A navigation system using a laser projector (LP) was developed to drive an agricultural vehicle safely, precisely and efficiently. Laser beam is scanned horizontally and vertically by two mirrors and the designated paths or boundary lines are projected on the actual ground surface. The calibration of the LP was performed to point the arbitrary location on the global frame of reference. The accuracy of the beam angle was less than 0.1° in the static condition. This system is capable of navigation of an outdoor vehicle.

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High-accuracy 3-dimensional measurement system was developed to acquire the Information of topography and plant status in the farm land. Laser scanners and a hyperspectral camera were used as sensors. The method which synchronizes between a GPS time and sensors were developed using low-cost synchronization circuit board. As a result, 1pps signal and 75Hz signal provided for laser scanners were synchronized with accuracy of 0.2μs and the laser scanner and 75Hz signal were synchronized with accuracy of 0.12ms.

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We are currently developing a strawberry-harvesting robot which includes machine vision, five-axis manipulator, end-effector and fruit-tray-exchanger. Because the relative technologies, such as recognition of strawberry fruits, are still being investigated, it is expected that the robot will be customized. Therefore, the robot is installed 'OpenRTM-aist (Ver. 1.0.0-RELEASE)' which is one of a 'RT middleware'. 'RT middleware' is the software platform in which all functional units are composed to an 'RT-Component'. In this paper, The RT-components we developed are shown in detail.

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To reduce degree of freedom of Strawberry-Harvesting Robot for Elevated Cultivation, this study is an investigatation to limit direction of harvest approach to inside of planter. To show validity of this proposition, we investigated approachable angle for 55 of ripe strawberries. The result of this investigation shows Inside-Harvesting-Approach is enough to practice use. In addition, about 90 % strawberries are approachable even if we limit direction of harvest approach to back of the strawberry.

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Freshness of strawberries can be maintained only for several days. In order to keep the freshness, it is important that strawberries are harvested, without a touch of their skin. In this study, a strawberry picking robot is developed, which is able to achieve mentioned harvest. The robot is composed of three modules of a hand with vision, a manipulator and a vehicle. In the green house where brightness dynamically changes by natural condition of weather, the vision module is possible to stably recognize a feature color as a pattern on the color coordinate system. Therefore the manipulator module can pick a target strawberry accurately. The vehicle module can move to another place when there is no target in its workspace. In maintained cultivation, the developed robot can almost possible for an automatic picking of strawberries. This report describes performance of the strawberry picking robots and consideration of the cultivation conditions for achievement of practical use.

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This paper presents a concept of an agricultural robot which is linked with a farm data management system. As many consumers are now concerned about food safety, farmers are required by law to submit farming data reports when shipping their products and agricultural cooperatives have to check the products weather they are yielded keeping compliance with regulations of agricultural materials or not. However human errors are inevitable as long as operators doing them. One of the solutions is that automating operations and recording data using agricultural robots. We already developed the farm data management system, the system support the proper use of the agricultural chemicals spreading operations. We are developing a fertilizer spreading robot, which can set the proper amount using the management system and make reports of farm operations automatically.

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We propose a method of shaft tillage cultivation using an autonomous robot. In this cultivation system, a deep vertical shaft is drilled by rotating a tillage tool, after which seedlings are transplanted into the shaft, where they grow until harvest time. We discuss the possibility of the application of legged locomotion in our robot. One of the advantages of legged locomotion is the ability it offers in selecting the ground contact points. In shaft tillage cultivation, the tillage and transplanting site is managed as point coordinates. We propose the operation to utilize high compatibility between the leg locomotion and the shaft tillage method. To verify our idea, we have developed the scale model of the legged robot.

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This paper describes a harvesting robots system for asparagus which has electric power cable. Electric power supply is very important for harvesting robot which worked in green house everyday. Our harvesting robots system is composed of power cable type harvesting robot, automatic robot carrier and asparagus fields for the robot. Using electric power cable our harvesting robots system can work continuously in green house everyday.

