
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| Hiromasa Suzuki |
| Paper: | pp. 474-478 | ||
| STEP Draughting Model for the Exchange of Technical CAD Drawings |
|
||
| Hiroyuki Hiraoka |
| Paper: | pp. 479-484 | ||
| The Use of Self-Organizing Cells in Robot Motion Planning |
|
||
| Toshifumi Satake, Akihiro Hayashi and Hiroshi Suzuki |
| Paper: | pp. 485-490 | ||
| A Study of On-Machine Measurement with the Compensation of Probe Sensitivity in a Machine Tool |
|
||
| Yoshio Mizugaki, Teruyuki Asao, Masafumi Sakamoto, Sadao Arai |
| Paper: | pp. 491-498 | ||
| Trajectory Planning of Manipulator Using Optimization of Uniform B-Spline |
|
||
| Hiroaki Ozaki and Hua Chiu |
No.5
(Oct)
Special Issue on Space Robotics
Special Issue on Space Robotics
| Editorial: | p. 345 | |
| Space Robotics |
| |
| Yoshiaki Ohkami | ||
| Since the beginning of space exploration, "space robots" have attracted the imagination of many researchers and engineers, and a number of fascinating plans for their use have been proposed.' However, only a few of these ideas have been realized in spite of the early realization that robots would be more appropriate than extra-vehicular activities by a human crew in the hostile space environment. One application is the Space Shuttle Remote Manipulator System, called the "Canadian Robot Arm", which has been functioning as expected for more than 10 years. In addition, ROTEX experiments on Space Lab a few years ago demonstrated that advanced robotic technology could perform more complicated tasks on board. It is also reminded that many other robotic experiments were canceled at some stage of their development: In particular, it was hoped that NASA's Flight Telerobotic Servicer would be able to operate with the help of an Orbital Maneuvering Unit. There are complicated reasons for the project cancellations, but one reason seems to be that the maturity level of robotics technology is not high enough; that advanced teleoperation and dexterous manipulation have not reached a sufficient level for practical use. In Japan, most of the space research and development thus far has concentrated on the launching and in-flight operations of conventional spacecraft, so that there has been no real demand for space robots. Recently, however, the Space Activities Committee issued a report on the long term vision for space activities in Japan. In this report, the importance of the use of space robotics technologies for diversified space activities such as space platform servicing, unmanned exploration of Mars and the moon crew support inside the space station, telescience operations, and even for the reusable reentry vehicle HOPE was emphasized. This can be at least partially attributed to the very active research on robotics in Japan, and in turn has encouraged researchers working in these fields. This special issue on space robotics introduces the research activities as several representative organizations, although it does not imply an exha...<more> | ||
| Paper: | pp. 346-350 | ||
| Space Robotics Research at Space Machines Laboratory, Department of Aeronautics and Space Engineering, Tohoku University - Research on Space Machines Aiming at the 21st Century - |
|
||
| Masaru Uchiyama |
| Paper: | pp. 351-355 | ||
| Dynamically Reconfigurable Robotic System |
|
||
| Toshio Fukuda and Seiya Nakagawa |
| Paper: | pp. 356-359 | ||
| Path Planning of Space Robots by Using Nonlinear Optimization Technique |
|
||
| Yoshiyuki Sakawa and Takao Akiyama |
| Paper: | pp. 360-369 | ||
| Disturbance Compensation Control of a Free-Flying Robot |
|
||
| Hirohiko Arai and Kazuo Tanie |
| Development Report: | pp. 370-374 | ||
| In-Orbit Experiment of Space Robot Technologies on ETS-7 |
|
||
| Mitsushige Oda |
| Development Report: | pp. 375-383 | ||
| Space Robotics Research at the Institute of Space and Astronautical Science |
|
||
| Ichiro Nakatani and Takashi Kubota |
| Development Report: | pp. 384-389 | ||
| Performance Evaluation of Experimental Device for Space Robot |
|
||
| Hironori A. Fujii, Kenji Uchiyama and Tsugito Maruyama |
| Development Report: | pp. 390-393 | ||
| Space Robotics Research at the Tokyo Institute of Technology |
|
||
| Yoshiaki Ohkami, Saburo Matunaga and Kazuya Yoshida |
| Development Report: | pp. 394-396 | ||
| Research Activities for Space Robot at Osaka University |
|
||
| Kazuo Tsuchiya |
| Development Report: | pp. 397-401 | ||
| Space Robotics Research at the University of Osaka Prefecture - Control of Free-Flying Robots with Structurally Flexible Manipulators - |
|
||
| Yoshisada Murotsu and Kei Senda |
| Development Report: | pp. 402-407 | ||
| Space Robotics Researches at Electrotechnical Laboratory: Dexterous EV Robot Technology |
|
||
| Kazuo Machida, Yoshitsugu Toda and Toshiaki Iwata |
| Development Report: | pp. 408-411 | ||
| Space Robotics Research in Hitachi MERL |
|
||
| Taro Iwamoto and Hiroshi Yamamoto |
| Development Report: | pp. 412-416 | ||
| Space Robotics Research in NEC Corporation - Toward Space Robots: Integration of Robotics & Space Technology - |
|
||
| Kenji Hiraishi and Nobuaki Takanashi |
| Development Report: | pp. 417-421 | ||
| Space Robot Study at Mitsubishi Electric Corp. |
|
||
| Masao Inoue, Katsuhiko Yamada and Norimasa Yoshida |
| Development Report: | pp. 422-424 | ||
| Space Robotics Research at the National Aerospace Laboratory - Orbital Servicing Technology - |
|
||
| Osamu Okamoto |
| Paper: | pp. 425-433 | ||
| Representation and Matching of Two-dimensional Curvilinear Figures Considering Curvatures and Spatial Positions |
|
||
| Hiroshi Katsulai |
| Paper: | pp. 434-439 | ||
| Posture Detection and Landing Control of Robot Thrown in Midair |
|
||
| Kazuo Yamafuji, Koutaro Honda and Tsuyoshi Kobayashi |
No.4
(Aug)
Regular papers
Regular Papers
| Review: | pp. 269-277 | ||
| Modeling of Flexible Structures and Control Theory |
|
||
| Kazuo Yoshida |
| Paper: | pp. 278-284 | ||
| Simultaneous Optimization of Positioning and Vibration Controls Using Time-Varying Criterion Function |
|
||
| Susumu Hara and Kazuo Yoshida |
| Paper: | pp. 285-291 | ||
| A Study on Active Vibration Control of Plate Structures for Isolating Noise |
|
||
| Kazuto Seto and Katsumi Sawatari |
| Paper: | pp. 292-297 | ||
| Experimental Study on Arrangements of Setting Points of an Actuator and Sensor for the Vibration Control of Flexible Structures |
|
||
| Kazuto Seto and Katsuhiko Ezure |
| Paper: | pp. 298-303 | ||
| Vibration Control of A Time-Varying Flexible Beam Using a Piezoelectric Servo-Damper |
|
||
| Chong-Won Lee, Sung-Dae Kim, Won-Ho Jee and Sang-Ho Lee |
| Paper: | pp. 304-311 | ||
| Computer-Aided Control System Design and Control Performance for Active Vibration Control Systems Based on μ Synthesis Theory |
|
||
| Kenzo Nonami and Qi-fu Fan |
| Paper: | pp. 312-317 | ||
| Dynamic Modeling of Robot Force Control System and Its Application to a Parts Handling Task |
|
||
| Akira Umeno, Ken-ichiro Shimokura, Takao Kakizaki and Kenji Kogure |
| Paper: | pp. 318-321 | ||
| Distribution of Natural Compliance in Force Control of Space Manipulator |
|
||
| Yoshiaki Ohkami and Osamu Okamoto |
| Development Report: | pp. 322-326 | ||
| Microgravity Production for the Test Capsule Falling Through the Drop Shaft |
|
||
| Hideyo Sakurai, Shinobu Saito, Takao Azuma and Mitsuru Muto |
| Development Report: | pp. 327-331 | ||
| Active Vibration Control System for Tall Structures |
|
||
| Tetsuo Suzuki, Mitsuru Kageyama, Arihide Nobata |
| Paper: | pp. 332-339 | ||
| Failure-Detecting Method Using Fusion of Sensor Information and Visual Knowledge |
|
||
| Kazuo Yamaba and Yoichi Miyake |
| Paper: | pp. 340-344 | ||
| Modeling Fuel Injection Control Maps Using Fuzzy Logic and Neural Networks |
|
||
| Andreas Bastian |
No.3
(Jun)
Special Issue on Active Vibration Control
Special Issue on Active Vibration Control
| Editorial: | p. 183 | |
| Active Vibration Control |
| |
| Kazuto Seto | ||
| Mechanical devices easily cause vibration because they are constructed with structural materials that have little internal damping. For this reason, vibration control has long been a big problem for the development of excellent machines. Now, sophisticated vibration control technology is becoming indispensable for satisfying various demands, related to the higher performance, reduced weight, energy savings, etc. of machines, which have become increasingly stronger in recent years. In particular, a large number of problems in which active vibration control holds the key are occurring in the most advanced fields of engineering. As can be seen in various examples of super-tall buildings such as the Yokohama Landmark Tower and Tokyo Gas Building, which have recently been completed at various locations, the construction of new structures like super-tall buildings has become possible by the support of this technology. On the other hand, with the further progress in mechatronics, it is now common sense that a control system is incorporated in any of today's machines. However, this has caused a new problem related to vibration. The problem is that energy injected for controlling position or motion excites vibration characteristics neglected from the control object and induces violent vibration in the machine. To be more specific, a flexible rotor controlled by a magnetic bearing is; capable of rotating at ultra-high speeds, but its flexible vibration must be controlled in order to solve a multiple 'number of critical speed passage problems. At such a time, higher-order vibration modes neglected from the object of control may cause unstable vibration. This is a new problem called spillover instability. It is expected in the future that an increasing number of such problems related to the simultaneous control of motion and vibration will arise in mechatronics equipment. Up to now, for the control of vibration, passive vibration controlling devices which do not require the injection of energy from outside have often been used. However, with the recent demand for sophisticated vibration control technology as described above, active vi...<more> | ||
| Review: | pp. 184-190 | ||
| Active Control: Control Theory as Viewed from Applications |
|
||
| Kazuto Seto |
| Review: | pp. 191-199 | ||
| Current Situation on Magnetic Levitation and Magnetic Bearing Control, and Control Theory |
