In this paper, we propose a method of estimation position with camera for autonomous landing system of small helicopter. Since the small helicopter has limited payload, it can't put a lot of sensors or heavy sensors. In this study, The camera putting on the helicopter is used as the acquisition device of the position information. We constructed the system that in real time estimating the position of the helicopter, especially the position of the direction of height by using the camera and the landmark. We experimented and considered whether the system was able to be used to control the helicopter.

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Recently, the needs of observation UAVs (Unmanned Aerial Vehicle), such as unmanned fixed-winged aircraft and unmanned helicopter, have increased instead of the manned aircraft. It is expected that the UAVs are useful for aerial image acquisition, monitoring of high place and so on. Especially small unmanned helicopter can fly in the narrow space and hover. And small UAVs have characteristics of portable and small risk of harm. Therefore, in AIST, the small unmanned helicopter system is being developed. This time, a new attitude sensor unit is made for the small unmanned helicopter experimentally. The attitude sensor unit can send the attitude data of the small unmanned helicopter to the computer on the grand by radio. In this paper, the outline of the small unmanned helicopter system, the attitude sensor unit for the small unmanned helicopter and the experiment using the attitude sensor unit are described.

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This paper presents vision based flight control of an indoor micro helicopter by using visual SLAM. A small single wireless camera is put on the helicopter. Visual information obtained by the camera is used to estimate position and posture of the helicopter in real time by utilizing visual SLAM (PTAM). We construct the measurement system with the calibration function from the local coordinate system in PTAM to the world coordinate system and with the functions of noise detection and elimination. By using the constructed system, hovering flight and path tracking control of indoor micro helicopter are performed.

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The conventional landing gears of aerial vehicle require flat dedicated facilities such as landing fields. For the smooth landing on rough terrains, a system with multiple legs which is driven actively by actuators and changes the mechanical impedance is suitable. For the soft landing, the mechanism of the leg needs to be able to change its falling velocity gradually from fast to slow. In order to satisfy this condition, a new mechanism with parallel link has been developed. In this paper, on the one leg model of this concept, the design and performance are discussed.

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We investigate the possibility of a sliding mode controller (SMC) for autonomous hovering of a quad-rotor Micro Aerial Vehicle (MAV) based on an on ground stereo vision system. The object tracking algorithm used here is running average background subtraction. Among the background subtraction algorithms for object tracking, running average is known to have the fastest processing speed and the lowest memory requirement. Stereo vision system is known to have a good performance in measuring the distance from camera to object without any information about the object geometry in advance. SMC is known to have advantage of insensitivity to the model errors, parametric uncertainties and other disturbances. The experiment on autonomous hovering by using running average method for object tracking and SMC for the flight control shows a reliable result.

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In this study group, we are developing a micro air vehicle (MAV), which is equipped with an automatic flight control system and a camera, for the purpose of performing rescue/relief tasks in natural disasters, security surveillance and observation tasks. MAV, however, has a limited performance due to its low payload or short duration of flight. On the other hand, unmanned ground vehicle (UGV) research and development is being pursued actively in Japan and overseas. Unlike MAV, UGV has a long continuous run time and a relatively bigger payload. It can carry many kind of equipment and play an important role in rescue. Therefore, we proposed a UGV that can assist the MAV, to make effective usage of our MAV in scenes. The UGV needs WayPoint and Mapping system. This paper shows Mapping using SLAM and WayPoint of UGV.

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A captive balloon system named InfoBalloon has been developed as a system for collecting and distributing disaster information. In this report, an effective use of multidirectional images by a pan-tilt camera mounted on InfoBalloon is discussed. Captured images should be integrated into an omni-directional image. However, view direction of the camera changes in the wind, so specified pan-tilt value to the camera cannot be used for image integration. Each image is pasted on a virtual sphere screen based on quaternion of positional interrelation derived by Scale-Invariant Feature Transform (SIFT) without using specified pan-tilt value to the camera. Finally, an omni-directional image is generated from the virtual sphere that images are pasted. Moreover, we also propose omni-directional image showing system that enables users to see the image in a sense near the viewpoint of the camera.