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Saffron pistils have been used, for example, as spice, dye and medicine from old days. But saffron pistils are considerably expensive, and are regarded to be luxury food. Saffron pistil is normally harvested by hand now. However, as the amount of pistils of one flower is very small, task of harvesting them is very hard. Therefore, in this paper, we discuss a method to automate harvesting saffron pistil using robot. We examine technique to detect cutting point and gripping point which are necessary for harvesting by online image processing. We verified the feasibility of our method through experiments.

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This paper describes development of device for pulling up weeds including the roots. First, we investigated force for pulling up weeds by experiments quantitatively. The result indicated that the force is under 5 N in the case where the length of the weeds are under 10 cm. Then, based on this result, we developed a new mechanism for pulling out weeds including the roots. The developed mechanism utilized a roller for pulling up weeds. Then, we have investigated the effectiveness of the developed new mechanism in outdoor environments. As a result, we have confirmed that the roller mechanism is useful for pulling up weeds.

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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 4 of this study, the wavelet analysis diagnostic system to consider the scale effect of the tile was developed to generalize the real-time diagnosis algorithm, and the relative evaluation method was introduced to stabilize tile exfoliation judgment and the introduced effect was verified..

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We have developed the technology to get structure's 3D shape quickly by 3-Dimensional Measurement Mobile, using a gyroscopic 2D scanner. 2D scanner can change the attitude flexible and is loaded on a cart followed by Total Station. The coordinate of measured data by 2D scanner is changed for the structure's coordinate with the position and attitude information of 2D scanner. The design data is prepared as Landxml format made by 3D CAD system, and taken in a system. 3-Dimensional Measurement Mobile can check the measured shape with the design shape at real-time.

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Until now, hydraulic excavators are used for digging operation of the earth and sand mainly. In recent years, however, the application range of the hydraulic excavator is in the trend of expansion. To accomplish complicated dismantling operation efficiently, we developed the double-front work machine. And then, we examined the double-front work machine in the actual dismantling operation site. We report about improvements extraction based on work analyses for the double-front work machine.

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This paper proposes a framework to detect (identify on-off state of) external force applied to hydraulic cylinder for construction manipulator, utilizing hydraulic sensor. Hydraulic sensor inherently detects not only external force but also self-weight, driving, and inertial forces. These error components generate depending on joint-kinetic state and they differ in identification-difficulty due to hydromechanical uncertainty and nonlinearity. Theoretical model-based, experimental estimation-based, and waveform analysis-based identification methods were respectively applied in static, uniform motion, and accelerated motion states. Experiments were conducted by utilizing an instrumented hydraulic arm system. Results indicated that the proposed framework greatly lowered a threshold to detect external force, independently of various kinetic conditions.

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We investigated the cutting weeds picking up and packing robot used in the slope. The rotation shaft of the packing room leans when an existent machine is used in the slope. The rotation shaft of the packing room leans when an existent machine is used in the slope. Weeds lean to one side of the packing room in these machines because of this inclination. Therefore, the robot that the rotation shaft of the packing room always became horizontal was developed. This robot consisted mainly of a weeds picking up device which carries the short cutting grass with the brush and the blower by the wind, a roll baler which improved the direction of the rotation shaft of the packing room, motors and controller. When this robot was tested in the slope, 90% of the grass was collected, and it could be packed. Then, as for the grass, it disappeared to lean in the packing room.

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Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot.

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For establishment and the spread of the intelligent greenhouse which stably enabled farming, the high quality and the stable supply are essential tasks. Moreover, the environmental control and delicate cultivation management are necessary for implementation. Then, we developed the autonomous travelling robot diagnosing plant growth for the tomato cultivation. This robot collects the plant diagnosis information such as the temperature of the leaf and the photosynthesis function with the self-position in the intelligent greenhouse. As a result, this study showed that the growth diagnosing robot was a promising technique for monitoring of the health condition of the tomato crops in the intelligent greenhouse.

