As for rotation power generated by engine power in the vehicle, the transmission is a mechanism to adjust power/torque transmitted to the wheel, and the rotation speed of the wheel. The transmission can be categorized as manual (MT), automatic (AT), and continuously variable transmission (CVT). In this paper, we consider the continuously variable transmission (CVT). CVT is basically composed of the friction wheels; each wheel squarely combines two conic boards. CVTs include belt type CVT and toroidal CVT. For the belt type CVT, the pulley is driven by the belt placed between the middle of two circle-boards in the pulley. For the toroidal CVT, two rollers are being pushed by strong compression power. Since these conventional CVTs are transmission utilizing friction force, their efficiency are inferior. Also these CVTs require a precise processing, the noise was caused, and they did not have durability. Consequently, we propose a new structural CVT in this paper.

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We propose a wireless signal transmitting system by gaining energy from the surroundings. As all of energy needed by this system is gained from the surroundings, there are no necessities for refilling fuel or changing battery. For example, Tire Pressure Monitoring System (TPMS) needs such a maintenance-free sensor system. The system consists of a piezoelectric generator, a capacitor, and a circuit. The circuit watches the capacitor's storage and supplies energy to the transmitter. We made an experiment to gain energy from the deformation of a car wheel with the generator. The energy from the environment is estimated to be about 20mW. This estimation shows that we can drive a transmitter for 1 second after 7 second's charge. We were also able to drive the transmitter in another environment from which the generator gains a little energy, so this system is available not only on wheel's surface but also in general environments.

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In this paper, a new concept of robot having both side of ecology function and communication function is proposed. And then, eco-communication robot for garbage collection/classification is developed. Here the sensing system of eco-communication robot is introduced.

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This paper describes to introduce an automated microscopic observation system for supporting asbestos qualitative analysis work. One of major method for visual asbestos qualitative evaluation method is the dispersion staining method. In a usual visual observation process of it, the operators check the asbestos fibers in the view of the microscope and count the number of the fibrous asbestos fibers. For supporting such works, we are developing an automated microscopic observation system for asbestos qualitative analysis. The system can take the images by mounted microscope and save them to the database automatically. In this paper, we introduce the system concept and the performance by using developed prototype system.

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The rescue robot is operated at a distant place to prevent second human suffering. It is difficult to operate the robots because transmitted information from the robot is almost only visual image on mounted camera. So, the support system is necessary for everyone to search smoothly and efficiently. This paper is described about operation support system. The developed system has the following functions which are drawing the additional lines, drawing the map view, changing the most suitable views and setting up the camera parameters to support the robot operator.

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A cellphone has been put at our bedside and used as an alarm clock frequently. When an earthquake occurred, it is easy to find a sufferer to detect the buried position of a cellphone. So, the sufferer detection system with a cellphone which is consists of two components has been developed. One component is a distance measurement system (DSMS) which measures the distance to make use of the difference of propagation velocity between an electric wave and a sound wave. The other component is a direction measurement system (DRMS) which measures the direction to utlize the radio field intensity. This paper is described about the principle of DRMS and the results of cellphone detection experiment.

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The rescue robots have made use as the sufferer detection tool. It is necessary for searching sufferers to recognize the position of rescue robots. The conventional mobile robots on the ground are used GPS to recognize its position. When a disaster occurred under the ground, most rescue robots can't be operated because an electric wave of GPS does not reach under the ground. So, the localization system with a laser range, an infrared communication equipment and image processing is has been developed. This paper is described about the constitution of improved localization system which is added to some functions.

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New work system by the robot technology to dismantle the interior materials of office building in its renewal was proposed. The dismantlement of ceiling where the amount is the largest in the interior was made an object of the study, and problems in the traditional work method and needs of the site were clarified. And the work system that dismantle the main materials of ceiling board, illuminator, and air-conditioning equipment, etc. by the cooperation of human and robot was developed. ID tag was put on materials, and the work plan by the robot and the control of the robot were supported. Not to damage the light gauge steel of the groundwork and to remove only the board efficiently, the cutting method by the water jet was introduced. To prove the effect of the developed system, the experiment by the mock-up was executed.