|
||
| Kenzo Nonami |
| Review: | pp. 200-207 | ||
| Attitude Control Algorithm for Free-Flying Space Robot (Cooperative Control of Feedforward and Feedback) |
|
||
| Nobuyuki Kobayashi, Osamu Saito, Kenzo Nonami and Susumu Tohsya |
| Paper: | pp. 208-213 | ||
| Vibration Control of Truss Structure by Piezoelectric Actuator |
|
||
| Yuzo Shibayama, Koji Sekine, Takuma Sakata, Takayoshi Hatayama and Shiro Yoshida |
| Paper: | pp. 214-219 | ||
| Robust Control of a Flexible Arm |
|
||
| Kang-Zhi Liu, Koji Higaki and Tsutomu Mita |
| Paper: | pp. 220-229 | ||
| Residual Vibration Reduction of Time-Varying Flexible Structures by Input Shaping |
|
||
| Kwanje Woo and Youn-sik Park |
| Paper: | pp. 230-236 | ||
| Vibration and Motion Control of Flexible Structures by Hybrid Dynamic Absorber(Influence of Vibration System with Nonlinear Element) |
|
||
| Shinji Mitsuta, Kazuto Seto, Hiroyuki Ito and Akio Nagamatsu |
| Paper: | pp. 237-242 | ||
| Robust Control for a Flexible Structure Possessing Transverse-Torsional Coupled Vibration |
|
||
| Toru Watanabe and Kazuo Yoshida |
| Paper: | pp. 243-248 | ||
| Active Vibration Control of Flexible Structures Arranged in Parallel |
|
||
| Katsuhiko Ezure, Kazuto Seto, Sinji Mitsuta and Katsumi Sawatari |
| Paper: | pp. 249-255 | ||
| Development of V-Shaped Hybrid Mass Damper and its Application to a High-Rise Building |
|
||
| Koji Tanida, Masao Mutaguchi, Yuji Koike, Tamotsu Murata, Takuji Kobori, Koji Ishii, Yasuo Takenaka and Tomohiko Arita |
| Development Report: | pp. 256-261 | ||
| Tuned Active Dampers Installed in the Yokohama Landmark Tower |
|
||
| Hisanori Abiru, Manabu Fujishiro, Takeji Matsumoto, Shinji Yamazaki and Norio Nagata |
| Development Report: | pp. 262-265 | ||
| Vibration Control of Hakucho Bridge Tower under Construction Using Actively-Controlled Mass Damper |
|
||
| Morito Takahashi, Satoshi Nishimoto, Koh Hashimoto, Yuji Koike, Masao Mutaguchi and Hidesaku Ueshima |
No.2
(Apr)
Special Issue on Intelligent Integrated Systems for Robotics
Special Issue on Intelligent Integrated Systems for Robotics
| Editorial: | p. 119 | |
| Intelligent Integrated Systems for Robotics |
| |
| Michitaka Kameyama | ||
| The new area of "intelligent integrated systems" has been proposed to develop one of the generic technologies for next-generation electronics and information systems. Although the interpretation may be different for individual persons, I think the area is the integration of the three concepts as shown in Figure. One is the concept of "system on silicon" using the integrated circuit technology. Giga-scale integration will be available in near future, so that we have to develop hardware and software architecture related to ultra highly parallel processing. Another is the concept of intelligence including physical model based computations as well as AI technology. The other is the concept of real-world applications just different from computer-world applications. The signal flow is passed through a real world, so that the performance should be evaluated as the response time or delay time. The examples are robotics, car electronics, home electronics, factory automation and so on. This special issue is planned to demonstrate the above important area, especially dedicated for robotics which is a typical example of the intelligent integrated systems. I believe that the contents of this issue give great impact on' the next-generation robot systems, and it will be a memorial publication. Finally, I would like to express my appreciation to the authors for their efforts and contributions to this special issue and also to the members of the Editorial Board for their useful comments. | ||
| Review: | pp. 120-123 | ||
| Next-Generation Intelligent Integrated Systems Based on Multiple-Valued Digital Processing |
|
||
| Michitaka Kameyama |
| Paper: | pp. 124-130 | ||
| Coordinate Transformation VLSI Processor for Redundant Manipulator Control |
|
||
| Yoshichika Fujioka, Michitaka Kameyama, and Tatsuo Higuchi |
| Paper: | pp. 131-136 | ||
| Design of a Model-Based Robot Vision VLSI Processor |
|
||
| Yoshifumi Sasaki and Michitaka Kameyama |
| Paper: | pp. 137-142 | ||
| Architecture of a CAM-Based Collision Detection VLSI Processor for Intelligent Vehicles |
|
||
| Masanori Hariyama and Michitaka Kameyama |
| Paper: | pp. 143-149 | ||
| Latency Minimization of Parallel VLSI Processors for Robotics Using Integer Programming |
|
||
| Bumchul Kim and Michitaka Kameyama |
| Paper: | pp. 150-154 | ||
| Design of an Intelligent Fault-Tolerant System for Real-World Applications |
|
||
| Shigeki Abe, Michitaka Kameyama and Tatsuo Higuchi |
| Paper: | pp. 155-161 | ||
| Development of a Digitally-Controlled Servo Amplifier for Robots |
|
||
| Yuji Shindo and Takao Wada |
| Paper: | pp. 162-168 | ||
| Cooperative Behavior of a Schedule-Based Distributed Autonomous Robotic System |
|
||
| Jifeng Sun, Tadashi Nagata and Kenji Kurosu |
| Paper: | pp. 169-174 | ||
| A General Method for Direct Kinematic Equation Computation of Closed Link Mechanisms |
|
||
| Zaiquan Sheng and Kazuo Yamafuji |
| Paper: | pp. 175-182 | ||
| Stability and Motion Control of a Unicycle (1st Report: Dynamics of a Human Riding Unicycle and Its Modeling by Link Mechanisms) |
|
||
| Zaiquan Sheng and Kazuo Yamafuji |
No.1
(Feb)
Special Issue on Biomechatronics
Special Issue on Biomechatronics
| Editorial: | p. 1 | |
| Biomechatronics |
| |
| Hideto Ide | ||
| We are now entering the 21st century. With the aging society having a life expectancy of 80, various problems have emerged. If we can live until 80 without any physical trouble, we will be the happiest. Who take care of the elderly? The children or a spouse? The answer is neither. Everyone will have to be responsible for himself or herself. However, this will be impossible if their physical problems are involved. Then who ? Robots will do the job. It is necessary to develop warmhearted robots that are similar to grandchildren or other loved ones. At present, robots play a significant and remarkable role in the human society. They are roughly classified into two types: one based on a longing for creatures with a good ability that we do not have, such as a giant force or ability of flying in the air or diving underwater or under ground, and the other based on a desire that we want to own an artificial creature, such as a servant performing undersirable tasks for us or accepting all of our orders. The former should be called a tool such as a construction machine, airplane, or submarine rather than a robot. This is derived from the concept that an ability not owned by us is implemented or supplemented through a machine and is added to us, not the concept of "instead of us." The latter is derived from the concept that makes machines replace what we have done, and its typical examples include industrial or robots working under extreme conditions. No matter how much robots have progressed, human intervention is always required because human hands have an ability that cannot be implemented in current robots. This ability is the flexibility of human hands that can undertake anything to some extent even with less precision. If it cannot be realized, a robot such as a servant will be unable to be implemented. It is no exaggeration to say that this implementation is the final goal of robotics. To analyze a human arm (hand), the following methods are available: direct measuring method using sensors or other devices mounted on the arm and indirect measuring method using the electromyogram (EMG) that is generated by moving muscles. The d...<more> | ||
| Paper: | pp. 2-8 | ||
| Evaluation of the Arousal Level in Motorcar Driving Using Skin Potential Level: Changes in Skin Potential Level under Various Driving Conditions |
|
||
| Chiaki Nishimura, Akio Kosaka, Kazuko Terada, Shuji Yoshizawa and Jun’ichi Nagumo |
| Paper: | pp. 9-14 | ||
| Production of the Near-Infrared Spectrofluorophotometer and Fluorescence Quantum Yield of the Cyanine Solution for Dye Laser |
|
||
| Masao Ohtsuka, Toshiki Kudo, Masanobu Oguchi and Hideto Ide |
| Paper: | pp. 15-18 | ||
| Recognition System of the Manual Alphabet |
|
||
| Masafumi Uchida, Hideto Ide, Satoki Ninomiya and Mina Terauchi |
| Paper: | pp. 19-23 | ||
| Character Trainer Aid for the Blind by Using Sensor Fusion |
|
||
| Hideto Ide, Masafumi Uchida and Mina Terauchi |
| Paper: | pp. 24-31 | ||
| The Effect of Skin Temperature on Vibrotactile Sensibility and Its Model |
|
||
| Hideto Ide and Masafumi Uchida |
| Paper: | pp. 32-37 | ||
| A Fundamental Examination of Recognition of Manual Alphabets on Color Image |
|
||
| Yuji Nagashima, Masanori Fujii, Kazuyuki Kanda, Mina Terauchi, Hideyo Nagashima |
| Paper: | pp. 38-41 | ||
| Development of Monitoring System for Human Respiratory Condition Using CA Thermo-Pile |
|
||
| Eiji Toba and Sadamu Sekiguchi |
| Paper: | pp. 42-50 | ||
| Non-Parametric Classification of Remotely Sensed Multispectral Image Data by Means of Matrix Representation of Multidimensional Histograms |
|
||
| Minoru Inamura |
| Paper: | pp. 51-54 | ||
| Teratogenic Effect of Microwave Irradiation on Mouse Embryos |
|
||
| Ken-ichi Saito and Katsushi Suzuki |
| Paper: | pp. 55-57 | ||
| Path Planning by SPM Method for Autonomous Robot |
|
||
| Masafumi Uchida and Hideto Ide |
| Paper: | pp. 58-62 | ||
| MR Imaging Method for Measurement of Local Dynamics in Human Tissues |
|
||
| Kazuhiro Homma, Kiyoyuki Chinzei and Koji Hyodo |
| Paper: | pp. 63-68 | ||
| Effects and Improvement of Mixel Data in the Category Classification of Remote Sensing Image Using EM Algorithm |
|
||
| Yukio Kobayashi and Minoru Inamura |
| Paper: | pp. 69-74 | ||
| Impedance Measurement and Analysis of Water-Containing Foodstuffs in Refrigeration Process |
|
||
| Hideo Kusano, Teruo Negishi, and Noboru Masuda |
| Paper: | pp. 75-80 | ||
| Vectorial Magnetic Stimulation of the Human Motor Cortex |
|
||
| Shogo Ueno, Tsuruo Matsuda, and Isao Ninoyama |
| Paper: | pp. 81-86 | ||
| Tissue Mimicking Phantoms Using High Polymer Gel for Ultrasonic Diagnostic Equipment |
|
||
| Etsuzo Ohdaira and Masao Ide |
| Development Report: | pp. 87-91 | ||
| Perception of Intermittently Eliminated Speech Waves (Auditory Sense Characteristics in Case of Having Eliminated the Voice Signals at a Specified Interval) |