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In the progress of precision farming, it is very important to collect variety of information on crops and field. In this study, we developed a prototype mobile eggplant grading robot in order to get information that be used for presentation of better way on cultivation. This robot can collect and accumulate the fruit's features information and location information at the same time while harvesting. After the field test experiment, a prototype mobile eggplant grading robot has achieved its purpose which was acquiring and storing information in real time and has created field spatial maps from the information. In the previous experiments, a rotary encoder was used in order to discriminate plant location based on the distance from the start point of the robot. However, the detecting error of the distance increased in proportion to the travelling distance of the robot because of the slip of the rotary encoder. In this paper, the robot discriminated plants by using IC tags attached to individual plants and a transmitter-receiver mounted on the robot. From the results, the robot could discriminate individual plants correctly.

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Steering wheels compel drivers to use both hands for tractor maneuvering. Single-handed steering devices like joystick increases the flexibility for multi-tasked driving. In this paper, a joystick based steering control system previously developed was evaluated and various control algorithms were tested with the objective of improving the stability of the existing control system. An Iseki T950 tractor with dual mode steering feature-steering wheel (default mode) and analog I/O steering override, was tested. The Lab View software (National Instruments) was used to speed up and simplify the analysis and optimization of the existing steering control system. Based on the evaluation results, the most stable control method was identified.

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In this study, we have developed a new greenhouse to monitor and control crops from remote places by using cell phones or PCs. In order to monitor and control crops, we installed the sensors and the devices. As the information of the sensors in the greenhouse, we can get temperature, humidity, amount of insolation, rainfall, wind speed, and wind direction. Then, the devices for remote control are camera, fan, LED light, and so on. By using those sensors and devices, the developed greenhouse has the functions which are temperature control, insolation control, and sprinkling water. These functions can be used easily with remote control software.

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This research has aimed to construct a remote control system the green house that is structured by our research group. A remote control that is to say here points to observing and managing farm products from distant place. We developed the application and GUI to get each value of sensors and control devices in that house. As the results, we enable to observe and manage farm products from the distant place. Therefore, we developed the application that upbringing management was possible for a game sense and the automatic management system. Finally, we obtain the system that we can more easily manage and observe than existent systems for crops and farms.

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Small-flowered chrysanthemum is one of dominant cut flowers in Japan. We are developing a bloom level inspection equipment for it. This equipment has a camera and a flower carrying structure. When we input a flower to the equipment, it takes a picture of the flower from the zenith direction, recognizes the flower area and leaf area in the image, determines whether it is in proper time for shipping, and finally drops it into adequate area. Considered the usability, this equipment is attachable to weight grading machines, which is popular machine in small-flowered chrysanthemum farmers. In this paper, we introduce this equipment and result of a evaluation experiment.

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Deflective vibration control of the arm of boom sprayer and development of the mechanism to keep the arms of boom sprayer horizontal are shown in this paper. It will be shown that measuring deflective vibration by three acceleration sensors and using optimal regulator, deflective vibration of the arm can be kept down effectively. And it also will be shown that designing the mechanism using CAE dynamics simulation in advance, development of the mechanism of posture control of the arms can be gone ahead smoothly.

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In the renewal works of construction for the earthquake resistance and repair work, the conventional power machines such as the pitching and cutter machine generating very high noise and vibration, has been applied at the construction sites and then the environmental improvement to the worker and the resident in the surrounding was requested. On the other hand, though the water jet method has the feature in which the noise and the vibration are lowered, it has been not easy to use it for such renewal construction because the entire size and weight was very large. In our development of small-size water jet system, the entire size and the weight of system have been minimized not to generate the high noise and vibration in the design. The water jet nozzle covered with the drain collection cover not to scatter outside has been introduced. In the water jet flexible nozzle setting and moving to the object, the 7-axes manipulation robot has been applied to use it even by a narrow work space. By introducing the water jet system at the site, the lower noise and vibration work and high efficacy process of renewal construction was accomplished.

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We develop distributed inclination sensors (DISs) to measure the distributed inclination of track shoes, i.e., determining where a tracked vehicle clutches road bumps using the reflection-intensity inclination of track shoes due to dead weight. We confirmed in experiments that dead weight on a slope is a major factor in measurement error.