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We propose the technique of classifying the background area automatically by calculating the color variance in the RGB space of the picture. By using this technique, the background area classification robust to change of the brightness and color of the picture was enabled. Moreover, the validity of this technique was shown by actually performing particle extraction and verifying the result which carried out calculation. We aim at development of the particle detector which performs particle counting automatically about the "distributed staining method" which is one of the processing of asbestos analysis. The pictures were taken by the phase microscope.

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Hydraulic excavators are used for civil working such as digging, loading of the earth and sand mainly till now. But with changing into the direction toward the recycling society, the hydraulic excavators spreads a place of the activity to the recycling object work to increase rapidly such a building demolition work and the iron and steel clipping processing. This development targets the demolition work of a building increasing around an urban region recently. We researched working analysis and picked up the function for the working and found out the size of the most suitable machine. We report about the result of findings, furthermore the system architecture and operation system that we examined.

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It is necessary to develop a optimized method for the robot to use robots by the use of The water jet cutting is introduced instead of conventional method that the person pull down the ceiling board by bar etc. The ceiling dismantlement technique that uses the water jet shows effectiveness, because of fast board removed and low water consumption.

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The dismantling robot with water hydraulic manipulator has been developing in order to reduce workers and working hours. It is important for the operator to control the robot easily using a manual operating device as this robot is used under various condition. We propose the easy operation device for the manipulator and test the basic function by 4-axis manipulator simulator.

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Recently, data that measures a noise and a vibration, etc. might be displayed as a risk communications with the vicinity resident. However, it took time by the time an operator controlled it even if a vibration and a noise exceeded the restriction value because a measurement value was not noticed to an operator of construction machinery. In this development, it aimed to shorten time until controlling. It reports on a development of the working environment measurement system that measures a noise and a vibration, etc. by two or more points, accumulates, operates data, and notifies a resident in the surrounding and a site office and an operator the result.

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In the dismantling works of office interiors for renewal, after the dismantling process of the ceiling panels, it is required to remove the screws attached to the Light Gauge Steel (LGS). At first, the pose of that metal ceiling structure is measured. Thus, the control system generates a trajectory near of the structure to measure more precisely for the screws. The trajectory is followed by an eye-in-hand of a robot arm. The screws are detected by applying a multi-template matching process to every captured image. The screws' position is measured by combining the results of a multi-frame integration.

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This paper describes the adaptive roof structure applying VGT (Variable Geometry Truss). In the part 7 of study, the arch structure roof by VGT and its variable motions were examined. In the arch structure, the both edges of the structure are supported at each hinge. It is very difficult to determine the shape of the structure because these tips are absolutely suited at the hinge position. In case of fixed edge, the design of VGT mechanism accompanied with arch motions was proposed simulating dynamical FEM methods. In part 8, in order to develop the movable roof structure, the mechanism of external panel accompanied with structure motion and its model experiments were introduced in detail. The scale roof model constructed of the structure of VGT and flat panels was manufactured following the actual designs and numerical simulations. The panel was connected with both outside of arch frames by original flexible joints. Using this model, the panel was able to move accompanying with the movement of each arch frames. In this paper, the model design and experimental results were explained from concerning the VGT structures in details.

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In this paper, basic examination and operation on real construction site of quadruped walking construction robot TITAN XI is reported. Firstly, an experiment of transition from flat ground to perpendicular wall by its legs and wires is discussed. Secondly, two different ways for loading a truck with TITAN XI without external equipment is introduced. Finally, a result of the experiment on the commercial construction site in Yamanashi prefecture Japan is shown. TITAN XI succeeded to climb up the 45 degree sandy slope 30 m, and drill two anchor bolts on 77 degree concrete cliff.

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The water hydraulic robot that removes ceiling board has been developing base on mini-power excavator. In this paper, the design of servo valve for the water hydraulic robot is described. Controlling the water hydraulic system, there are various problems. The linear motion water hydraulic servo valve with taper spool is effective to solve problems.

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In this paper, hydraulic system for mechanical impedance adjustment of construction machinery was designed. This system is composed by model reference adaptive control (MRAC) and pressure control mechanism which applied accumulator and direction control valve. It gives passive compliance by using accumulator and adjusts the compliance characteristics by PWM control of pressure control mechanism. However, the dynamic characteristics influence the control so that hydraulic system behaves nonlinear. Therefore, it was adopted MRAC that did not depend on dynamic characteristics. The system applied front structure of hydraulic excavator, and it was shown to be able to adjust mechanical impedance.