|
||
| Jun Shirataki and Manabu Ishihara |
| Development Report: | pp. 92-97 | ||
| Prediction Effect on Manual Control of an Unstable System |
|
||
| Shigehiro Masui, Toshiro Terano and Yoshimasa Sugaya |
| Development Report: | pp. 98-103 | ||
| The Development of a Mathematical Model of Sleep |
|
||
| Toshinori Kobayashi |
| Development Report: | pp. 104-108 | ||
| Biomechanical Study of Peristalsis -Simulation of Peristalsis in Case of Fluid Contents- |
|
||
| Yoji Umetani and Norio Inou |
| Development Report: | pp. 109-113 | ||
| Bio-Mimetic Control Systems |
|
||
| Koji Ito |
| Development Report: | pp. 114-118 | ||
| Computer Analysis of The Jaw Bone Profile Utilizing CT Image |
|
||
| Yoshiyuki Kageyama, Hideyuki Majima, Mari Shimura and Charles A. Babbush |
Vol.5 (1993)
No.6
(Dec)
Special Issue on Legged Locomotion
Special Issue on Legged Locomotion
| Editorial: | p. 497 | |
| Legged Locomotion |
| |
| Junji Furusho and Akihito Sano | ||
| Walking is a form of locomotion that is gentle to the environment, and by means of this action, it is possible to move through a variety of environments. In other words, the system of locomotion called walking allows a mover to go through almost any environment while choosing landing points for providing better supporting points, without hurting the environment. On the other hand, the smooth locomotion by wheel is possible only when a road is created by giving a human touch to the natural environment. Moreover, the crawler system using caterpillars creates problems such as the floors and stairs being hurt or the pipes laid on the floors being crushed, although it does have huge locomotive capacity. In addition, a robot capable of working on the bottom of the sea is now desired. However, the use of a screw as a system of locomotion for the robot would create the problem of stirring up various deposits on the bottom and thereby losing its field of vision. Against this background, a large number of walking robots have been developed in recent years for work inside nuclear power plants, the exploration of planets, work on the sea bottom, and work inside forests. In particular, a six-legged robot by Ohio State University, a 6-legged robot for the exploration of Mars by Carnegie Mellon University, and a bi-armed quadruped robot for extreme work created in Japan have all been developed under large walking robot development projects. Because of these large-scale projects, the studies on walking robots have shown remarkable progress in recent years. On the other hand, the investigation from the points of view of control engineering and robotics of how walking controls are performed by the humans and animals presents a very interesting subject, and accordingly a great many studies are being conducted. The normal walking that the humans and animals do forms stable locomotion as a whole by repeating unstable locomotion. In other words, the walking with its static stability constantly maintained is hardly done except in the case of very slow walking. Studies on such dynamic walking have been started relatively recently, and the elucida...<more> | ||
| Review: | pp. 498-504 | ||
| Toward Development of Practical Quadruped Walking Vehicles |
|
||
| Shigeo Hirose and Kan Yoneda |
| Review: | pp. 505-510 | ||
| Biped Walking Robot Compensating Moment by Trunk Motion |
|
||
| Atsuo Takanishi |
| Paper: | pp. 511-515 | ||
| Basic Design and Synchronized Motion Control for Hexapod Walking Machine |
|
||
| Katsuhiko Inagaki and Hisato Kobayashi |
| Paper: | pp. 516-523 | ||
| Study of Dynamic Walk Control of a Biped Robot on Rugged Terrain - Derivation and Application of the Linear Inverted Pendulum Mode - |
|
||
| Shuuji Kajita and Kazuo Tani |
| Paper: | pp. 524-530 | ||
| Development of a Quadruped Dynamic Walking Machine by One Active Actuator |
|
||
| Kan Taguchi and Noriyuki Kawarazaki |
| Paper: | pp. 531-536 | ||
| Effect of the Motion in Horizontal Plane on the Stability of Biped Walking |
|
||
| Ryoji Kodama, Toru Nogai and Katsumi Suzuki |
| Paper: | pp. 537-541 | ||
| Micro-Walking Robot Driven by Flexible Microactuator |
|
||
| Koichi Suzumori, Fumika Kondo and Hirohisa Tanaka |
| Paper: | pp. 542-547 | ||
| Learning Control System of Biped Locomotive Robot Using Neural Networks |
|
||
| Yasuo Kurematsu, Takashi Murai, Takuji Maeda and Shinzo Kitamura |
| Paper: | pp. 548-560 | ||
| Development of Quadruped Walking Robots and Their Gait Study |
|
||
| Hironori Adachi, Noriho Koyachi, Tatsuya Nakamura and Eiji Nakano |
| Paper: | pp. 561-569 | ||
| Basic Study of Quadruped Locomotion System with Ability to Adjust Compliance |
|
||
| Akihito Sano, Junji Furusho and Akihiro Hashiguchi |
| Development Report: | pp. 570-574 | ||
| Distributed Control System for Six-Legged Walking Robot |
|
||
| Ryoichi Nakayama, Hitoshi Iida, Hisashi Hozumi, Satoshi Okada, Hideharu Okano and Tatsuo Miyazawa |
| Development Report: | pp. 575-578 | ||
| 8-Legged Underwater Walking Robot |
|
||
| Toshihisa Naruse and Toshiyuki Sawano |
| Letter: | pp. 582-584 | ||
| Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum |
|
||
| Akihito Sano and Junji Furusho |
| Paper: | pp. 585-593 | ||
| Remote Assistance Method for Advanced Teleoperation Using an Intervention Tool |
|
||
| Tsukasa Ogasawara and Kunikatsu Takase |
| Paper: | pp. 594-600 | ||
| A Fundamental Study of an Animation Presentation System for JSL Signs |
|
||
| Mina Terauchi, Yuji Nagashima, Kazuyuki Kanda, Takateru Nishimura, Hideyo Nagashima and Genichi Ohwa |
| Paper: | pp. 601-605 | ||
| Trajectory Generation of a Multi-Arm Robot Utilizing Kinematic Redundancy |
|
||
| Toshio Tsuji |
| Paper: | pp. 606-612 | ||
| Trajectory Generation of a Multi-Arm Robot Using Virtual Dynamics |
|
||
| Toshio Tsuji |
No.5
(Oct)
Special Issue on Japanese-French Congress of Mechatronics
Special Issue on Japanese-French Congress of Mechatronics
| Editorial: | p. 415 | |
| Japanese-French Congress of Mechatronics |
| |
| Makoto Kajitani | ||
| The lst Japanese-French Congress of Mechatronics was held at Besancon City in France from October 20 to 23, 1992. The congress was cosponsored by the Japan Society for Precision Engineering and 1'Institut des Microtechniques de Frenche-Comte. A total of 216 persons participated in the congress, 72 from Japan and 144 from France and other European countries. The total number of announced papers was 84, 49 from Japan and 35 from Europe. In addition, three special addresses were made each from Japan and Europe. The number of robotic addresses totalled 30, the largest number by field. Among these 30 addresses, 23 were made by Japanese participants. Studies in a wide range of mechatronics were also announced which were related to sensors and measurement system and machine vision. Besancon is the capital of Doubs and is an ancient city with a history of 2000 years. Doubs is bordered by Switzerland and has been active in the precision industry, such as watches, since old times. It is mostly industrialized and has been interested in mechatronics. Unique studies have been conducted by some research and educational institutes including Ecole Nationale Superieure de Mechanique et des Microtechniques. The congress received attention as being unique and attracted many participants for the following reasons: there was very little interaction between Japan and France in the field of precision engineering or mechatronics and the French industry, a specific existence in Europe, has recently taken a great interest in Japanese technology. The editorial committee of this periodical urged authors to contribute papers suitable for the periodical among those announced at the congress and contained their contributions in it. Technological interactions between Japan and Europe will become more important. In 1994, the 2nd Japanese-French Congress of Mechatronics (International) will be held at Takamatsu City in Japan. I hope that many researchers and engineers of mechatronics worldwide will join the congress and have discussions on mechatronics to stimulate its growth. | ||
| Review: | pp. 416-419 | ||
| Industrial Vicissitudes and Commercialization of Technology in Japan |
|
||
| Kihachiro Nishikawa |
| Review: | pp. 420-423 | ||
| Vision Systems for Electronics Industry in Japan (Automation of Manual Adjustment Works by Image Processing Technologies) |
|
||
| Tadanori Komatsu |
| Paper: | pp. 424-426 | ||
| The Designing Principles and Methods of Mechatronics Device and Product System |
|
||
| Zhu Zhong-gan and Makoto Kajitani |
| Paper: | pp. 427-433 | ||
| Drive of a Piezoelectric Cycloid Motor in a High Frequency Range |
|
||
| Iwao Hayashi, Nobuyuki Iwatsuki and Koosuke Fujimoto |
| Paper: | pp. 434-437 | ||
| Adjustable Compliant Motion of Ultrasonic Motor |
|
||
| Atsuo Kato, Koji Ito, and Masami Ito |
| Paper: | pp. 438-442 | ||
| Two-Level Control Structure of Magnetic Bearings |
|
||
| Nobuyoshi Taguchi, Takakazu Ishimatsu, Takashi Shimomachi |
| Paper: | pp. 443-447 | ||
| Powered Orthosis for Lower Limbs -Its Structure and Control- |
|
||
| Hiroyuki Miyamoto |
| Paper: | pp. 448-452 | ||
| High Accuracy Calibration System for Angular Encoders |
|
||
| Tadashi Masuda and Makoto Kajitani |
| Paper: | pp. 453-456 | ||
| Measurement System for Multiple Degrees of Freedom Moving Robot |
|
||
| Kiyoshi Takamasu |
| Development Report: | pp. 457-460 | ||
| Repair Equipment for Large-Scale Panel by Penning Discharge Micro-Sputtering Method |
|
||
| Hiroyuki Funamoto, Osamu Koseki and Toshio Sugita |
| Development Report: | pp. 461-465 | ||
| Calculation Method of Majority Rule for Coil Position Detection Apparatus and Its Evaluation |
|
||
| Satoshi Kunimitsu, Itsuo Murata and Hiromitsu Hoshina |
| Development Report: | pp. 466-470 | ||
| Production Engineering for Small-Size and Functional Motion of Total Arm Prosthesis |
|
||
| Yukio Saito and Takanori Higashihara |
| Development Report: | pp. 471-475 | ||
| Free-Form Surface Modeler with Artificial Reality |
|
||
| Hidetomo Takahashi, Satoshi Kanai |
| Paper: | pp. 476-480 | ||
| Mold & Assemble Integrated Machine for Plastic Parts |
|
||
| Takeshi Kawana, Toshiyuki Amimoto, Tatsuya Niinomi, Seiichi Baba, and Takashi Ohta |
| Paper: | pp. 481-486 | ||
| Development of Autonomous Mobile Robot for Obstacle Avoidance |
|
||