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We have developed a hydraulic McKibben artificial muscle which realizes great force density. In this paper, we have applied this muscle to a power robot hand. The hand finger consists of metal links and the muscles. The contraction of the muscles generates the bending motion of the fingers. This hand has large holding capacity and shape adaptability to grasp objects. The experiments show that maximum holding force of the hand is 5000N. It can hold three types of different shaped objects; cylindrical objects of φ267mm and φ165mm in diameter and a square cross section of width 200mm in side. This hand can be applied to various applications, for example rescue robots in disaster area and forestry industry.

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A 1/20 scaled electric-powered test model robot of the quadruped walking construction robot TITAN XI has been developed to conduct experiments and trainings in lower cost and easier. The legs are driven by RC servo motors and have the same D.O.F. configuration and proportion. Suspension tether winded by motor-driven winches are force-controlled by newly developed tension sensors for steep slopes. A robot controller which consists of the same numbers of joysticks and switches was developed for manual control. Test model is controlled by three SH-2 (SH7047) microcomputers and they are communicating via CAN interface. By automatic and manual control, the robot climbed up a steep slope model and step over obstacles.

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Assessment of stability during operation is essential to improve safety and efficiency of construction machinery. Conventionally, assessment is performed based on an index of static stability such as center of gravity or overturning moment. Large inertia force is generated by motion, however, and it affects the stability of the machine. It is therefore important for accurate assessment to measure dynamic stability which considers inertial force. The authors developed a system to measure the dynamic stability of construction machinery on real-time during operation. In this paper, an overview of the measurement system is presented. Results of evaluation experiment are also presented to verify feasibility and validity of the system.

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This paper presents the mathmatical modeling of hydraulic-actuated hexapod robot. The robot namely COMET-IV which is operate for hazardous operation assistance in outdoor application. Currently COMET-IV position angle is controlled using P1D controller. However this controller is not enough to perform robustness for nonlinearities of the hydraulic system. Therefore the mathematical model is derived for each link of each leg of COMET-IV using Identification theory. The goal of this derivation and modeling is to identify the states that possible to be controlled. Thus from this identified states, new robustness controller for angle control can be designed.

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When the robot walking in an environment to a targeted destination by using odometer, or in our case, we used Center of Body (COB) data, it might be can't reach to the destination precisely due to the errors of the sensor itself or due to mechanical problem of the robot. To reach the targeted destination precisely, higher accuracy of estimation data are needed. Therefore, we used laser range finder (LRF) 3D information with the application of Extended Kalman Filter (EKF). However, the location of the robot has to know it's coordinate in the environment simultaneously during its journey. For that purpose we apply Simultaneous Localization and Mapping (SLAM) method in this research. Furthermore, we also apply the Occupancy Grid Mapping algorithm for obstacle avoidance control besides implementing the SLAM.

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In this paper, the walking of hexapod robot with active ankle joints is taken up in order to unveil the effectiveness of active ankle joints and design new foot mechanism. Three new trajectories were designed in which ankle joints move actively. In these trajectories, there are two patterns of active ankle motions. One of them is kicking the ground by tiptoe when the foot leaves the ground. Another motion is touching the ground from heel when the foot sets down. These motions are defined as Kick motion and Touch motion. Walking experiments were done with these trajectories. From the results, active ankle joints can prevent the foot from slipping on hard terrain. With this effect in mind, concepts of new foot mechanisms were designed.

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We have developed an active scope camera driven by cilia vibration mechanism. However, it could not run over rough surfaces like a carpet. We need to enhance the mobility for use in practical search and rescue activities. In this paper we proposed a new driving method using a linear actuation mechanism and developed a prototype. Finally, we conducted mobility performance tests and confirmed the effectiveness.