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In recent years, some unmanned operation systems for the hydraulic excavator are required and some tele-operation systems are already developed. However, it is difficult to realize effective operation utilizing such systems, because the operator cannot sense condition of site. The skillful operator adaptive their operation to the excavating environment based on the experience, and realizing the efficient excavating. In this paper, we described the experiment for extracting operator's skill for controlling unmanned hydraulic excavator. We discussed about relation of excavating resistance and bucket's posture from experimental results. Furthermore, we compared the operation of two skillful operators and tried to extract skill that is not individual but common between skillful operators on the same working environment.

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In complicated work machines represented by Double-Front Construction Machinery, an intelligent system to which can provide operational and cognitive supports for an operator is essential. In construction work, a) work objects change consistently, b) environment is complicated, and c) operation methods are different by operators. We understand that there are so many unknown parameters that state identification technique to cover all is very difficult. Therefore, we think that the state unit in total independence of varieties of environmental condition and operator's skill level condition is important. We designed the state unit - PSS (Primitive Static States) with ON / OFF information of lever input and manipulator load divided into "end-effecter" and "except end-effecter". PSS classified working states in 256 (double front) ways every sampling period. As a result of having experimented with between different operators and between different environments with PSS, we confirmed that PSS have properties "in total independence of varieties of environmental condition and operator's skill".

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A teleoperation system for crane control has been developed. By feedback control using the developed sensor, a mass suspended by a two dimensional crane on a horizontal plane is positiond withoutresdual vibration at a target point. Feed-forward control makes a mass to be positioned on target area where the operator wants to put on without overrun. The force of inertial can be reduce by using the acceleration, velocity and location trajectory that has continuous jerk.

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This paper describes a detection method of two types of exfoliations for outward tile wall. One of the tile exfoliations is an outer exfoliation separated the tile surface from mortar concrete, the other is an inner exfoliation deteriorated space between the substrate and mortar concrete. In order to research these exfoliations, we focused attention on the wavelet analysis that enables to analyze the frequency element of a waveform on time phase continuously. In part 2 of this study, comprising the conventional detection methods in which the inspection robot was applied and new method used by wavelet analysis, the characteristics of these methods were verified respectively. As a result, it found that the peak rate method detected outer exfoliation, the cross correlation method detected inner exfoliation and that the wavelet method detected this exfoliation instantly. A best effective detection flowchart inspected the tile exfoliations to apply to the inspection robot was proposed.

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The ability to rapidly identify the correct method for dismantling the components of the interior of a building is important to ensuring the building structure can be easily reused. An information management system has been created that provides facilities for identifying building components and accessing such information as the correct disassembly and disposal procedures for them. RT-Middleware provides the framework for the system. It allows individual components, such as the type of database storing the information, to be swapped with different implementations without adversely affecting the rest of the system.

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A Variably Configured Segmented Wheel (VCSW) seems to be useful for traveling on a snowy road. It can prevent slips and can remove covered snow. But a lump of snow is remaining in ordinal VCSW which disturbs the flow of removed snow. The newly designed VCSW is developed. The vane control mechanism is relocated from the center position to one side of the wheel. The other side of the wheel is vacant and the removed snow is discharged easily. We proposed two types of mechanical design. The effects of these new VCSWs are tested by some experiments.

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Wall surface tasks at high buildings typified by window cleaning are very dangerous work. Therefore kinds of wall climbing robots have been studied. It is one of challenges for those robots, especially robots with adsorbable device for movement, that they possess capability of getting over hurdles on a wall and moving quickly. For this challenge, wall climbing robot with tethered jumping motion was proposed and effectiveness of jumping motion was confirmed. In this paper, mechanisms for jumping motion, posture control and sticking on a wall and the robot which was equipped with them were developed. We confirmed each mechanism performed each action in experiments. These results suggest the effectiveness of mechanisms.

