Multi-axis numerical control (NC) machine tools such as 5-axis control machining centers and 5-axis control multi-tasking machines are widely used in machine shops. NC data, which are prepared using computer-aided manufacturing (CAM) systems, are used with multi-axis control NC machine tools that have a variety of advantages. This article describes the advantages of multi-axis control machining. The structure of CAM systems used for multi-axis control machining and the important role of collision avoidance in generating cutter location (CL) data are then explained. The transformation of CL data to NC data for use in machining, which is performed by a post-processor, is presented. Finally, an efficient machining method and unique shape creation via 6-axis control machining are explained.

This paper introduces the first successful development of a robotic unicycle imitating a human rider. The robot consists of a body supported on a single wheel, a closed linkage on each side of the body to drive the wheel, and a rotor on the top. The effects of the closed link, gyro effect, centrifugal force, and reaction torque of the rotor on the robot’s stability and direction were investigated in simulations and experiments. Stability and drive principles of the robotic unicycle were proposed. The unicycle accelerated or decelerated because of the location of the compound center of gravity. Direction control was proposed based on the proposed acceleration control rule and a specified yaw angular velocity. Using that rule, drive simulations of tracing a circle and a “number 8” were conducted. The computer simulations demonstrated stable driving of the robotic unicycle. The experimental evaluation, velocity, and direction control of the robot were also studied. The principles of postural stability and driving of the robotic unicycle were clarified.

This paper presents a new path-following feedback control law of a five-axle, three-steering coupled-vehicle system which enables specifying the movements and rotations of its two carriers quantitatively, according to the operating environment. The kinematical equations of the coupled-vehicle system are first converted into time differential equations in a three-chain, single-generator chained form. The time differential equations in the chained form are secondly converted into new differential equations with a new variable. The new control law enables the relative orientation between the two carriers to be constant in either a straight-bed carrier configuration or a V-bed carrier configuration, and simultaneously enables the orientations of these carriers functioning as a single carrier relative to the direction of the tangent of the path to be changed quantitatively, according to the locations of obstacles for avoiding collision with them. Asymptotic stability of the new control law is guaranteed by the linear control theory and the Lyapunov’s second method. Especially, the form of the new differential equations facilitates the design of the Lyapunov functions. The validity of the new control law is verified by an experimental five-axle, three-steering coupled-vehicle system.

We propose a nonmonotone QP-free infeasible method for inequality-constrained nonlinear optimization problems based on a 3-1 piecewise linear NCP function. This nonmonotone QP-free infeasible method is iterative and is based on nonsmooth reformulation of KKT first-order optimality conditions. It does not use a penalty function or a filter in nonmonotone line searches. This algorithm solves only two systems of linear equations with the same nonsingular coefficient matrix, and is implementable and globally convergent without a linear independence constraint qualification or a strict complementarity condition. Preliminary numerical results are presented.

The reachability and controllability of switched Boolean (control) network are discussed in this paper. Based on semi-tensor product, using the vector form of Boolean logical variable, the switched Boolean (control) network is expressed as a discrete time system with state and control variables. For the switched Boolean network without control, the stabilization by suitable switching signal is discussed. Also, the controllability of the periodic switching signal is learned, and the conditions for stability and controllability of periodic switched Boolean networks avoiding states set C are obtained.

Unmanned aerial vehicles (UAVs) have many potential applications in indoor environments. However, limited visual feedback makes it difficult to pilot UAVs in cluttered and enclosed spaces. Haptic feedback combined with visual feedback has been shown to reduce the number of collisions of UAVs in indoor environments, but has generally resulted in an increase in the mental workload of the operator. This paper investigates the potential of combining novel haptic and 3D audio feedback to provide additional information to operators of UAVs to improve performance and reduce workload. Two haptic feedback and two 3D audio feedback algorithms are presented and tested in a simulation-based human subject experiment. Operator workload is quantified using standard measures and a novel application of behavioral entropy. Experimental results indicate that 3D haptic feedback improved UAV pilot performance. Pilot workload was also improved for one of the haptic algorithms in one of the control directions (lateral). The 3D audio feedback algorithms investigated in this study neither improved nor degraded pilot performance.

As the demand to the practical operation ability of humanoid robots improving, serial-parallel hybrid structure has started to be used in the research of humanoid robot. However, analytical solutions of the forward and inverse kinematics are hard to obtain due to the redundancy of humanoid robot and the complex topology of hybrid structure. Besides, humanoid robots should have the capability to complete complicated operation in the low structured task workspace. So, it should have not only the humanoid shape but also the behavior that adapts to the direct interaction with people. In this work, a novel 4-DOF hybrid humanoid robot was taken as an example, the forward kinematics equation was derived, the theory of screws and lie group and lie algebra were applied to calculate the end velocity. A numerical calculation method based on neurophysiology sensorimotor transformation model and fuzzy logic compensator was proposed to solve the inverse kinematics in reaching movement. The proposed strategy can make the robot execute reaching movements with human-like posture. Simulation and test results validate the effectiveness respectively.

This paper proposes a practical method for improving fuel consumption of hybrid electric vehicle (HEV) using a sequential approximate optimization. In particular, a new energy management is developed with four design variables. The numerical simulation of HEV is so expensive that a sequential approximate optimization using the radial basis function network is adopted. Numerical result showed that the proposed energy management significantly improves the fuel consumption of HEV.