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We have developed a slim hydraulic artificial muscle for jack-up tools. This muscle has the advantage at the ratio between generated force and mass, compared to the hydraulic artificial muscle which we developed preciously. The maximum force is 10700[N], and contraction ratio is 20%. By applying the slim hydraulic artificial muscles to tensile parts, new tensegrity stage was realized. Advantages of this stage are light weight, high force, and multi degrees of freedom. Two types of the Tensegrity stages were developed; 1-modure type and 2-modure type. Driving tests of these stages were carried out and their characteristics were evaluated.

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Our objective of this study is the development of a method that realizes perfect recognition of hand motions by using forearm SEMG. In our previous study, canonical discriminant analysis was used for this objective. However, it is reported that SVM (Support Vector Machine) is useful for the pattern recognition. So, in this paper, recognition characteristics of SVM are evaluated.

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In this study, a micro-laser-displacement sensor with packaging, which consists of upper and lower glass substrates and a silicon spacer substrate, is developed and evaluated. The sensor has a VCSEL (Vertical-Cavity Surface-Emitting Laser) and PD (Photo Diode) chips for displacement sensing, and the packaging for their chips is fabricated by MEMS technology. The dimensions of the sensor are 3mm×3.3mm and 1.5mm thick. The designed sensor is able to measure the displacement of a movable target-plate, by emitting laser light from the VCSEL and detecting the light reflected from the target-plate with the PDs. The experimental results show that the detectable stroke is more than 15mm when a mirror is used as the target. Thus, it is expected that the developed sensor is applied to non-contact and/or proximity sensor for robotics and mechatronics applications.

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A disaster like a big earthquake usually brings many destroyed houses and buildings, and many sufferers are generated in the disaster area. In the disaster area is expects activity by rescue robot. This rescue robot is able to good efficiency rescue on ECG monitoring device. This research was adopted the measurement system by capacitive coupling to be able to use at the stricken area. In this paper, we will describe developed method that can measure ECG by easy way.

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If a measuring EEG under exercising is possible, we can assess the mental condition of an athlete and the results of this assessment will be useful for mental training. Our objective is the development of the EEG mesurement method under exercising. In this report, we evaluate Adaptive correlation filter and about EEG measurement system.

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MAV is very small and lightweight, so it is safer than bigger UAV and is studying for information-gathering in the low altitude. Such environment includes risks such as collision with obstacles, and loss of GPS signals, so some sort of external sensor is required. Additionally, external sensor is required for the vertical obstacle avoidance, takeoff and landing. In this study, we propose a low-cost and lightweight movable sensor system which can apply to these uses. The proposed movable sensor system consists of 4 infrared sensors and 4 RC servo motors and 1 ultrasonic sensor. By using this sensor system, an experiment of precise landing has been successful. This paper describes the overview of precise landing, and an experiment of data acquisition for the indoor-flight of MAVs.

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Control approaches for nonholonomic systems have utilized canonical forms. A nonholonomic double integrator model is the one of canonical forms for nonholonomic systems. Outputs of the controller based on the nonholonomic double integrator model are velocity commands for the kinematic model of a nonholonomic system. In this paper, we consider an extended nonholonomic double integrator model, in which control inputs are torque or force commands. We propose a switching controller based on the invariant manifold theory. Each controller is designed with a quasi-continuous exponential stabilized control. The effectiveness of the present method is verified by some simulations.

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This paper discusses a new concept of a so-called passive stabilizing mechanism that achieves passive stabilization of roll and pitch angles of flying robots. The dynamics of a flying robot with the passive stabilizing mechanism is derived and stabilization of roll and pitch angles by the mechanism is verified by numerical simulations. We design a nonlinear controller to control yaw angle and x, y, z positions. The simulation results show that trajectory control in addition to stabilizing roll and pitch angles of the flying robot is accomplished by combining the nonlinear controller and the passive stabilizing mechanism.

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Recently, the security guard is achieved by the improvement of the technology for the crime prevention and monitoring system. However, there are a lot of blind spots in the security system, we need to cover for the all around outdoor. We studied the keeping the altitude of the autonomous helicopter when the human could not approach the disaster area. The scale of helicopter is small but the installed facilities have a high performance and intelligent computers. We designed flight model by 3D CAD and we select ABS material forming by 3D printer. After optimized design, the flight schedule is calculated by the H8 computer.

