Android robots that have a human-like appearance have been developed recently. This paper shows an application of the android robot SAYA that we developed in an educational field as a remote class support system. In this system, SAYA plays a role of a teacher, and it can conduct a science class concerning the principle of leverage. Moreover, SAYA can express facial expressions, call student's name and make eye contact with a student by tele-operation. We conducted the field trial at elementary schools to verify the effectiveness of the system. As a result, we confirmed its positive effects and possibility in elementary schools.

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A human interface using a robot face is proposed in this paper. The robot face was designed using simple mechanisms in order to achieve a low cost system. In this paper, the experiments on human facial expressions are conducted in order to investigate human emotion, and the simplified robot face was designed using the experimental results on human emotion.

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A home healthcare system with speech communication which is designed for elderly persons is described. Through robot gestures, speech interactions and graphical user interfaces, system users can examine own estimated health conditions from results of blood-pressure, body temperature, weight and clerkings easily. In order to ensure daily utilization, the health care system is designed for reducing daily burdens of system usage. We aim for developments of the system utilizing analyzed vital data, clerkings and communication robot technologies, and realization of a healthcare service which is provided by medical institutions. System concepts and a prototype system are mentioned in this paper.

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In this research, we study on posture control of a small floating robot. We consider a model of the small floating robot such as a two-inertia system. One part of the robot is applied as a reaction wheel and the other is the main body of the robot. In this report, we propose a repetitive control scheme for posture control of the main body with a transformable reaction wheel, and effective utilization of kinetic energy of the reaction wheel is explored. Then the efficiency of the proposed scheme is verified through simulations.

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This paper presents a feedforward compensation approach for underwater vehicle manipulator systems (UVNISs) in order to realize precise and fast motion control. Iterative learning control (ILC) is used for controlling an underwater manipulator in this paper. During manipulator motion, thrust forces eliminate reaction moment acting on a vehicle. Experiments were conducted using an underwater vehicle with a 1-degree of freedom (D.O.F) manipulator. In case of non-compensation, the vehicle attitude error was up to 10 deg after a control period. On the other hand, the feedforward compensation approach proposed in this paper could reduce the error down to ± 2.0 deg.

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We have been developing an integrated AUV simulator that can run hardware-in-the-loop simulation as well as usual simulation. With the simulator, we can also carry out the analysis, visualization, and making a database of obtained data using GIS (Geographic Information System) software, which is a part of the simulator. In this paper, we describe the configuration and components of the simulator and what can we do with it.

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In this paper, the Dynamic Positioning System for Autonomous Underwater Vehicle "MR-X1" of JAMSTEC is derived. In order to design the Dynamic Positioning System, the nonlinear dynamic equation of "MR-X1" is approximated to the linear equation and the state space representation of "MR-X1" is obtained from it. The state feedback DP controller is derived by applying the Linear Quadratic optimal control theory. The performance of the Dynamic Positioning System is evaluated by numerical simulations. Numerical simulations are executed with random and constant disturbances. The derived Dynamic Positioning System maintains the position and the attitude of "MR-X1" except pitch angle.

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This paper describes design and concept of a postural control system for underwater robots using the center of gravity movement. A prototype system which can be used underwater is developed for basic study. We adopt a PID-based control method to control the pitch angle. After preliminary tests in the air, series of experiments in the water have been carried out and the results are discussed.

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Although the vast amount of information provided by AUVs brings significant benefits, too much information to analyze causes a problem of information explosion. Automatic data processing and analysis are key technologies necessary to cope with this problem. We propose a robust, automated scheme for detection and volume determination of tubeworm colonies using visual and geometric features obtained by underwater robotic surveys, on condition that the position of the sensors are provided. Tubeworm is a characteristic benthos of hydrothermal vent fields. The proposed method achieves robustness against sensor noise by utilizing different kind of characteristics, imagery and geometry. Firstly, the tubeworm candidates are obtained as a three-dimensional region between practical bathymetry mesh and a mesh representing estimated seafloor without tubeworms. Then, the tubeworm candidates are verified through frequency analysis of corresponding images. The performance of this method was verified using a data set obtained by an AUV at Tagiri vent field, Kagoshima bay in Japan.