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This paper addresses traction properties of a spiral propulsion mechanism in Sasa field. Recently, area of wetland has been decreasing due to farmland development and so on, and the environment of wetland is surveyed. There is a demand of development of robots which support the surveys, because it is difficult to move in wetland. Spiral propulsion mechanisms have been proposed for movement in a wetland. The traction properties of the spiral propulsion mechanism in Sasa field is investigated. The relation between initial torque and traction are formulated. The data of the experiment fit the formula well in range less than a certain value of traction.

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This paper introduces posture control algorithms for a robot to statically and dynamically climb a vertical ladder. A free gripper position of a climbing robot is not controllable because a yawing of the robot body around the axis connecting a supporting gripper and foot on the ladder is not fixed. A gravitation momentum is used to control the yaw motion of the robot body so that static and dynamic motion such as a pace gait could be realized in a ladder climbing maneuver. The algorithms are experimentally verified by using a multi-locomotion robot we developed to achieve various types of locomotion such as a biped, quadruped walk and brachiation.

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We present a vacuum-based wet adhesion system for wall climbing robots. This system allows an adherability and low friction performance when a suction cup adheres on both rough and smooth surface with small vacuum pump. It utilizes a seal action and lubrication action of a liquid to make the robot body adherable and slidable on the surface. Measurements of friction and seal performance on rough surface and smooth glass verify the effectiveness of the wet adhesion system we proposed.

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This paper describes the optimal mode change control between leg-type and wheel-type locomotion based on different traveling configurations. Also, we discuss moving gaits for forward or backward motion, ascending or descending on a slope. The gaits are classified into knee ahead and knee behind depending on the knee joint location from the hip joint toward the robot proceeding direction. In each walking gait on a slope the robot motion is simulated in the mode change from leg-type to wheel-type and vice versa. Also, we verify whether the results are reasonable or not in harmonizing the direction of the hip joint rotation, so that the robot can proceed toward the same direction continuously.

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This paper describes synchronized control of hip and knee joints of a wheeled leg robot to reduce vertical swing. Robot legs are jointed freely at the rim of a hip joint wheel and are able to rotate by torque transferred coaxially on hip joint axes. Therefore, the robot body swings vertically while it walks by the hip joint wheel rotation. To generate comfortableness of the walk by regulating the vertical swing, we propose two methods of synchronized control among joints in front and rear, and also in right and left. The first limits the rotation in a certain range, ie, swing motion, but the second allows continuous rotation of knee joints. But the hip joints swing in the two. The walking based on the two methods are simulated and compared for the betterment of the control.

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In this study, we propose a simple hopping mechanism using vibration of a two-degree-of freedom system for a wheel-based robot. The robot, consisting of two bodies connected by spring and a wire, hops by releasing stored energy in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters such as the mass of lower body and the mass of upper body and initial contraction of the spring, the spring constant. This property allows fast movement, hopping up and down steps, leaping over a cable and soft landing. In this paper, we control a soft-landing point by the wire tension and demonstrate fast stair climbing and soft-landing.

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There exists an interest for a new type of vehicle which inherits both advantages of wheeled and legged locomotion. Control of such robots is not a trivial problem since we must find algorithms and strategies for utilizing the type and exhibiting complex interactions with environment. This paper presents the step toward developing a C++ object oriented based simulator for a rotating four-legged mobile robot called PEOPLER which can behave as a four wheeled or four legged robot on demand. We propose a new hybrid method for estimating circular radius of the legged locomotion path on a flat terrain. We call the hybrid estimation method GALSM as an expression of combining genetic algorithm (GA) and the well known least square method (LSM). Results of the estimation showed that the GALSM is promising in steering of the robot.

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This paper describes two types of inverted pendulums. One is that balances on a ball. It is equipped with three omnidirectional wheels with stepping motors that drive the ball, and with rate gyroscopes and accelerometer as attitude sensors. It could stand still, traverse on floor, and pivot. Inverted pendulum control was applied in two axes for attitude control. The mechanism, control scheme, and experiments of it are shown. Another robot was trial system of hopping robot. It employed three-phase linear induction motor in order to adapt for much higher hop. The concept and basic experiments using prototype elements including reaction-wheel type inverted pendulum are described.