| Masafumi Uchida, Syuichi Yokoyama and Hideto Ide |
| Paper: | pp. 487-492 | ||
| Learning Model for Recursive Self-Generation of Target |
|
||
| Shizuaki Takahashi, Takahito Watanabe and Zenju Ohtsuki |
No.4
(Aug)
Special Issue on Precision Mechanism and Control
Special Issue on Precision Mechanism and Control
| Editorial: | p. 315 | |
| Precision Mechanism and Control |
| |
| Haruhisa Kawasaki | ||
| Research institutions have been aggressively working on the following issues in the world of precision machines: micromechatronics, aiming at super downsizing of mechanisms; optomechatronics, aiming at the technological fusion among light, electrons, and machines; and control technology to implement the precise motion or task of a machine. This special issue introduces the recent research activities in these fields in Japan. Micromechatronics suddenly began to receive attention since invisible micro-machines were realized in the latter half of the 1980's. Initially, drawbacks were cited such as the available material limited only to silicon, the limitation to the planar structure, and no applications due to its small power. In recent years, these problems have been gradually overcome, and some applications can be viewed. Some articles in this issue introduce many examples to which micromechatronics is expected to be applied. Optomechatronics is a technology that aims at the fusion among optical, electronics, and mechanical technologies. It was originated early in 1980 and has been recently linked to micromechanism, attracting attention as the technology of integrating mechanism, light, and control. In particular, this issue contains the focusing mechanism for optical disc units, the actuator for microoptical heads, and the optical servo system. Control or mechanism technology plays an important role in the precision motion of machines. Even if this technology is common to precision machines, its problems must often be solved as topics specific to the system under the restrictions of whether or not sensors are present and of actuator performance. This issue discusses the table feed mechanism that is driven by the hydraulic motor for high-speed driving and the servo motor for precision driving, the servo motor driving system by cam curve entry to suppress residual vibration, and the paper feed mechanism by ultrasonic vibration. These approaches take the restrictions of the system into account and provide an effective means for solving actual problems. This issue will provide useful information to researchers and engineers wh...<more> | ||
| Review: | pp. 316-325 | ||
| Application of Micromechatronics |
|
||
| Shinji Hara, Toshihiko Sakuhara, Masao Washizu, Wataru Nakagawa, Yutaka Hirai and Hiroyuki Fujita |
| Paper: | pp. 326-331 | ||
| Focusing Actuator for Magneto-optical Disk Drives |
|
||
| Junichi Ichihara, Koichi Tezuka and Akihiko Makita |
| Paper: | pp. 332-337 | ||
| Design and Positioning Control of Microhead Actuator for Optical Disk Storage System (Design Guidelines for a Collocation-Type Actuator) |
|
||
| Yoshito Nanjo, Ken-ichiro Shimokura and Kenji Kogure |
| Paper: | pp. 338-343 | ||
| Study on Optical Servo System (Modelling for Photovoltaic Effect in PLZT Element) |
|
||
| Takeshi Nakada, Cao Dong-Hui, Makoto Kimura and Hsien Chi-Yu |
| Paper: | pp. 344-348 | ||
| Positioning of an X-Y Stage Using the Horizontal Acceleration Signal of the Base Plate |
|
||
| Shinji Wakui, Mikio Sato, Katsumi Asada and Takeshi Sawada |
| Paper: | pp. 349-356 | ||
| Output of Cam Motion Curve by DC Servo Motor (2nd Report) -Residual Vibrating Characteristics of Motor Load- |
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| Kazuo Kanzaki and Nobuaki Kobayashi |
| Paper: | pp. 357-362 | ||
| Study on High Speed Feed Drive System for Machine Tools -Improvement of PID Control Parameter- |
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| Toshitake Tateno and Hiromu Nakazawa |
| Paper: | pp. 363-368 | ||
| Study on the Sheet Escape and Feeding Mechanism Using Ultrasonic Vibration (1st Report) - Design Concept and Its Experimental Investigation - |
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| Sakiichi Okabe, Yoshitugu Kamiya and Takahiro Oda |
| Paper: | pp. 369-373 | ||
| Development of Inspection System for IC Lead Frame Defects |
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| Hirokazu Tsuji and Kazuo Maruyama |
| Review: | pp. 374-380 | ||
| Motion and Control of Space Robot |
|
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| Haruhisa Kawasaki |
| Paper: | pp. 381-387 | ||
| Questions and Answers Among Multiple Robots for Dynamically Enhancing Each Robot’s Capability |
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| Tooru Morita, Shigeto Aramaki, Shigeru Kurono and Kouu Kagekawa |
| Paper: | pp. 388-400 | ||
| Method for Detecting Moving Obstacles Using Passive 3D Visual Sensor |
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| Jun'ichi Takeno, Naoto Mizuguchi, Sakae Nishiyama and Kanehiro Sorimachi |
| Paper: | pp. 401-406 | ||
| Electrical Characteristics of Solid Lubricant Composites Dispersed in High-Purity Mineral Oils |
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| Yoshitada Watanabe |
| Letter: | pp. 407-408 | ||
| Frequency Analysis System of Auditory Nerves with Auditory Brainstem Response (ABR) by Harmonious Tone |
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| Hideto Ide and Masao Ohtsuka |
| Letter: | pp. 409-412 | ||
| Auditory Neuromagnetic Fields Evoked by Spectral Transition of Syllables |
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| Minoru Hayashi |
No.3
(Jun)
Special Issue on Biological Information and the Applications for Robot Control
Special Issue on Biological Information and the Applications for Robot Control
| Editorial: | p. 203 | |
| Biological Information and the Applications for Robot Control |
| |
| Hideto Ide | ||
| A biological body has many outstanding features that we cannot create. Current advanced technology must be used to measure and determine some of these features. For example, human hands have the feature that allows individual fingers to independently operate and the feature that combines multiple fingers to hold an object. A combination of both features enables advanced and complicated tasks to be performed. In addition, hands are multifunctional; and they feel warmth, coldness, pain, and material quality by touch. Currently, very few fingertip end-effectors for industrial robots and artificial hands for the handicapped have the above functions. Improvements in these functions are expected in various fields. To make artificial hands perform the same functions as human hands, it is necessary to analyze the human operations and functions. From this perspective, the editor planned the special issue of "Biomeasurement" and wishes to express his sincere thanks to many researchers for contributing papers. | ||
| Paper: | pp. 204-208 | ||
| Development of Automatic Scoring System for Sleep EEG Using Fuzzy Logic |
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| Yoichi Tsuji, Takefumi Usui, Yasuhisa Sato and Kazuyuki Nagasawa |
| Paper: | pp. 209-213 | ||
| Topographic Structure of Alpha Wave Activity by Means of Principal Component Analysis |
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| Yoichi Tsuji, Hidekazu Takase, Kazuyuki Nagasawa and Misao Itoi |
| Paper: | pp. 214-219 | ||
| Optrode Type Oxygen Sensor |
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| Eiji Toba and Masayo Ichikawa |
| Paper: | pp. 220-225 | ||
| Development of Actuator Using Metal Hydride for Force Display to Elbow Joint |
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| Shunji Shimizu, Shuichi Ino, Takashi Izumi, Makoto Takahashi and Tohru Ifukube |
| Paper: | pp. 226-231 | ||
| Distributed Motor Control of Human Movements |
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| Koji Ito |
| Paper: | pp. 232-235 | ||
| Measurement of Visually Evoked Magnetic Fields Using the Local Stimulations in the Various Visual Fields |
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| Kazumi Odaka, Takunori Mashiko, Toshiaki Imada and Minoru Hayashi |
| Paper: | pp. 236-243 | ||
| Measurement of the Magnetoencephalogram and Source Model in the Brain |
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| Shoogo Ueno and Keiji Iramina |
| Paper: | pp. 244-247 | ||
| Effect of Exposure to RF of Fertilized Chicken Eggs and Pregnant Mice on Hatchability, Organ-Weight, and Locally Delayed Hypersensitivity |
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| Kenichi Saito, Yukari Tsuchida, Kouichiro Yamada, Masahiro Sugiyama and Nobuo Goto |
| Paper: | pp. 248-252 | ||
| A Musculo-skeletal Mechanism Simulating Human Forearm and Its Control Method |
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| Hiroshi Endo and Mitsuo Wada |
| Paper: | pp. 253-258 | ||
| Method of Determining Water Content Ratios in Brake Fluids by Measuring Dielectric Constant and Impedance |
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| Minoru Hara, Teruo Negishi and Hideo Kusano |
| Paper: | pp. 259-265 | ||
| Control of a Robot Arm by Myoelectric Potential |
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| Masafumi Uchida, Hideto Ide and Satoki P. Ninomija |
| Development Report: | pp. 266-273 | ||
| Measurement of Resistivity of Conductive Flat Plate Sample by the SRPM Method |
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| Yoshihiro Nonaka, Hiroshi Nakane, Kiminori Hasuike, Takao Maeda and Hirohiko Ishikawa |
| Development Report: | pp. 274-278 | ||
| Adaptive Category Classification of Remotely Sensed Images by Iterative Processing |
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| Minoru Inamura and Hiroshi Ezoe |
| Development Report: | pp. 279-283 | ||
| Category Classification of Remote Sensing Data by Neural Networks, Its Evaluation and Learning Method |
|
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| Minoru Inamura and Hironori Jinbo |
| Development Report: | pp. 284-291 | ||
| Effect of H2O on Oxidation of Cu Contact Surface |
|
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| Tetsushi Kawano and Terutaka Tamai |
| Letter: | pp. 292-298 | ||
| Sliding Characteristics in the Copper Contacts |
|
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| Yoshitada Watanabe |