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Underwater inspection of support legs of on-water platforms is important for maintenance, security and environmental assessment. Autonomous underwater vehicles (AUVs) have a potential to make these tasks more inexpensive and reliable, compared with conventional methods. This paper proposes a path-planning and guidance method for an autonomous underwater vehicle (AUV) to perform detailed inspection of such kind of underwater structures. The path-planning method generates a set of waypoints for an AUV to follow the surface of the target with a constant distance, based on the pre-given information about the configurations of both the target and the vehicle. The guidance method actually controls the vehicle to follow the waypoints, assuming the position and attitude of the vehicle is precisely estimated in real-time. By combining these methods with the localization method we had proposed, an AUV can perform fully autonomous observation of underwater structures if only their configuration is known. The performance of the proposed method was verified though tank experiments using the AUV Tri-Dog 1. A simple model of a jacket was installed in a test tank and the vehicle succeeded in observing the target.

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This research was aimed at developing the robot which follow or guide a human by using tactile sensor information when it supports a human activity. It can improve in cooperation, certainty, and safety by being in the state of touching with human. Here the concept and system of the robot are introduced.

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This paper addresses integration of systems for All Terrain Vehicle by CAN communication. Recently, there are numerous researches of the autonomous driving vehicles by various purposes. To investigate the environment, we have tackled to add the function of autonomy to All Terrain Vehicle. Generally, the present environmental investigation is performed by manual labors. Its range is vast, and a lot of labors are needed. Occasionally, the investigator is exposed to danger. The final purpose of this research is to develop the autonomous driving vehicles that investigates the environment of vast outdoors field. In this paper, we constructed the network of the control devices using the CAN for ease of maintenance and decentralization.

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A laser navigation system is now being developed for a mobile robot with an optical sensor array to detect the laser irradiated toward the ground for following the speci ed route. According to the previous experiments, the optical sensor array has to be bigger to obtain a higher precision, because such an array is composed of phototransistors. Note however that more photo transistors are required as the sensor becomes larger, and therefore the cost and maintenance trouble becomes more serious. In this study, an LED dot matrix that is generally used for a display is selected as a photo detecting element. An optical sensor array can be constructed and its maintenance is easy, if the LED dot matrix can be used as a photo detecting element. Furthermore, it can change the array shape by using the socket, depending on the operational conditions. This paper reports the implementation and some experimental results.

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The objective of this research is to develop an autonomous All Terrain Vehicle (ATV) for the environmental investigation. Environmental investigations are usually conducted by the manual labor, however the investigated fields tend to be very large. Therefore, the development of a mobile robot for the environmental investigation is desired. In this research, we develop a robot based on an ATV in order to save the development period and the labor. This paper addresses proposal and verification of a wire winding type steering system for the ATV. This mechanism is easily detachable and does not need big force. The experiments was performed to verify that the developed steering system can occur enough wire tension to steer the ATV. And, the steering torque and the steering velocity was examined from the experiments as well.

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Recently, robots are developed to effectively support or act for people's work in home and office. Especially, it is hopeful for the robots to act for transporting tables and chairs in office. Our laboratory has already developed a mobile that automatically transports a table. To transport the table, the robot goes under it and lifts the position of the center of gravity. Note however that the robot could not transport small objects such as chairs because the robot was bigger than the chair. In this research, the lift up mechanism for the robot is miniaturized to transport a small object. Since the new lift up mechanism was realized as small as the expansion and contraction rate for the whole size is three times compared to the previous one, it can lift both a chair and a table with different lifted heights. This paper describes the details for the developed lift up mechanism, and the corresponding experimental results.

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We are developing a mobile robot which can follow the target person using ultrasonic transponder. The ultrasonic transponder can extend the measurable distance. Also, it can measure the distance only to a specific object. In report, we show the sensor system and some experimental results using the system. First, accuracy of the measurement using the ultrasonic transducers which have different center frequency is tested. Second, measurable distance is investigated in several height conditions between the sensor and the floor.

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Optical fiber cable for high-speed and large-capacity communication is usually covered by plastic pipe and buried under the ground. Then, we are required to grasp its real buried position before digging at the construction or the maintenance in order to prevent from the cutting of the optical fiber. This research aims to identify easily the buried position of the pipe, using the information of the buried position from the pipe. We use two rotary encoders that have pulleys contacting right and left walls of the buried pipe in order to detect directly the information of the buried position of the pipe. It is confirmed that the new position surveying system can identify the buried position of a pipe that is 12m long and has loose curvature in the error of 3.44 mm

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We have many small diameter pipes that are cooling pipes for atomic power stations, boiler pipes, and gas or water pipe lines. They must be periodically inspected in order to protect the accident previously. These pipes are different at the place where pipes change from the main to the branch. The inspection robot must move different diameter and generating large traction force for the long distance. We have proposed a snake type in-pipe mobile robot. The fabricated robot is constructed by a moving mechanism and the two brake mechanisms. The robot was confirmed to move in different diameter pipes whose diameters are between 50 mm and 90 mm, generating the traction force of 10 N at 50 mm diameter pipe.