In this paper a network-wide traffic signal control scheme in a model predictive control framework using mixed integer programming is presented. A concise model of traffic is proposed to describe a signalized road network considering conservation of traffic. In the model, the traffic of two sections that belong to a traffic signal group of a junction are represented by a single continuous variable. Therefore, the number of variables required to describe traffic in the network becomes half compared with the models that describe section wise traffic flows. The traffic signal at the junction is represented by a binary variable to express a signal state either green or red. The proposed model is transformed into a mixed logical dynamical system to describe the traffic flows in a finite horizon, and traffic signals are optimized using mixed integer linear programming (MILP) for a given performance index. The scheme simultaneously optimizes all traffic signals in a network in the context of model predictive control by successively extending or terminating a green or red signal of each junction. Consequently, traffic signal patterns with the optimal free parameters, i.e., the cycle times, the split times and the offsets, are realized. Use of the proposed concise traffic model significantly reduces the computation time of the scheme without compromising the performance as it is evaluated on a small road network and compared with a previously proposed scheme.

Wireless sensor network nodes deployment optimization problem is studied and wireless sensor nodes deployment determines its capability and lifetime. The nodes deployment scheme based on the perceived probability model aiming at wireless sensor network nodes which are randomly deployed is designed. The scheme can be used to calculate the perceived probability in the area around wireless sensor network nodes and move the wireless sensor nodes to the low perceived probability area according to the current energy of the wireless sensor node. The simulation results show that this deployment scheme achieves the goal of the nodes reasonable distribution by improving the network coverage and reducing the nodes movement distance and energy consumption.

Heavy-load manipulators usually have a balance to minimize energy consumption and maximize payload capacity. Appropriate design parameters are important to balancing devices in improving performance. We propose evaluating optimal parameters to achieve the best possible manipulator motion features. A dynamic manipulator model with a parallel-link mechanism is analyzed using the Lagrange principal. We also propose a way to reduce nonlinear influence while improving payload capacity. The optimized method is used for instructing how to design and optimize heavy-load manipulators, as shown through simulation and experiments.

This paper describes the assessment of a predictive braking assistance system, which is done using a driving simulator that reconstructs near-miss incident scenarios relevant to pedestrians. An autonomous braking assistance algorithm for collision avoidance is designed based on pedestrian movement prediction and an artificial risk potential field. A virtual spring connecting the vehicle and the pedestrian is used to determine the repulsive potential field and the intensity of the deceleration. The feasibility of the proposed braking assistance algorithm is examined through experiments using the driving simulator and a comparison to actual driving data. Near-miss incident data relevant to pedestrians in intersections are analyzed to get the basic parameters of a crash scenario model relevant to pedestrians. Driving simulator experiments are used to verify the effectiveness of the proposed system.

Designing a high-performance soft robotic fish requires considering the interaction between the flexible robot structure and surrounding fluid. This paper introduces fluid-structure interaction (FSI) analysis used to enhance the hydrodynamic performance of soft robotic fish using piezoelectric fiber composite (PFC) as the propulsion actuator. The basic FSI analysis scheme for soft robotic fish is presented, then the numerical model of the actuator, robot structure, and surrounding fluid are described based on the FSI analysis scheme. The FSI analysis of the soft robotic fish is performed through these numerical models. To evaluate the effectiveness of FSI analysis, coupling simulation and experimental results are compared. We found that the calculated results of propulsive force and deformation displacement were similar to those for experiments. These results suggest that FSI analysis is useful and is applicable to evaluating propulsion characteristics of the soft robotic fish to improve performance.

This paper presents a monitoring system that uses passive RFID tags for detection of unexpected loitering and falling of elderly people in nursing homes. This system, which is superior to a video camera in terms of privacy, incorporates tag readers set on ceilings beside a bed and under doors. The system combines the following two methods. The first method targets caregivers and non-senile elderly persons. Each wears an RFID shoulder tag. However, some senile elderly people who are not wearing RFID tags might wander. Therefore, the second method described for this system is based on a phenomenon by which electric waves are attenuated by water. Several RFID tags are put on the floor. Then the presence of a person at that spot is inferred from the number of RFID tags that are responding. Experimental results obtained for a person beside a bed and passing through a door confirm the effectiveness of this system.

We developed MAUV, an autonomous mobile robot that has navigation using two types of landmarks; ambient magnetic and geometric. This enables the robot to localize robustly in actual outdoor environments. The robot achieved missions in Tsukuba Challenge 2011, 12, and 13.

A mobility robot “NENA” which can carry one person was developed by Utsunomiya University. The robot was developed based on the concept called “Design Framework” and it allowed the robot to equip with functions needed for manual driving and autonomous running and acceptable design for people. The robot fulfilled safety required for mobility robots used in the Tsukuba Mobility Robot Experimental Zone.

We have developed a small, unmanned explorer robot to investigate the undergrounds of satellites and planets. This paper describes the developed excavation robot, which is based on earthworm locomotion. The robot demonstrates excavation activity at 1/6 of its own weight, mimicking the light gravity conditions of the Moon. We conclude that the robot is suitable for future excavation missions.

This paper introduces manzai robots – entertainment robots that automatically create manzai scripts from Internet articles based on keywords given by the audiences and perform manzai based on created manzai scripts. The robot consists two robots connected to the Internet that automatically create manzai scripts from Web news articles in response to a user’s keywords using data mining and manzai techniques. After manzai scripts are created, the two robots perform manzai using these scripts. This paper reviews the robot system configuration, manzai script creation, and robot-based management.