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The final goal of this study is the development of the levitation stabilization control method of "Aero-Train" which is a high-speed high-efficiency train system levitated by wing-in-ground effect on the U-shaped guide way. Toward this goal, development of a small experimental prototype and stabilization control method along Z axis and about roll and pitch axes are described in this paper. The effectiveness of developed control method is confirmed through experimental results.

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A surveillance system is required to gather the suffering information in the stricken area safely after large-scale disasters. An autonomous blimp is the best option for this purpose. This paper proposes a control design method for automatic hovering under strong wind of outdoor blimp robots by path following approach. The hovering method consists of inverse optimal path following control in horizontal plane and longitudinal control for altitude and pitching motion of the blimp. Some simulations and experiments are performed to confirm the usefulness of the proposed method by using an outdoor blimp whose length is 12m.

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In this paper, we propose an autopilot system which can be applied any single rotor helicopters. First, we construct the hardware of the autopilot system based on FPGA (Field Programmable Gate Array). In the case of small helicopter, payload limitation of them is tight. Therefore, we have to use only light weight sensors and computer for the control. All sensors we use are light weight, then the total weight of autopilot device with box is about 300g. Next, nonlinear adaptive attitude controller is designed by using adaptive backstepping method. We guarantee that the attitude of helicopter can follow any time varying reference attitude even if the helicopter has unknown model parameters, such as inertia moment or aerodynamic uncertainties. Finally, the effectiveness of the autopilot system is verified by flight experiments of multiple helicopters

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Adaptation to the environmental changes, such as wind, has very important role to improve the reliability of an autonomous unmanned helicopter. Adaptive yaw (heading) control for an autonomous helicopter is discussed in this paper. The control structure is based on a hierarchal scheme utilizing an inner yaw feedback control loop plus an outer feedback loop, which estimates the direction of the airspeed using roll angle and roll angular rate. Stable coupling in yaw and roll motion is induced by the proposed controller to improve the stability of the helicopter's flight. Turning utilizing the proposed adaptive control system is discussed in particular. Results of flight experiments showed bifurcation of the helicopter's maneuvering in turning occurs depending on the airspeed. The results indicate that the autonomous unmanned helicopter can select a turning maneuver that is suitable for the environment and thus stabilizes its flight.

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BMI is a direct communication pathway a human brain and an external device. Our objective of this study is a development of the method that becomes to be able to control various equipment by using EEC In this time, we will talk about our developed of a masurement to get EEG that is used for BMI

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This research aims at development of the BCI system which performs apparatus control of a computer, a robot arm, etc., and the electrode used for EEG derivation. BCI is a direct communication pathway between a human or animal brain and an external device. A multi channel active electrode with the headgear shape using the voltage follower was made in order to do measurement of brain waves in simple way this time, so I'll report on this.

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Currently, many types of non-reversible compressed sound source, represented by MP3 (MPGE Audio Layer^<-3>), are widely used to make the voice file size smaller. Here, the non-reversible compression means the data compression method the data compressed and deployed by which is not completely coincided with the data before compression. The sound data created in this way has less information as compared to pre-compressed data. The object of this study is by analyzing brain waves to determine if people can recognize such differences as differences in sound.

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This paper describes a moving object detection method in outdoor environments. Probabilistic grid map is introduced to mitigate the impact of occulusion. Our method applies x-means to cluster discrete data and track to several objects correctly. In order to track objects robustly and estimate state of objects, particle filter is introduced. The approach is tested in an outdoor environment using 2D laser-range-finder. The experimental result indicates that our system is able to track moving objects robustly.

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We will discus about our new measuring method that can detect EEG under exercising by using an adaptive filter algorithm that we designed. Usually, measuring EEG is done in the quiet state. In case of the measuring EEG under exercising, the gap of the electrode occurs by the vibration of the body by the exercise. It becomes noise and affects the detection of the exact EEG In order to remove a noise, we tried to measure the EEG under exercising used adjustment correlation filter.