| Letter: | pp. 299-301 | ||
| Form Recognition Using Data Glove Finger Character Recognition System |
|
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| Hideto Ide and Takane Koizumi |
| Letter: | pp. 302-305 | ||
| Robot Arm Control by Selectively Generated EMG |
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| Yoshiyuki Kageyama, Kiyoyuki Yamazaki and Kiyotaka Hoshiai |
| Paper: | pp. 306-313 | ||
| Development of a Personal Robot with the Modularized Link Units |
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| Shigeru Kurono, Shigeto Aramaki, Yoshikazu Fujino |
No.2
(Apr)
Special Issue on Visual Inspection
Special Issue on Visual Inspection
| Editorial: | p. 87 | |
| Visual Inspection |
| |
| Masanori Idesawa | ||
| We acquire more than 60 percent of information from our activity environment through our visual sense. The visual sense allows us to collect information about an object from a position away from it without exerting any effects it such as constraining its motion. Visual information acquisition plays a very important role in the industrial field including visual appearance inspection and various other monitoring. A field called machine vision or computer vision has been formed, it is related to the artificial realization and application of the visual function and is now under aggressive study. Inspection using the visual sense, so-called visual inspection, is extremely important; and its automation has been studied for a long time. However, many problems remain to be solved; and in many cases, this operation must rely on human vision. In order to realize the visual function from an engineering point of view, there are many demands for the development of an image sensor that acquires visual information as image information, a method that processes and recognizes image information, and a method that integrates the observation control system allowing processed image information to be systematically organized and the operation to be checked. In consideration of long-term vision as stated above, this special issue provides a description of sensor technology for image information acquisition in the visual inspection process as well as the neural network processing method which is expected as a flexible method for image processing and recognition. For robot sensors, an active method is used to simplify the recognition process, which projects a special light on an object for measurement. This issue includes the topics covering the development of sensors, aiming at their downsizing and high performance. The human visual sense may function by two operating modes: the monitoring mode that senses an unusual situation appearing in the view field and the attention mode that provides detailed analysis of the situation in this area. The former is permitted to have a low detecting, accuracy, but it requires a wide detectable range. The latte...<more> | ||
| Review: | pp. 88-97 | ||
| Neural Network Models for Image Inversion |
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| Noboru Sonehara and Yukio Tokunaga |
| Review: | pp. 98-105 | ||
| Sensing Techniques for Visual Inspection |
|
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| Kazuo Kurasawa |
| Paper: | pp. 106-111 | ||
| An Automatic System for Identification of Human Faces Using Fiber Grating Vision Sensor |
|
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| Kenji Terada, Junichi Yamaguchi and Masato Nakajima |
| Paper: | pp. 112-116 | ||
| Visual Inspection System for Welded Beads of Automotive Panel |
|
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| Osamu Ozeki, Kouichi Kogure, Hiroyuki Onouchi, Hideo Abe Kazunori Higuchi and Shin Yamamoto |
| Paper: | pp. 117-121 | ||
| Application of Fiber-Optic Sensors to Robots |
|
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| Eiji Toba |
| Paper: | pp. 122-129 | ||
| Multi-Resolution Image Position Sensing Characteristics of R-HPSD |
|
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| Huai-bong Ding and Masanori Idesawa |
| Letter: | pp. 130-133 | ||
| How Far Can Optical Image Information Be Seen? |
|
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| Kazuo Kurasawa |
| Paper: | pp. 134-140 | ||
| An Object Locating Method with Uncertainties Applied to an Ultrasonic Multi-Sensor System |
|
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| Tapio Heikkilä, Markku Järviluoma, and Osmo Voutilainen |
| Paper: | pp. 141-149 | ||
| Development and Motion Control of the All-Direction Steering-Type Mobile Robot (1st Report: Analyses and Experiments on Postural Stability and Ascent/Descent on a Slope) |
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| Atsushi Koshiyama and Kazuo Yamafuji |
| Paper: | pp. 150-157 | ||
| Development and Motion Control of the All-Direction Steering-Type Mobile Robot (2nd Report: Principle, Control Methods and Experiments on Steering of the Robot) |
|
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| Atsushi Koshiyama and Kazuo Yamafuji |
| Paper: | pp. 158-163 | ||
| A Simplified TDT Sensor for Wire Driven Joint |
|
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| Satoshi Yoshinari, Nobuaki Imamura and Makoto Kaneko |
| Paper: | pp. 164-171 | ||
| Mechatronics Drive for Intelligent Wall Climbing Robot |
|
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| K. Yamafuji, V Gradetsky, M. Rachkov and E. Semenov |
| Paper: | pp. 172-177 | ||
| Harmonious Control System for Multiple Mobile Investigation Robots |
|
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| Jun’ichi Takeno, Kiichirou lijima, Kozo Kato, and Sakae Nishiyama |
| Paper: | pp. 178-182 | ||
| Virtual Force Feedback Lessons, Challenges, Future Applications |
|
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| Grigore C. Burdea and Noshir A. Langrana |
| Development Report: | pp. 183-191 | ||
| A Monitoring System for PAPI |
|
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| Kiyoaki Inaba |
| Development Report: | pp. 192-197 | ||
| Vehicle License Number Recognition System for Measuring Travel Time |
|
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| Hisashi Kurosaki, Makoto Yagi and Hisanori Yokosuka |
| Development Report: | pp. 198-201 | ||
| Fractal Analysis of Event Related Potential |
|
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| Hideto Ide and Shinjiro Yagi |
No.1
(Feb)
Special Issue on Robot Hands and Sensing
Special Issue on Robot Hands and Sensing
| Editorial: | p. 1 | |
| Robot Hands and Sensing |
| |
| Makoto Kaneko | ||
| It is not an overstatement that the history of robot hands is equal to that of 40-year-old manipulators. Initial hands were based on the simple ON/OFF switching system, with pneumatic or hydraulic power used as a source. The hands could realize their primary purpose of firmly grasping an object, however, it was impossible to achieve the dexterous manipulating motion which was another important function. Since the latter half of 1970's, the dexterous functions have been in demand for robot hands such as the functions of an inspection robot for the power plant. This caused research institutes in many countries to start development projects on multi-fingered hands. The Okada-Hand, Salisbury-Hand, and Utah/MIT-Hand are particularly well-known among multi-fingered hands developed through such projects. In parallel with this research and development, theoretical research activities progressed for stable grasping, fingertip force analysis, and grasping force control. Theoretical studies of hands reached a peak in both quality and quantity in the latter of 1980's. However, the experimental studies using actual multifingered hands were far behind the theoretical studies. Based on the reconsideration of the importance of experimental validation, experimental works have been done to verify the theory of stable grasping or manipulation with actual hands. From another perspective, researches have recently been started in an attempt to use fingers not only as actuator for grasping, but also as an active sensor for recognizing the external world with tactile motion. This causes the research field of hand to spread. Based on the current status of hands researches, this special issue will compile conventional works and provide an outlook for future hands. The editor of this issue will be very pleased if this material can provide with any useful information to hand researchers. Finally, the editor wishes to express his sincere thanks to the contributors. | ||
| Review: | pp. 2-7 | ||
| Parallel Mechanisms in Multi-Fingered Robot Hands |
|
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| Makoto Kaneko and Kazuo Tanie |
| Review: | pp. 8-11 | ||
| State of the Art and Future Trends of R&D in Robot Hands |
|
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| Toshio Fukuda |
| Paper: | pp. 12-18 | ||
| Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand |
|
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| Nobuharu Mimura and Yasuyuki Funahashi |
| Paper: | pp. 19-25 | ||
| Neighboring Degree-of-Approximation Equating Method for Computing Contact Points between Robot and Convex Object |
|
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| Makoto Kaneko and Kazuo Tanie |
| Paper: | pp. 26-30 | ||
| A Method for Determining the Positions of the Fingertips of a Three-Fingered Hand Based on Manipulability |
|
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| Ryozo Katoh, Tetsuo Yamaguchi |
| Paper: | pp. 31-37 | ||
| Active Sensor System Using Parallel Processing Circuits |
|
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| Masatoshi Ishikawa |
| Paper: | pp. 38-45 | ||
| Measurement of Object Movement in Robot Hand by Sensor Integration of Multi-Tactile Sensors |
|
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| Ryosuke Masuda and Motoji Takahashi |
| Paper: | pp. 46-52 | ||
| Development of Six-Axis Force Sensor Using Plate Spring |
|
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| Yoichi Muranaka, Raifu Murai, Masakazu Takahashi, and Genichiro Kinoshita |
| Paper: | pp. 53-59 | ||
| Study on Model-Based Control of the Cable-Conduit Drive System |
|
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| Shigeki Sugano, Osamu Matsumoto and Shin-yo Muto |
| Development Report: | pp. 60-65 | ||