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This paper describes about a tree climbing robot using pneumatic actuators. A weight is very important factor for climbing robots. Almost of pneumatic actuators are light compared with other actuators. Therefore, a climbing robot becomes light due to apply pneumatic actuators. In this paper, a basic structure and locomotive mechanism of a tree climbing robot which is developed by us describes. We carried out a climbing experiment and confirmed a validity of the structure and locomotive mechanism of the robot.

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In this paper, the purpose is to realize self-propelling ability of a snake like robot which travels in pipes. The robot consists of thirteen intelligent actuators and each actuator has a DC motor and a micro processor including a motor driver and communication function. Three control algorithms, force control, adjusting controls to changing pipe diameter and to curved pipe are proposed and programmed in the processors. As the experimental results, automatically the robot can negotiate several kinds of pipes such as different diameter, elbow shape, T branch shape and vertical setting without overloaded. We showed the utility of three algorithms.

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In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional Crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.

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In this paper, the tetrahedral mobile robot as a throwable robot for search and rescue mission is presented. Especially, the tetrahedral mobile robot with the central rotational axis as a expanding mechanism has been developed to illustrate the concept. Motion experiments confirm the novel properties and function of this central axis: Motion experiments, with a test model are also presented.

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This paper presents analysis and experiments of a 4WD omnidirectional wheelchair for climbing a high step. The conventional 4WD system provides enhanced step climb capability however, the maximum step height is restricted by the rear wheel. Namely, front wheels can climb up higher step than the rear wheels. To clarify the difference between front and rear wheels in the step climb capability, the statics of the 4WD system is analyzed. It is suggested that reaction of the drive torque cause the front-rear differences which depends on a wheelbase and vehicle weight distribution ratio to front and rear wheel axes. To verify the analysis results, step climb capability of a 4WD wheelchair prototype is tested through experiments. For varying a vehicle weight distribution ratio between front and rear wheel axes, we develop a chair tilting mechanism for the 4WD wheelchair with a linear drive mechanism controlled by a stability algorithm using an inclination sensor. In the experiments, both front and rear wheels of the prototype wheelchair can successfully climb a 9cm step while the rear wheels fail when the chair tilting system is disabled.

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The development of 2D-pipe inspection mobile robots requires design and development of a mobile robot platform equipped with the required sensors using for their navigation and their motion control inside of pipe. Correcting the robot tilt angle autonomously, without human interaction, can play an important role in simplification of the pipe inspection process in case of that the robot is derived inside of pipe networks including different types of pipe-bends such as curves and junctions. In this paper, after introducing a 2D-patented pipe inspection mobile robot platform, called "naSIR platform", we will describe, in detail, our novel approach in controlling of the developed robot platform tilt angle. The passive tilt correction of "naSIR platform" is accomplished by applying special wheel design in form of material morphology. The basic idea is inspired from robot-environment interaction and realized by applying different material for the rear robot wheels.

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In this paper a novel hybrid propulsion system for mobile robots is proposed. Because in this system the ability of power flow control from of multiple separated energy storage units and speed control for each motor are combined, this robot can be derived by hybrid power sources. This capability, allow robot to diversify its energy source by employing several energy storage units and energy sources. The simulation and experimental results show proposed scheme and extracted equations are valid and energy management and speed control can be achieved properly using this method. The filed experiments show robot mobility functions to perform the requested motion is enough and it has a high maneuverability in the field.

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We previously showed that microparts can be fed along a saw-toothed surface using simple planar symmetric vibrations. Microparts move forward because they adhere to the saw-toothed surface asymmetrically. We used saw-toothed silicon wafers fabricated by a dicing saw applying bevel type blades. We then studied the movement of 2012-type capacitors (size: 2.0 × 1.2 × 0.6 mm, weight: 7.5 mg) and 0603-type capacitors (size: 0.6 × 0.3 × 0.3 mm, weight: 0.3 mg). In this study, we assessed the movement of smaller 0402-type capacitors (size: 0.4 × 0.2 × 0.2 mm, weight: 0.1 mg). A femtosecond laser process was used to fabricate an asymmetric surface. We evaluated asymmetry of the fabricated surface based on measurements using an atmic force microscope (AFM). Profile models of both the fabricated surface and a 0402-type capacitor were approximated by polynominals. We then examined contacts between these models and also asymmetry of contact by calculating contact area that acts adhesion.