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This paper discusses the slit type non-contact stiffness sensor for measuring the stiffness of soft tissue. This sensor has two advantages compared with the point type non-contact stiffness sensor, one is the reduction of the coupling effect where the tissue deforms not only at the point of force application but also its surrounding area, and the other is the enlargement of sensing area. Through the experiment for human skin, we show that the stiffness distribution can be expressed by the vertical component only, while we need both the vertical and the horizontal ones for the point type.

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The sensor with magnets to detect and trace the light gauge steel has been developed. It uses both the vertical element of the magnetic force and the horizontal element of the magnetic force. The sensor memorizes the position of the magnet and the magnetic force at each of the magnet positions, and it calculates the center of the concealed protrusions using the profiling of the position and the force. Testing has proven this detection method to be effective.

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Human tactile perception has important characteristics, which are self-reference and bidirectionality. Self-reference indicates that tactile stimuli by the same object are different from other persons. It is an important factor for evaluating tactile sensations. Bidirectionality indicates that we adjust touch motion according to objects. It contributes the enhancement of the sensing capability. In this paper, tactile sensing considering self-reference and bidirectionality is presented. A prototype of the sensor and its validity is shown.

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The sheet metal inspectors in automobile industries know that the knitted work gloves help the perception of surface undulation. During scanning the sheet metal with gloves, the noise by the vibration is generated. As the result, the stochastic resonance enhances the surface undulation perception. In this paper, this touch enhancing mechanism is investigated through psychophysical experiments and important factors for the surface undulation perception are presented.

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We have been developing an encounter type haptic device with an actively driven LCD panel system. The system is an integration of three components: a virtual reality display, a motion controller and a motion sensor component. When an operator approaches to the system, pose of LCD panel and view point in virtual reality display are controlled according to motion of the operator. And the system also can provide force feed back while the operator using pen tablet. Therefore, the system is able to provide feeling that the operator is interacting to a real object.

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This paper describes influence of adaptation on vibration perception for information presentation device using vibration. Information presentation using vibration is an effective method to convey the information to the user. Vibration conveys the information to the user by change in vibration frequency. However, vibration perception was changed due to the adaptation even when vibration frequency was constant. Perception of vibration strength was changed by vibration duration and how to change in vibration. We aim to find a cause of adaptaion and make a mathematical model of adaptation to vibration.

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Recently, an industrial robot has engaged in various works. In the near future, robots will be required to work out difficult assemblies instead of human. Even though high sensitivity of force sensor is needed for difficult assembly, it is inferior to that of human. Therefore, force sensor should be developed so that the sensitivity of it would catch up with that of human. In the past, a variety of kinds of research about force sensors are conducted. However, they have neither wide range nor high durability. In this paper, we proposed a tuning fork type piezo-electric vibration sensor. It is possible to obtain both of high sensitivity and high durability due to multi vibration mode. In this paper, the frequency characteristics of sensors are measured for the difference of inner diameter of tuning fork. And, FEM analysis is also conducted to investigate the effect of air layer of tuning fork.

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Humans can change the grasping force before the grasped object slips off the fingers unconsciously. This reflex is called inducing reflective grasping force control. This paper describes the method of inducing reflective grasping force control and the observation result. To clarify the conditions of stimuli for inducing reflective grasping force control, we developed the observation equipment with piezoelectric actuators and force sensor. Vibration stimuli and force senses are presented to a human finger, and change of the grasp force are observed by the force sensor. In this paper, we change the parameters of the vibration stimuli and force senses and detect the difference of grasp force.

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An H-slit type beam (double beam type load cell) has an effect on increasing the strain signals. It can help to enlarge the sensitivity of a force sensor while keeping enough rigidity and stiffness. The other characteristic of an H-slit beam is that its deformation pattern is same as that of a four bar link mechanism. For this kind of mechanism, it is highly important to show resistivity to torsional deformation forces. Commercial weighting equipments utilizing this type of load cell is expected to be capable of eliminating the error due to off-center loading. The effectiveness of it is believed to be the similarity between its structure and a Roberval balance mechanism. However, the moment canceling mechanism involved in it has not been made clear. This paper investigates the error eliminating ability of an H-slit beam and a single beam structure when exerted by an off-center load through FEA model.