| A Multi-Fingered Hand with Newly Developed Tactile Sensors |
|
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| Hideaki Hashimoto, Hideki Ogawa, Masao Obama, Toshiya Umeda and Kyoichi Tatsuno |
Regular Papers
| Paper: | pp. 66-72 | ||
| Compensation for Object Motion in Remote Manipulation |
|
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| Kazuo Tani |
| Paper: | pp. 73-78 | ||
| A Method for Measuring Depth Using Fuzzy Reasoning and a Modified Implicit Function |
|
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| Kazuo Yamaha, Hiroshi Tominaga, Tatsuya Nakamura and Yoichi Miyake |
| Paper: | pp. 79-84 | ||
| Force Feedback Glove for Manipulation of Virtual Objects |
|
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| Haruhisa Kawasaki and Takahiro Hayashi |
| News: | p. 85 | ||
| Kyushu Institute of Technology the Kaneko Laboratory |
|
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| Makoto Kaneko |
Vol.4 (1992)
No.6
(Dec)
Special Issue on Current Status and Prospects of Amusement Robots
Special Issue on Current Status and Prospects of Amusement Robots
| Editorial: | p. 461 | |
| Current Status and Prospects of Amusement Robots |
| |
| Kazuo Yamafuji | ||
| Manipulating robots that have been developed to replace the functions of human hands have successfully achieved the objectives of industrial robots; more than 400,000 of such robots are currently in operation, primarily in production lines of factories worldwide. Furthermore, robots with locomotive functions, i.e. autonomous ground vehicles and mobile robots, are being widely used in both production and non-production environments. Actually a great number of mobile robots are operating in non-production environments. Examples are robots for service applications in offices, hospitals, and homes; safety guard robots; maintenance and supervision robots; firefighting robots; emergency rescue robots; hazard prevention robots; space robots; and educational robots. These robots, whether they are intended for production or non-production use, make a significant contribution to mankind by performing some useful jobs or by accomplishing some useful duties in place of humans; thus, relieving humans of hard labor. In addition to the above robots, researchers, have developed many robots that belong to the conceptual classification of amusement robots. These robots do not perform any useful work or tasks in place of humans; however, they amuse the people who watch them play games or who manipulate them. Many automata that imitate the actions of humans have been developed both in Europe and in Japan. Such robots can be considered as prototypes of amusement robots. Included in the anthropomorphic automata developed in Europe are automatic puppets that play musical instruments, write letters, or draw pictures, dance, or something of the like. Similarly in Japan, since approximately 300 years ago, various types of automata called karakuri-puppets have been developed, and these puppets fascinate naive audiences even today by playing elegant dramas or performing some acrobatic feats at festivals held at shrines and temples. In Japan in 1796, Yorinao Hosokawa published an excellent technical book on the mechanisms and design of the karakuri-puppets. Today, thanks to the progress of microcomputers, a large number of performance robots have been...<more> | ||
| Review: | pp. 462-465 | ||
| Simulation of Musical Performances |
|
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| Makoto Kajitani |
| Paper: | pp. 466-471 | ||
| Study on a Two-Link Horizontal Bar Gymnastics Robot with Passive Joint (Motion Control Using Feedforward Control Based on Inverse Dynamics) |
|
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| Hiroyuki Kojima, Hiroyuki Mitomo, Yuuki Wada and Kenji Sakamoto |
| Paper: | pp. 472-479 | ||
| A Study of the Control of the Variable Structure-Type Locomotive Robot (4th Report, Postural Change and Locomotion by Jumping of the Control Arm/Leg-Type) |
|
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| Tomokazu Hirabayashi and Kazuo Yamafuji |
| Paper: | pp. 480-489 | ||
| Dynamic Walking Control of the One-Legged Robot with Controlling Rotor |
|
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| Kazuo Yamafuji, Yoshihito Takemura and Hiroshi Fujimoto |
| Paper: | pp. 490-496 | ||
| Motion Control of the Parallel Bicycle Type Mobile Robot which is Composed of a Triple Inverted Pendulum (lst Report, Stability Control of Standing Upright, Ascending and Descending of Stairs) |
|
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| Tsuyoshi Yasui and Kazuo Yamafuji |
| Paper: | pp. 497-504 | ||
| Motion Control of a Robot Composed of Three Serial Links with Curved Contour (Ist Report; Concept and Dynamic Control of the Robot) |
|
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| Kazuo Nakakuki, Kazuo Yamafuji and Osamu Shikata |
| Review: | pp. 505-510 | ||
| Microdrive for Extracellular Recording of Single Neurons Using Fine Wires |
|
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| Hideto Ide |
| Paper: | pp. 511-519 | ||
| Distinction of Glossy Colored Objects Using Gray Level |
|
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| Kazuo Yamaba and Yoichi Miyake |
| Paper: | pp. 520-525 | ||
| Vibration Suppressing Control of Flexible Rotary Crane Using Tip Position Sensor |
|
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| Yoshio Tanaka, Yasuo Yoshida, Tetsushi Ueta and Hiroshi Kawakami |
| Letter: | pp. 526-528 | ||
| A Consideration on a Dynamic Control Method for Quadruped Walking Robots |
|
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| Junji Furusho, Akihito Sano and Yosuke Okajima |
No.5
(Oct)
Special Issue on Planning and Intelligent Behavior
Special Issue on Planning and Intelligent Behavior
| Editorial: | p. 363 | |
| Planning and Intelligent Behavior |
| |
| Tsutomu Hasegawa | ||
| A required function of intelligent robots is autonomous and quick execution of tasks which are difficult for conventional machines. In addition, the intention of human operators must be transmitted precisely and easily to the robots. A variety of R&D is underway in order to realize such requirements. This R&D falls into two categories: (1) R&D on intelligent functions applied for the preparation phase of task execution and (2) that applied for the real time task execution. Motion planning based on geometrical information is a typical function for the task preparation phase which has been studied for the past ten years. Thanks to the rapid progress in computing power, the analysis of real problems has progressed and has permitted the practical application of such planning. Thus, its application to operational use is not far off. R&D on a comprehensive system including the geometric environment modeling, motion planning, and real time task execution is also underway. Intelligent functions necessary for task execution must include a task execution mechanism and a control method which guarantee reliable task execution in the presence of unpredictable errors. The solution to this problem will be realized through the implementation of skillful manipulator motions which utilize various sensors and constraints being complied in the real world, most as key technologies. This special issue has compiled reviews and articles which focus on the above mentioned issues. | ||
| Review: | pp. 364-371 | ||
| Current Situation of Path Planning of Mobile Robots |
|
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| Masayoshi Kakikura |
| Review: | pp. 372-377 | ||
| Motion Planning for Robotic Manipulators |
|
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| Tsutomu Hasegawa |
| Paper: | pp. 378-385 | ||
| An Efficient Path-Planning Algorithm for a Robotic Manipulator by Automatic Selection Search of Indispensable Regions in Its Configuration Space |
|
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| Hiroshi Noborio, Motohiko Watanabe and Takeshi Fujii |
| Paper: | pp. 386-396 | ||
| Kraft: An Autonomous Robot Manipulation System Based on Geometrical Modeling and Processing |
|
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| Hirohisa Hirukawa, Yuuki Inoue, Toshihide Yoshimura, Shinzo Kitamura, Satoshi Sakakibara, Makoto Hitomi and Kazutoshi Sumiya |
| Paper: | pp. 397-400 | ||
| Dynamic Scheduling of Flexible Manufacturing Systems with Learning Agents |
|
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| Sadayoshi Mikami and Yukinori Kakazu |
| Paper: | pp. 401-406 | ||
| Dynamic Job-Shop Scheduling by Hopfield-Type Neural Network |
|
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| Norihiko Takatori and Yukinori Kakazu |
| Paper: | pp. 407-415 | ||
| Optimum Velocity Vector of Articulated Robot for Soft Bumping |
|
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| Kazuyuki Nagata, Tsukasa Ogasawara and Toru Omata |
| Paper: | pp. 416-421 | ||
| Multi-Sensor Integration System utilizing Fuzzy Inference and Neural Network |
|
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| Koji Shimojima, Toshio Fukuda, Fumihito Arai and Hideo Matsuura |
| Paper: | pp. 422-429 | ||
| Motion Control of the Brachiation Type of Mobile Robot Using Cerebellar Neural Model |
|
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| Fuminori Saito, Toshio Fukuda and Fumihito Arai |
| Paper: | pp. 430-436 | ||
| Collision Avoidance for a Multiple-DOF Manipulator Based on Empty Space Analysis of the 3-D Real World |
|
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| Hiromu Onda, Tsutomu Hasegawa, and Toshihiro Matsui |
| Paper: | pp. 437-444 | ||
| PEM-Modelling: A Framework for Designing Intelligent Robot Control |
|
||
| T. Heikkilä, J. Röning |
| Development Report: | pp. 445-448 | ||
| New Technique for Golf Swing Measurement Using Three Dimensional Motion Analysis |
|
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| Masafumi Uchida, Hideto Ide, Satoki Ninomiya and Masao Ohtsuka |
| Development Report: | pp. 449-453 | ||
| Visual Evoked Potential by LED Stimulation and Its Application |
|
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| Hideo Ide, Masafumi Uchida and Masao Ohtsuka |
No.4
(Aug)
Special Issue on Advanced Mechatronics Technology for Life Supprot and Human Welfare
Special Issue on Advanced Mechatronics Technology for Life Supprot and Human Welfare