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This research proposes the development of a Throw and Collect inspecting device composed by a throwing mechanism, a drawing mechanism, and a child machine, aiming the enhancement of the accessibility to disaster sites. Past reports concentrated on the throwing mechanism, enabling to throw the child machine high in the air with a pneumatically driven novel unit called Magnetic Brake Cylinder. Up to the present, the child machine is wireless, and its trajectory can be easily predicted as pure ballistics. In this report, methods to throw a tethered child machine are discussed in order to obtain higher throws while using the same available pneumatic energy as when throwing a wireless child machine. Simulation of these methods is compared to experimental results, and a difference of only 10% of height between wireless and tethered throws is verified.

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The goal of rescue robotics is to extend the capabilities and to increase the safety of human rescue teams. Our goal is to provide a "pilot system" to propose a human tele-operator a good direction to traverse the environment, taking into an account the robot's static and dynamic properties. A special path search algorithm on debris needs a proper definition of a search tree and neighboring states. In this paper we present an overview of our results on transition possibilities between two consecutive states, connected with a translation step.

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The sheet metal inspectors in automobile industries know that the knitted work gloves help the perception of surface undulation. The articular joint bends slightly according to the undulation. As the results, a buckling phenomenon of knitted glove which generates the tactile stimulus to the skin of articular joint is caused. This touch enhancing mechanism initially suggested the basic structure of tactile display. In this paper, 3 by 3 surface undulation display is developed and its effectiveness is confirmed by the experiment.

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In recent years, parallel mechanisms have been widely introduced to haptic device for advantageous benefits such as a high rigidity, a high output force, a high accuracy and a high backdrivability by its multi-legged structure and fixed actuators on the base. On the other hand, multi-DOF haptic device including rotational motions is getting important in recent years as haptic applications have grown more diverse as typified by a surgical training system. However, realizing a multi-DOF haptic device within a wide range of rotational working area by using parallel mechanism is a challenging work. In this paper, a 6 DOF (3 translations, 2 rotations and 1 passive rotation) parallel mechanism D-8 is presented to overcome this challenge.

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Field is the best opportunity in skill training. Watching a skilled worker is necessary to get the skill. But, there is the information which isn't transmitted only watching such as force and tactile sense. Using the recorded data, a master's motion or force sense can present to a apprentice separately. In this study, combining a skill measurement system and a skill presentation system, we developed a skill experience system which can present both force sense and position in the field. In this paper, we describe overview of the prototype system using optical motion capture developed for calligraphy and show the experimental results of skill experience experiments.

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This research proposes a new method to display fast continuous movement of Impulse Stimuli with two pairs of vibrators using higher-level perception like as the phantom sensation, and studies sensitive conditions of parameters in the proposed method. Finally, we performed experiments to compare the proposed method with a method using a pair of vibrators and shows the effects of display with two pairs of vibrators.

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In this paper, we provide the illusion of water current force and variety of viscosity using the haptic augmented reality (AR) system. We analyzed frequency of water current and measured water viscosity so that we make a water current model of the AR method and the VR method. The questionnaire results show that human feels water current force and fluid viscosity more natural by the AR method than the VR method.

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In this paper, we propose a novel haptic device for giving weight and friction illusions. Humans sense weight and friction through the contact sensation between the skin and the object. This fact suggests controlling the contact information can give weight and friction illusions. We developed a prototype device that can control the contact surface between the fingertip and the rigid plate based on the camera-based eccentricity control, and the performance was evaluated through the experiments.

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We develop termite prevention-of-the-breeding and extermination robots system. This robot system is applied technology of rescue robot system. The most important feature of this robot system is in collaboration with a worker to protect house from termites. Therefore, these robots are design according as safety guideline for service robots. The name of the robots system is named "mirubo". This research shows the method of evaluations for the mirubo III. The evaluations include main five examinations as mobility exam, velocity exam, illumination exam, injection exam and step-over-performance exam.

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We have developed various search and rescue robots, such as a series of Utility Mobile Robot for Search (UMRS). This paper is described about specification of UMRS-2009 and its control interface to reduce the operator's load. The UMRS-2009 is a crawler type robot with flipper arms and is able to carrying a manipulator unit for door-knob opening. The control interface provides semi-autonomously functions of stairs or step climbing up/down and compensation of going-straight to drive easily in confined space. The efficiency of control interface is verified by some experiments.