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Tactile display for handheld devices requires compact hardware and useful applications. We developed the Vib-Touch, which is operated by a fingertip through a pointing-stick input device containing a tactile feedback. A cursor on the screen could perform virtual exploration as a substitute for the finger movement. We developed vibrotactile presentation methods that influence the perceived mass of the object in an illusory manner. In this study, we verified that developed vibrotactile stimulation generated illusion of inertia on Vib-Touch. We confirmed that the perceived mass was increased using vibrotactile stimulation.

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This paper describes a handy system for making a map in indoor gallery environment. This system takes three dimensional laser reflecting points information, and collect them to make a map in the point cloud format after estimated three dimensional motion distance. It estimates the self-location using the information of surfaces of walls, roofs and posts as feature of the indoor gallery environment. We have developed the proto-type system using a 3D scanning unit with the roundly swinging mechanism, and an attitude sensor unit. The experimental results have shown the effectiveness of the 3D estimation of motion distance method designed for this system.

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We are trying to develop a easy autonomous map making method for indoor mobile robots, using the property of the usual buildings, which we can assume that the major walls are located parallel or perpendicular. Based on these properties, the robot can find its own direction easily, with its surroundings range data, so that the accumulated error in the calculated direction can be avoided. After knowing the direction, the scan-matching can be easily done. We propose a scan-matching method using the histogram of the projected scan points an paticular X and Y axes, and its mutual correlations, between reference and current scans. In this paper, we propose the localization and mapping method by connecting the scanned range data using this property. And, we also present an example of experimental results of indoor map making by a mobile robot without using the odometry, which shows the effectiveness of the proposed method.

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When an autonomous mobile robot acts in constructed environments, a map which has the information about obstacles is necessary for the mobile robot. Even if the map is given, the mobile robot cannot start its action without the information of its present location on the map. Therefore, techniques of map generation and self-localization are important for mobile robots. In this paper, we propose a 3-D SLAM (Simultaneous Localization and Mapping) method using efficient view planning by a mobile robot equipped with two LRFs (Laser Range Finders). In the 3-D SLAM, the robot considers the most suitable position for 3-D mapping by efficient view planning, and then, measures distances to obstacles around it with LRFs at the positions. The 3-D map is generated by integrating range information obtained from multiple measurements. Experimental results show the effectiveness of the proposed method.

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In this paper, we describe the method of position estimation of an autonomous mobile robot that uses metallic landmark. Metallic landmark is metals on road including manhole, grating. This method uses metallic sensor to detect metallic landmark. Many technique of the past self-position evaluation has been using GPS, LRF and a camera. However, these methods may be unable to be correctly presumed depending on environment. So, to combining metallic landmark with these methods, the accuracy improvement of the error mitigation of the self-position estimation can be expected. Procedure for using metallic landmark is divided into shape distinction of metal, Judgment of landmark, to applying to self-position estimation.

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This paper describes the novel road surface analysis using intensity of a laser scanner in structured outdoor environment. The proposed approach makes estimation of road surface conditions robust by using information of intensity of a laser that much less depends on brightness of color or ambient lighting than passive camera. Our method can be applied to various structured outdoor environments by online estimating distributions of the intensity of the road surface. This article shows that the method is successfully verified with accuracy of approximately 99% at both (i) the testing course of the 2009 Real World Robot Challenge which is known as "Tsukuba Challenge" and (ii) our university campus.

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The purpose of this research is to build a map by mobile robot with scanning laser range sensor in an environment with crowded people. For making a maps, the mobile robot gets scan data of the environment, and matches the sequential scan data. However, in the environment with people, the laser reflection from moving people give the sensor error in the scan-matching calculation. We tried to reduce error caused by moving people by using the M-ICP algorithm. This paper shows examples of experiments on making map in the building environment with crowded people.

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We proposed the uneven terrain measure, named "Degree of Unevenness" (DOU) to estimate robot mobility on uneven terrain for path planning for mobile robot. When we evaluate the ability of robot mobility on terrain, not only the surface of the ground but also the size and the shape of the robot are crucial factors. The proposed DOU takes into account these factors to achieve estimation of the unevenness of the terrain for the robot. In this paper, we describe the definition of DOU and its effectiveness is demonstrated through simulations.