| Editorial: | p. 257 | |
| Advanced Mechatronics Technology for Life Supprot and Human Welfare |
| |
| Hideto Ide | ||
| In the latter part of July, 1991, I attended the cultural lecture meeting called "Welfare Robots" as the chairman and also as one of the lecturers, which was held in a certain city in the suburbs of Tokyo. Some 250 people between the ages of 20 and 80 listened to the lectures attentively and also participated in various discussions. One of the topics at this meeting was whether or not sophisticated robots could be useful for welfare. One of project leaders made a statement saying in essence "If robots could be produced which are similar to human beings, then men could be replaced by robots without modifying the current production lines which are relied on by human beings. In consequence, the development of brainy, sophisticated robots is absolutely indispensable for achieving automation." This implies that sophisticated robots are viewed as a powerful tool for the automation of tasks. With regard to this point, I have been making somewhat negative statements in the past. In the current situations in Japan, there are only few examples of the use in production lines intelligent robots with sensors which have been studied by the so-called robot researchers. Production lines employ more simply repetitive robots which are technically mature but only have position control functions. Even visiting a highly automated factory, one does not often encounter a scene where a robot with sophisticated intelligence or sensors is actively engaged in a task. Because research results are not fully utilized in practical robots, one often hears stories about corporate managers saying to their robot researchers in a blaming tone "what are you going to produce a robot that is usable?" The idea that robot technology is part of automation technology is not something which has originated in this project. It appears that a number of people in hospitals are thinking along this line. I myself often receive inquiries concerning technical matter like "Couldn't this task be automated by a robot?" Moreover, a variety of robot terms are now being used with the names of various applicable fields being attached to the word robot such as maintenance robot, sw...<more> | ||
| Paper: | pp. 258-261 | ||
| Development of Welfare Robots Similar to Human Hands |
|
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| Hideto Ide and Masafumi Uchida |
| Paper: | pp. 262-267 | ||
| The Control Method for the Robot Hand Based on the Fuzzy Theory |
|
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| Masafumi Uchida and Hideto Ide |
| Paper: | pp. 268-272 | ||
| Analysis of Axial Force and Moment on Above-Knee Prosthesis Socket -Application of Control Signal to A/K Prosthesis- |
|
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| Hiroshi Fujimoto, Yuichiro Shimura and Ichiro Kato |
| Paper: | pp. 273-278 | ||
| Development of Whole Arm Prothesis (Prototype II) |
|
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| Yuji Maeda, Kazuo Tanie, Akio Fujikawa, Kazuo Tani and Kiyoshi Komoriya |
| Paper: | pp. 279-287 | ||
| A New Approach in Robot Control Systems for Home Nursing |
|
||
| Yukio Saito, Takanori Higashihara, Hiroshi Ito, Toru Oshima, and Kan Momosaki |
| Paper: | pp. 288-292 | ||
| Neuromagnetic Responses to ON/OFF Stimuli of Red Point Light |
|
||
| Kazumi Odaka |
| Paper: | pp. 293-298 | ||
| Application of Robot Techniques to Research of Brain |
|
||
| Hideto Ide and Ryosuke Hosaka |
| Paper: | pp. 299-306 | ||
| Evaluation of the State of Freezing of Frozen Wet Foods by Impedance Measurement |
|
||
| Teruo Negishi, Masaaki Tsunoka |
| Paper: | pp. 307-313 | ||
| Autonomous Generation of Potential Field in Obstacle Avoidance Problem |
|
||
| Shuichi Yokoyama, Masafumi Uchida and Kei Fukushima |
| Paper: | pp. 314-320 | ||
| Impedance Mapping Method and System for Blood Flow Measurement in Brain |
|
||
| Ichiro Hieda, Yasuo Kuchinomachi, Sigeru Sato and Hiroyuki Kodama |
| Paper: | pp. 321-329 | ||
| A Study on Optical Piezo-Electric Actuator (Response Experiments by U.V. Beam and Photo Response Model) |
|
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| Shinobu Hattori, Toshio Fukuda and Shigenobu Nagamori |
| Paper: | pp. 330-338 | ||
| About the Use of the Floating Frame in the Optimal Control of the Flexible Robot Arm |
|
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| M. Bisiacco, R. Caracciolo and M. Giovagnoni |
| Development Report: | pp. 339-342 | ||
| A Development of Medical Data Archiving System by Use of 3.5 inch Magneto Optical Disk as a Record Medium |
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| Ryosuke Hosaka, Ysushi Unno, and Naondo Takido |
| Development Report: | pp. 343-348 | ||
| Development of Anthropomorphic Robot Arm (Mark-2) |
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| Yuji Maeda |
| Development Report: | pp. 349-351 | ||
| Construction for Letter Representation by Mobile Tactile Board |
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| Yuji Nagashima, Mina Terauchi, Hideyo Nagashima and Hideto Ide |
No.3
(Jun)
Special Issue on Self-Organization System Part II
Special Issue on Self-Organization System Part II
| Review: | pp. 181-185 | ||
| Adaptability of Neuromuscular Motor Control System |
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| Kenzo Akazawa |
| Review: | pp. 186-198 | ||
| Postural Control of Living Organisms and Its Engineering Systems |
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| Kazue Nishihara, Mitsuo Wada, and Ryouichi Hashimoto |
| Review: | pp. 199-204 | ||
| Distributed Autonomous Robotic System Configurated with Multiple Agents and Its Cooperative Behaviors |
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| Hajime Asama |
| Paper: | pp. 205-209 | ||
| A Distributed Mechanical Structure and Its Control System |
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| Shigeru Kokaji |
| Paper: | pp. 210-217 | ||
| A Hierarchical Distributed Path Planning for Redundant Manipulators Based on Virtual Arm |
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| Toshio Tsuji and Koji Ito |
| Paper: | pp. 218-222 | ||
| Ultrasonic Measurement and Control of Microrobotic Drug Delivery System |
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| Ken Ishihara and Toshiyuki Furukawa |
| Paper: | pp. 223-230 | ||
| Study on Group-Behavior Control of Microrobots |
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| Toshio Watanabe, Isao Shimoyama and Hirofumi Miura |
| Development Report: | pp. 231-236 | ||
| Three-Dimensional Tactile Display by Multi-Stage Actuator |
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| Masami Shinohara, Shinya Saida, Yutaka Shimizu, Akira Mochizuki and Kanehiro Sorimachi |
| Paper: | pp. 237-248 | ||
| The Driving Pipeline: A Pipelined Architecture for Outdoor Mobile Robots |
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| Yoshimasa Goto |
| Paper: | pp. 249-255 | ||
| 3-D Illusory Phenomena with Binocular Viewing and Computer Vision |
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| Masanori Idesawa |
No.2
(Apr)
Special Issue on Self-Organization System Part I
Special Issue on Self-Organization System Part I
| Editorial: | p. 95 | |
| Self-Organization System |
| |
| Prof. Toshio Fukuda and Dr. Mitsuo Wada | ||
| This special issue was planned a year ago by Prof. T. Fukuda and Dr. M. Wada to promote the research works in new robotics and mechatronics fields from the perspective of systems theory and engineering. There have been several leading works in Japan, most of which were published in Japanese. Thus this special issue is aimed at making these works available to the world. Self-organizing systems were once studied in late 1960s and early 1970s by many scientists, who were inspired by the research work, "Cybernetics" and "Perceptron" (later Neural Networks). However, because of the lack of computational capabilities, those works provided less useful theories and results, and they left obstacles for actual implementation. Today's computational power realizes a new dimension to solve those problems through the advanced technologies and to provide new system concept and architecture based on the "distributed autonomy". The "massive parallel and massive distributed system" concept, which is made possible by today's technologies, is one of the good examples from the perspective of the computer information, advanced communication, and software technologies. These concepts are creating great incentives to the "New Self-Organizing System" in the modern robotic and mechatronics technologies. In this issue, the authors first discuss the relationship between the multiple robot system and the human society from the perspective of the selfevolving system of robotics in the light of information science and sociology. Then, many applications will be described in which the self-organizing system is applied to the system coordination and cooperation of the multiple robot system from the perspectives of sensing, neuro-fuzzy control, system architecture, mobile robots, intelligent communication, multiple manipulator control, and microtechnologies. Because there are many potential application fields for these concepts, including the power supply network and plant control system, we expect that through this special issue there will be more active discussions concerning these topics around the world and that there will be more growing contributions ...<more> | ||
| Review: | pp. 96-103 | ||
| Self-Evolutionary Robotic System -Sociobiology and Social Robotics- |
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| Toshio Fukuda and Tsuyoshi Ueyama |
| Review: | pp. 104-107 | ||
| Self-Organization of a Module Structured Machine |
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| Shigeru Kokaji, Satoshi Murata, Haruhisa Kurokawa and Akio Suzuki |
| Paper: | pp. 108-114 | ||
| Genetic System and Evolution |
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| Yoshio Kawauchi, Makoto Inaba and Toshio Fukuda |
| Paper: | pp. 115-121 | ||
| Evaluation of Communication Structure for Cellular Robotic System |
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| Tsuyoshi Ueyama, Toshio Fukuda, and Fumihito Arai |
| Paper: | pp. 122-127 | ||
