In order for the Okinawan economy to grow independently, creating new businesses is essential. This will require the cultivation of technologies that will form the seeds of those businesses as well as the training of technicians and researchers. To promote the creation of new businesses and innovation that are “unique to Okinawa,” the Institute of Electrical Engineers of Japan set up a cooperative research committee for Okinawa-style robot-embedded/sustainable systems. We proposed the concept of Okinawa-style robot-embedded systems. To realize this concept, we organized technical meetings and promoted research on this topic. At present, our research is focused on the development of ① a playback-type navigation robot for land and air, ② the learning-based super resolution (LBSR) method and hardware implementation for Bilateral Filter (BF), ③ a goat information and communication technology (ICT), and ④ the Bone Cloud for planning and verifying 3D bone models without performing a surgical procedure. Our promotions are now ongoing.
The Iterative Back Projection (IBP) or Learning-based Super Resolution (LBSR) method is used as a substitute for bicubic interpolation in the resolution enhancement process. The IBP method has a limitation that it cannot be used to increase the magnification of an image. Furthermore, if the desired high-resolution information does not exist in the learning database, the LBSR method restores the undesired high-resolution information in instances where the low-resolution image is not available. In this paper, we propose a Super Resolution method that combines Bilateral Back Projection using Local Variance (BBPLV) and the detection of similar structure and data fusion. Through our experimental results, we show the effectiveness of our proposed method.
A bilateral filter has high noise removal properties. However, estimation of suitable parameters using an input image is required to obtain a fine denoised image. A method of parameter estimation that uses the distribution distance has been proposed. This method enables optimal parameter estimation of a bilateral filter using the distribution distance and an assumed noise distribution. The parameters are estimated based on the differences between input and output images. However, input images with several small edges present difficulties. In this paper, we propose a method for estimation of parameters the standard deviation of the prior probability noise distribution. We also present the experimental results of the proposed method.
In the future, the demand for service robots is expected to increase in Japan. It is considered that the hotel monitoring and guiding robots will be useful in the tourism industry of Okinawa. Vehicles using the Ball Wheel Drive mechanism have a better climbing ability for step and gap and on slopes than the conventional omnidirectional mobile vehicles which use the Omni Wheels. We developed a prototype and demonstrated its usefulness through experiments. The previous prototype uses ball casters for the ball holding mechanism because it is easy to design. However, if the surface of ball caster is damaged, noise is generated. In this paper, we propose a new prototype that uses universal casters for the ball holding mechanism to reduce noise during traveling.
In this paper, we present an automated video surveillance system for snatching detection using a heuristic algorithm. Localization of moving targets in a video stream and human behavior estimation are key techniques in the proposed system. Some motion characteristics are determined from video streams. Using metric system of a feature vector, the system classifies video streams into criminal and non-criminal scenes. We use two kinds of action sequences for the training data set. After constructing the classifier, we use test sequences that are continuous video streams of human behavior consisting of several successive actions. The experimental results show that the system is useful in detecting criminal scenes of snatching by the discrimination of human behavior as criminal or non-criminal.
In this paper, it has been designed that information management system for supporting a goat farmers utilizing information communication technology. The system designed has been includes record and management of body weight and milk production of goat that was reported previously. And this system also includes the database system for integrating of animal information. In addition, in order to solve the problems related to the development of the livestock industry of goat, it was discussed how to take application of this system. An example of case studies, Tarama village in Okinawa was used. This system designed in this study will be able to apply to predict the transmission of livestock infections disease, applied the mathematical model of infectious disease. For example, it is considered to be able to assist in the design of animal quarantine plan.
Technology exists that doctors can use to create three-dimensional models from CT images using DICOM. This technology can aid in creating three-dimensional bone models without performing a surgical procedure. Using these three-dimensional models (STL), we can plan a surgery as well as verify its accuracy. Image analysis technicians receive the DICOM data and create a model using this data according to a doctor's instruction. However, because the capacity of DICOM data is large and confidentiality is high, data exchange becomes difficult. In addition, communicating a three-dimensional model using the telephone or through e-mail is inconvenient. To resolve the problem of exchange of DICOM data, our study describes research and development efforts in the following. (1) Compression technology for improved performance. (2) Communication technology for stress reduction. (3) 3D viewer technology for communication of three-dimensional models. This research and development was carried out as an initiative for the creation of a new business in the Okinawa Prefecture.
Sandy beaches of Okinawa are an important resource for the tourism industry. There is a need for constant cleaning to keep the white sandy beach clean. However, time and effort is required for cleaning. To solve this problem, in this paper, we propose an OKINAWA-type beach-cleaning robot using GPS and a direction sensor. Generally, GPS is a very common method to estimate a robot's location in an outdoor environment. However, when the robot is at a standstill or moving slowly, the error in the direction detection using only GPS is relatively large. To compensate for this, we decided to use GPS combined with a direction sensor in order to reduce the direction errors. A performance evaluation using a prototype of the proposed robot is described in this paper.