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Here we propose the cooperative victim search method by multi rescue robot. Each robot has different types of human detection sensors or human condition sensors, and performs victim search by the cooperation. In this paper, the utility of the cooperation search by multi-sensor- multi-robot system is shown.

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The authors have been developing an information-gathering system using mobile robots and WSNs (Wireless Sensor Networks) in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN) and deploy them into the environment. This paper describes a design of appropriate deployment intervals of SNs for WSN construction to satisfy both sensing and communication requirements. SNs are deployed to gather spatially continuous images of target area in underground space while measuring throughput of end-to-end to ensure communication performance for teleoperation of rescue robot via WSN. Experimental results using a proposed method are presented.

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It is important to remove rubble quickly when a disaster occurs. They say it is effectual to use hevay equipments but it is too risky to use them for rescue. So a new rescue system using a power shovel is proposed in our laboratory. The system is supposed to follow a operator automatically. Hence some control laws to accomplish it are investigated but it is necessary to know the behavior of the machines on rubble. So we advance a crawler model for a driving heavy equipment on rubble in this thesis. We also report the conclusion of the simulation of the model.

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In this research, we aim at reducing physical strain from nozzle reaction force and making the fire fighting activity more smoothly. We measured reaction forces as water is projected from a nozzle. We also conducted an analysis of physical strain for water projection angle and nozzle bending angle.

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In this paper, the development of a haptic interface for a brain surgery simulator and a brain surgery simulator using the interface is presented. The haptic interface is composed of two 6-DOF haptic devices which consists of a surgical instruments attaching/detaching mechanism, a force-torque sensor, a 3-DOF rotation mechanism and a modified delta mechanism. The haptic interface enables to simulate medical operations with both hands at the area near the tip of two surgical instruments. In order to evaluate the performance of the interface, experiments are carried out. In the experiments the haptic interface was controlled to move translationaly. The result clarify the issues involved in the design of the interface.

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When we operate a robot hand remotely with tele-operation system, it is difficult to operate the robot hand collectly because of the reaction force without. Thus the haptic feedback system is required to provide reaction force resulting in the robot hand to an operator. In this paper, we develop the exoskeleton for force feedback to present reaction force in an operator based on force data measured from the robot hand system. By using a Shape Memory Arroy as an actuator the exoskelton is very compact, lightweight, the structure is simple and easy maintenance. Build a Force Feedback System using a data glove and the exoskeleton, the performance of this system is evaluated.

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The virtual reality (VR) becomes an active area of research as tele-interaction in recent years due to the advanced progress in broadband network. Virtual environment (Haptics) system with force feedback and the sense of tough allows users feeling of manipulating virtual objects. Thus, haptic research can potentially benefit a wide range of virtual reality application as in medical simulation, training, telemanipulation and applications for handicapped and blind community. The virtual reality (VR) is one in the intelligence information communications technologies. As the application to the education field of VR, we construct a support system for the penmanship using the pen tablet. The purpose of this system is to realize the penmanship model for pen strokes. As result, we can learn penmanship freely without being limited to place and time.

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Recently, owing to the Internet technology, it becomes much easier to convey one's feeling to separately-placing people by voice and screen image. Now, haptic, i.e. force sensation, interface has been studied actively as a new-generation communication tool. This paper describes a performance comparison of a hybrid model with an impedance model, by using our handmade haptic interface of a parallel-linked type. In order to estimate these properties, we performed teaching task, in which an experimenter taught subjects writing motion of hiragana letter; one has more than two stroke counts and distinctive curves. The hybrid model consists of position-servo control and force-servo control quantity; alignment of the distribution rate enables to control the property. Meanwhile, the impedance model is based on force-servo control, in which, simultaneously, a virtual dynamics is established for position restraint. The result shows the impedance model had better performance; furthermore, it's preferable to increase spring constant unless the system occur vibration for stable operation. Since this system is a master/master system, the experimenter's feeling that a subject might understand a target letter, was transmitted to the subject.

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