| Development of Task Assignment System Using Communication for Multiple Autonomous Robots |
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| H. Asama, K. Ozaki, A. Matsumoto, Y. Ishida and I. Endo |
| Paper: | pp. 128-134 | ||
| Analysis and Improvement of the Feature Detection Ability of Neocognitron for Adaptive Image Processing |
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| Yasuhiro Hatakeyama and Yukinori Kakazu |
| Paper: | pp. 135-141 | ||
| Task Management for Multi-Client Robot Groups |
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| Keiji Suzuki and Yukinori Kakazu |
| Paper: | pp. 142-147 | ||
| Generation of Locomotive Patterns and Self-Organization |
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| Hideo Yuasa and Masami Ito |
| Paper: | pp. 148-151 | ||
| A Self-Organized Motion Control of Multi-Joined Arm with Tactile Sensors |
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| Mitsuo Wada |
| Paper: | pp. 152-158 | ||
| A Layered, Multi-Agent System for Intelligent Control |
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| Takuya Ishioka and Morikazu Takegaki |
| Paper: | pp. 159-166 | ||
| Development of Game-Robot |
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| Mitsumasa Yoda and Yasuhito Shiota |
| Paper: | pp. 167-178 | ||
| Human-Friendly Operating System for Hyper-Environments |
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| Mamoru Mitsuishi, Shin’ichi Warisawa, Yotaro Hatamura, Takaaki Nagao and Bruce Kramer |
No.1
(Feb)
Special Issue on Human Interface
Special Issue on Human Interface
| Editorial: | p. 1 | |
| Human Interface |
| |
| Masanori Idesawa, Editor | ||
| In recent years, the expression "human interface" is often heard. Now that information systems have been ingrained deeply in the society, it is no longer possible to ignore the existence of information systems even though in man-to-man communications. The expression "human interface" may be considered to encompass not only the conventional man-machine interfaces related to communication between man and machine but also the promotion and harmonization of communication between people, between societies and people, and even between different cultures and between different languages. It also gives the impression that it is trying to come closer to the human side. On the other hand, "human" can be read in the Japanese Romanize language as "human" which phonetically means "dissatisfaction." Thus the human interface may ironically be called the "dissatisfied" interface. The conventional "man-machine interface," namely the interface between "man" and "machine," tended to favor the efficiency of the machine and often attempted to push men closer to the side of the machine, that is, to force the burden on the men. This is precisely the "dissatisfied" interface itself. It is no exaggeration to say that whether the human interface is considered truly to be human or not will depend upon the effort to eliminate this dissatisfaction and make the interface pleasant to the human beings. Fortunately, study and research efforts have been made, in recent years, more on interfaces emphasizing the human side than on the conventional man-machine interfaces. In particular, the importance of welfare systems for conquering the physical trouble of men have been recognized and their developmental work is attempted at various research centers. Moreover, research efforts are also being directed towards not only the passive attempt to conquer men's physical trouble but also the active attempt to draw out hidden capabilities of men. In addition, the recent years have seen a great deal of developmental work on information presenting systems which make full use of information perceiving capabilities by human senses such as artificial reality system or virt...<more> | ||
| Review: | pp. 2-6 | ||
| Advances in Virtual Reality Technology |
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| Michitaka Hirose |
| Review: | pp. 7-12 | ||
| Tele-Existence |
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| Susumu Tachi |
| Review: | pp. 13-19 | ||
| Psychological and Physiological Analysis of Stereoscopic Vision |
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| Toyohiko Hatada |
| Paper: | pp. 20-24 | ||
| Design and Analysis of Control Software in Virtual Reality Environment |
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| Haruo Amari, Takeshi Myoi, Hideki Koike, Michitaka Hirose and Takemochi Ishii |
| Paper: | pp. 25-30 | ||
| Virtual Reality System Using Psychological and Physiological Data An Application to Sports Image Training System |
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| Ken’ichi Kamijo, Shin’ichi Fukuzumi and Toshimasa Yamazaki |
| Paper: | pp. 31-38 | ||
| Rotating Shape Modeling with SPIDAR |
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| Makoto Sato, Shun-ichi Numazaki, Yukihiro Hirata and Hiroshi Kawarada |
| Paper: | pp. 39-42 | ||
| Force Display for Presentation of Rigidity of Virtual Objects |
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| Hiroo Iwata, Takashi Nakagawa and Takahiro Nakashima |
| Paper: | pp. 43-48 | ||
| Design of an Actuator for Tele-existence Display of Position and Force to Human Hand and Elbow |
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| Shuichi Ino, Takashi Izumi, Makoto Takahashi and Tohru Ifukube |
| Paper: | pp. 49-57 | ||
| Can a Robot and a Man Communicate Heart to Heart? -A New Perspective of Human Interface Technologies- |
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| Takaya Endo |
| Paper: | pp. 58-62 | ||
| Difference in Recognition of Optical Illusion Using Visual and Tactual Sense |
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| Yukio Fukui and Makoto Shimojo |
| Paper: | pp. 63-69 | ||
| Analysis of Recognition Processes by Measurement of Brain Waves and Temperature Distributions |
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| Hideto Ide and Masafumi Uchida |
| Paper: | pp. 70-75 | ||
| 3-D Computer Graphics System for Vision Research by Binocular Viewing |
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| Masanori Idesawa and Yasuhiro Mizukoshi |
| Paper: | pp. 76-79 | ||
| Virtual Space Decision Support System and its Application to an Integrated Sales/Manufacturing System |
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| Junji Nomura, Hikaru Ohta and Kayo Imamura |
| Development Report: | pp. 80-86 | ||
| Ideas of Shoulder Computer |
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| Hiroaki Kubota and Suzuko Kubota |
Vol.3 (1991)
No.6
(Dec)
Special Issue on Force and Compliance Control
Special Issue on Force and Compliance Control
| Editorial: | p. 445 | |
| Force and Compliance Control |
| |
| Kazuo Tanie | ||
| When robots perform tasks in which constraint forces are applied to the end effector from the environment, the interactive forces must be controlled. Considering this problem, in robotics, force control has been recognized as one of the most important research topics since the beginning of robotics research. In order to control forces dexterously, several studies have been conducted concerning sensors, actuators, and control algorithms. Currently, compliance and impedance control is a newly identified topic in force control. In the biological analysis of human behavior, it is well known that man adjusts the impedance of skeletal muscles according to the kind of task and can perform them dexterously. A compliance/impedance control technique has been proposed in order to realize such a function in robot motion. The feature of compliance/impedance control is control of the interacting forces not directly but through adjustment of compliance/impedance parameters of the system. This control structure provides several benefits to enable robots perform to complex tasks dexterously; however, there are still a lot of problems to be solved before it can be put to practical use. This Special Issue provides an overview of recent research activities concerning force control technology in robotics with an emphasis on compliance and impedance control. The papers compiled in this issue include various topics of force control, such as compliant motion control, biological aspects of compliance control and this force control using different kinds of actuators. I believe that the contents of this issue contains useful information for researchers and engineers with interests in this area. Finally, I would like to express my appreciation to the authors for their efforts and contributions to this issue and also to the members of the editorial staff for their skillful assistance. | ||
| Review: | pp. 446-450 | ||
| Handling of Soft Object/Explanation Compliance Control and Soft Contact Problems |
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| Kazuo Tanie and Toshio Fukuda |
| Review: | pp. 451-454 | ||
| Tendon-Sheath Mechanism and Its Influence on Force Control |
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| Makoto Kaneko |
| Paper: | pp. 455-462 | ||
| Impedance Regulation in Human Movements During a Rotation Task |
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| Koji Ito, Toshio Tsuji, and Minoru Sugino |
| Paper: | pp. 463-469 | ||
| Impedance Control of a Pneumatic Servo System with Adaptive Control Method |
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| Toshiro Noritsugu, Tsutomu Wada, and Toshiaki Asanoma |
| Paper: | pp. 470-474 | ||
| Robust Impedance Control for Robot Manipulator |
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| Yoshiharu Nishida, Takashi Harada, Nobuaki Imamura and Nobuo Kimura |
| Paper: | pp. 475-481 | ||
| Cooperative Compliant Motion Control of Writ and Arm |
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| Kei Kawase, Hiroshi Ishikawa, Chihiro Sawada, and Masayuki Takata |
| Paper: | pp. 482-490 | ||
| Stable Control of Multi-link Manipulator Using Collision Phenomena |
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| Yasumasa Shoji, Makoto Inaba, Toshio Fukuda and Hidemi Hosokai |
| Paper: | pp. 491-496 | ||
| Collison Control of the Robot Manipulator by a Learning Control Using the Weighted Least-Squares Method |
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| Hiroshi Wada, Toshio Fukuda, Hideo Matsuura, Fumihito Arai, Kei |