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Measurement of dynamic skin deformation during hand exploration is important to reveal the mechanism of tactile perception because tactile receptors just detect skin deformation. We have developed an observation system arranged with a high speed camera for recording fingertip deformations and force sensors for recording grip and load force. We have also observed stick-slip vibration on fingertip. However, the measured force data was affected by a mechanical resonance. This study reports an improved system that has high resonant frequency for measuring grip and load force. The resonant frequency of the developed system was about 440 Hz.

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A tangential force on a fingertip improves the stability of a given operation in telexistence or virtual reality systems. This study seeks the representation of tangential force via an electrotactile display. A selective stimulation of mechanoreceptors has a potential to represent a natural tactile sensation using the compact electrotactile display. To represent the tangential force using the electrotactile stimulation, responses of RA and SAI receptors should be estimated. In this paper, we focused on a stick state when a tangential force is applied to a fingertip. We constructed a two-dimensional fingertip model and numerically estimated responses of each receptors using finite element method (FEM). Based on the results of FEM, we constructed a signal of electrotactile stimulation to represent the stick state.

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When we teach skills related to hand motion such as calligraphy, it is important to instruct the motion of the arm. Haptic cues is superior to visual cues since they can directly tell the motion. However, previous works had tradeoff between "directness" and "proactiveness", If vibratory cues are presented, the user must interpret the vibration, which is not perfectly direct. If, on the other hand, the hand is pulled, the resultant motion is direct, but it is a passive motion so that the users do not acquire the motion as their own skill. To solve this contradictory condition, we proposed to present "pseudo pulling force sensation" by tangential skin deformation. In this paper, we made the system compact, and improved the attachment part so that the pulling sensation is generated stably.

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Previous motion instruction systems with haptic displays have often been following "Sensation before Motion" flow, which means that desirable behavior is presented to one's sense before one's actual motion. Although they can present intuitive cues such as "where, how and when to move", they can't present motional feedback such as "how one has moved". This feedback is important for constructing one's body image. This paper proposes a new strategy "Sensation after Motion" flow that presents the enhanced sensory inputs after motion, to support acquiring his/her body image haptically.

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This paper presents an MRI-compatible 6-axis force sensor. Our force sensor employs an optical micrometry based on differential measure of light intensity. This technology enables highly accurate and sensitive two degrees-of-freedom displacement sensing by using a point source, a photo detector and an optical lens. It achieves MRI compatibility by placing all the electric and metallic components outside MRI, and connecting the light path between the optical components by using multi-core optical fibers. The sensor head component is made of glass fiber reinforced polyether-ether-keton those help reducing axial interference and hysteresis characteristics of plastic resin. The accuracy of our force sensor was 7.2%F.S. under the applied force ranging from 0 to 10 N.

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A surface acoustic wave tactile display that can provide human tactile sensation by giving skin the vibration according to rubbing motion has been proposed. In this research, to apply the display on a touch screen, a seat-like ultrasonic transducer was focused. In this report, silica substrate in 0.2 mm thickness was selected as elastic media for the seat-like ultrasonic transducer. Vibration propagation characteristics of the substrate were investigated. A touch screen type tactile display was fabricated.

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We developed nail mounted tactile display that induces illusion of tactile perception in which a subject with the display feels textures and boundary in spite of tracing on a flat surface. Our proposed method conveys tactile information which is obtained by detecting the vibration on the nail of a sender when tracing a texture, and generates a vibration on the nail of a receiver to re-create the tactile perception while the subject tracing on a flat surface. However, since the vibration property of the actuator was limited in our previous studies, it was possible to transmit some limited textures that have the main frequencies within the bands that the actuator can generate. Then, it proposes the design approach of the actuator that is appropriate for the proper move method, and the sense of touch transmission characteristic is discussed.

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An interface that presents variable sense is paid attentions from virtual reality researches. This paper presents an ungrounded force feedback device using the gyroscopic effect. An ungrounded force feedback device includes the Control Moment Gyro (CMG) that generates the torque due to the gyroscopic effect, resulting in making the system produce the sense of force to an operator. Four CMGs are arranged in pyramid form (4-CMG system), so that the plural CMGs are simultaneously driven to synthesize the torque. We experimentally verify the performance of the developed device. Concretely, we measured the stimulus threshold and evaluate the perception characteristic of an ungrounded force feedback device.

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