The purpose of this research was to develop the basic concepts needed for an experimental ‘human-friendly’ drone that can enable flexible flight and support tourism. The developed concept is to design a drone capable of autonomous transfer and intelligent operation by performing operations as instructed in response to a call from an operator. The drone learns a safe path by following human instructions and then plays back the learned information while autonomously flying along the learned path. We call this system “playback navigation”. While systems for mobile robots have used odometry for robot position detection, we used the new “Air-odometry”, which detects the drone's position by calculating it from acceleration sensors. Air-odometry is also used by the drone to learns a safe path by following a human instructions. A linear approximation of the result is calculated and used as the path during autonomous playback navigation. To enable autonomous navigation around corners of the learned path for which even SLAM algorithms tend to generate errors, we placed a camera-driven position correction landmark at each corner. We were able to get good results.
In this paper, we propose a monitoring system using multiple flying robots controlled via a 3G network. We use AR. Drones as multiple flying robots. In order to display monitored data easily, we propose and implement a system as a web application. The proposed system works in a web browser with Google Maps and the USTREAM service. The user can check the position of each robot and can monitor video images from each flying robot within this application. By an evaluation experiment, our system can be used to control multiple flying robots and can be applied to information monitoring systems in case of emergency such as when disasters occur.
In this study, the lowest loss point is calculated using the permeance method when the machine parameters of the interior permanent magnet synchronous motor are changed. Using the proposed method, the motor loss is easily calculated compared to the conventional method. The periodic change in the magnetic resistance in the air gap according to the rotation of the rotor does not need to be considered because the magnetic equivalent circuits of the rotor and stator are separated. In this study, the motor loss is calculated by the proposed method and a finite element method (FEM). As a result, the error in the calculation results between the permeance method and the FEM is 2.9%. On the other hand, the motor losses are calculated by the permeance method when some machine parameters are changed. As a result, these results agree in principle with those of the FEM. Therefore, the validity of the proposed method is confirmed. In addition, the method for motor design is considered in terms of the loss.
The present paper introduces a single-phase utility interactive inverter with a power decoupling function. In a conventional single-phase inverter, power pulsation at twice the grid frequency appears in the input power. Hence, electrolytic capacitors having large capacitances have been connected to the dc input terminal to stabilize the input dc-bus voltage. Because the lifetime of the electrolytic capacitor is relatively shorter than that of another component, the lifetime of the inverter is affected by the capacitor. In order to prevent such a problem, a novel single-phase inverter circuit with an active power decoupling (APD) function is introduced. The pulsating power on the input dc- bus line and the pulsated energy on the input dc capacitor is transferred to the energy in a small film capacitor. Hence, the extension of the inverter lifetime can be expected by substituting a small film capacitor for the large electrolytic capacitors. In addition, the loss in the power decoupling circuit is very small; hence, the reduction in the overall conversion efficiency of the inverter can be minimized. The effectiveness of the proposed method is verified using a 300W experimental setup.
This paper proposes a model for merging sections in transportation systems and then analyzes traffic flow under this model. For this analysis, vehicles are represented by an idealized model based on a Markov chain model. Vehicles arrive at the merging section randomly in either of two inflow lines. When a vehicle arrives at the merging section, if no vehicle is present in the other line, then the vehicle must wait in order to connect with another vehicle on the other line before entering. In this merging section model, the queue length is restricted according to the travel time from the origin to destination. The mean queue length and mean queuing delay at the two inflow lines are explicitly derived here. The relation between the maximum queue length and the behavior of traffic is examined, and the obtained results clarify some characteristics of the proposed model.
This paper provides an experiment-based discussion on a modular multilevel cascade converter based on triple-star bridge cells (MMCC-TSBC) for a low-speed high-torque motor drive. The TSBC is a direct ac-to-ac power converter capable of achieving bidirectional power flow as well as drawing and feeding three-phase sinusoidal input (supply-side) and output (motor-side) currents with any power factor at both sides. This paper discusses active dc-capacitor-voltage control applied to the low-speed, high-torque motor drive. A specially-designed downscaled system combining a 320-V, 38-Hz, 6-pole, 15-kW induction motor with a 400-V, 15-kW TSBC is constructed and tested to confirm the validity of the motor drive. Experimental waveforms obtained from the downscaled system confirm stable operation with the rated load torque across a range from a standstill to the rated speed, including satisfactory start-up performance.
Model based design is attracting attention in embedded systems development because it is expected to accelerate the development process by early stage verification and component reuse. Currently, MATLAB/Simulink is used for model description. However, to make model based design more applicable and useful, we require higher levels of abstraction as well as integration with code implementations in component libraries. We propose using object oriented UML to integrate MATLAB/Simulink models and program code. This letter presents our proposal which promotes early stage verification further, using the development of a plant controller as an example.