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In this paper, the characterization of cellular mechanics of W303 yeast cells was conducted using nanoneedles inside an Environmental-SEM (ESEM). Three types of nanoneedles were used in our experiments, i.e. titanium coated silicon (Si-Ti) and two types of tungsten (W) nanoneedles. The Si-Ti nanoneedle was fabricated using 2 N/m spring constant cantilevers while the W nanoneedles were fabricated using 0.09 N/m and 2 N/m spring constant cantilevers (W_<0.09> and W_2 nanoneedles). The Si-Ti, W_<0.09> and W_2 nanoneedles are suitable to be used for local stiffness characterization of single cells. This capability can be used in future for fast disease detection since disease cells may show different cell mechanics properties compared to the normal cells. The Si-Ti and W_2 nanoneedles can penetrate the cell without cell bursting and this could be important in single cell surgery in future to eliminate cell damage.

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We succeeded in making a long time observation system of individual cells using PDMS microchip which has a cage made of permeable membrane. The cage is made by photolithography and it has fine resolution. The height of the cage is about 2 μm. Optical tweezers is used to manipulate each individual cell. We transported cells into the cage using optical tweezers and changed solution around cells. The size change of each cell was monitored for long time stably. This system provides us a stable environment to observe cells in various conditions and it is useful to investigate unknown biological mechanisms of cells.

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In situ tensile tests of single crystal silicon beam are presented inside a Transmission Electron Microscope (TEM) by the nanomanipulator using silicon microchips. The process of cleavage creation is determined for a silicon beam by a CCD camera. The bend contours of the silicon beam are observed with the high resolution TEM images in a real-time scale.

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Single cell stiffness of yeast cells are measured inside an Environmental-Scanning Electron Microscope (E-SEM) through nanomanipulation system depending on the growth phases and environmental conditions. The penetration forces and Young's modulus are determined from the E-SEM images of cell deformation applied forces using an AFM cantilever.

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In noncontact manipulation of cells with optical tweezers, we need to use microtools to avoid the damage to the cells by direct laser irradiation. When we manipulate a complex structure such as the microtools, the multi-trap optical tweezers which can trap multiple objects is suitable, however, manipulation speed is not so good. Therefore, we constructed an integrated optical tweezers by using time-shared scanning method for high speed manipulation and generalized phase contrast method for trapping a lot. We proposed manipulation method which suits for the integrated optical tweezers and then we designed the shape of microtools made of SU-8. A new fabrication method of SU-8 microtools was proposed to improve productivity. At last, we made the experiment system and effectiveness of the proposed methods was confirmed.

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We have been researching a portable obstacle recognition support device to avoid danger for users and surrounding people. We have confirmed that perception of vibration is changed by user's grip force, the stronger grip force, the stronger user feel vibration. In addition, experimental result showed that the vibrations strength users feel changes with the vibration strength which is applied earlier to users. It's thought that this result is a phenomenon which is based on adaptability of sense of touch and pressure. We aim at warning design without recourse to adaptability.

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This paper provides the study on the automated teller machine's display in consideration of the color universal design. Color universal design is an approach to the design of products and environments to be usable by visual disabilities, including persons with color deficiency. We determine the suitable button size and the color arrangement of ATM's display by means of the results of the questionnaire. We evaluate the usability of the ATM using the computer simulation.

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We developed a wireless sphygmograph using a 2.4GHz radio module. The purpose of this system is an evaluation measurement of universal design. This system can measure simultaneously not only a pulse wave meter but the data of another sensor. In this study, we have measured data, sphygmograph and accelerometer, of a running experiment of an electric wheelchair. Measured sphygmograph data were changed to pulse data by derivative2 differentiation. Finally, this system could measure frequency analysis of a change of pulse.

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This paper describes environmental design for indoor navigation with IC tags whose system measures the own position and the direction by two antennas. We sandwiched an IC tag between various floor materials and tiles, and experimented on readable distance and interference. As a result, we propose the arrangement of IC tags in the space of a tile carpet of a size of 500mm by 500mm.

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