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This paper proposes a relative navigation method for an underwater vehicle around hydrothermal chimneys. Hydrothermal vent areas are scientifically important for geological, chemical and biological research in deep oceans. Especially, investigation of hydrothermal chimneys is essential to reveal their mechanisms. The method enables an underwater vehicle to go around and observe such three-dimensional natural structures. In the method we determine vehicle's position and angle relative to a structure in real-time, based on light-sectioning technique using its camera and its sheet laser. This paper also reports the results of sea trials around a chimney at Kagoshima Bay using AUV Tuna-Sand. We verified the performance of the proposed method and succeeded in the detailed observation of the chimney.

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We want to work humanoid robot instead of the person in the sea area. In this paper, for purpose extending applied area of humanoid robot, we aim at the adjustment of a humanoid robot to an underwater area. The property of the action in the water is different compared with the property of the action in the land because the influence of resistance from the wave. Therefore, We think that we should change the action between land and water. As a basic research, land or water is detected with the sensor. As a result, autonomous behavior switching is acquired to humanoid robot that put on wet suit.

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We have developed an attitude compensation system for a human-sized remotely operated vehicle (ROV) with dual arm based on shifting the center of buoyancy with respect to the center of gravity. Shifting of the center of buoyancy is accomplished by movable float blocks. In this paper, we enhance the dynamic motion performance of the attitude compensation system. Through several experiments, we investigate that this system is able to maintain the pitch angle of the ROV during motion of the manipulators.

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The goal of this paper is to develop a robot control system using a microcomputer for an underwater robot with a buoyancy control system based on the spermaceti oil hypothesis. Sperm whales have a spermaceti organ in their head that is filled with spermaceti oil. It is said that sperm whales control their buoyancy by melting or coagulating spermaceti oil. We have proposed the underwater robot with a buoyancy control device using its theory. Thus, we built a depth control circuit using a microcomputer and pressure sensor. Then, we experimented with the robot control. As a result, we confirmed that when we ordered a target water depth, the robot dived, floated and maintained the depth itself by detecting its own position. In addition, we confirmed that when a disturbance occurs, the robot returned to the former position.

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The final goal of this study is to develop a buoyancy control device for underwater robot utilizing phase change of material. A conventional underwater robot and submarine adjust buoyancy by discarding a set of iron balls or seawater in other place, which is harmful to the environment. Therefore, we proposed new buoyancy control method utilizing phase change of material. In this paper, we report a new buoyancy control device that utilizes metal bellows stretch. Paraffin wax filled in the device was cooled by peltier devices and heated by them and a nichrome wire, resulting in volume change. We conducted experiments and confirmed that the proposed mechanism could increase and decrease its buoyancy. As a result, we confirmed that improve the proposed device can change buoyancy, but the amount of buoyancy change was smaller than expected.

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The final goal of this study is to develop a buoyancy control device for underwater robots utilizing phase change of material. A conventional underwater robot and a conventional submarine adjust buoyancy by discarding a set of iron balls or seawater in other place, which is harmful to the environment. Therefore, we proposed new buoyancy control method utilizing phase change of material. Our previous method for inducing volume change use rubber for changing the volume, but rubber is not so strong. Therefore, we developed a new buoyancy control device using metallic bellows. The control part of the device is within a robot body to prevent it from suffered from water. As a result of experiments, we confirmed that the durability of the device was improved without suffering heat and cooling ability.

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In real dynamic environments, it has a big advantage for intelligent motions of service robots to recognize its surrounding 3D environment. Furthermore, detection of moving objects is additional important technology for improvement of robots' motion. Therefore, our research objective is set as a detection of moving objects based on 3D LIDAR (Light Detection And Ranging). Typically, 3D LIDAR scanning obtains very accurate environment data, however it takes a time. Therefore, in this research, we developed a high-frequency 3D LIDAR that has a function of variable rotational speed control. In the LIDAR system, the core sensor is Sokuiki sensor produced by HOKUYO AUTOMATIC CO. LTD., and it is rotated up to 3 rps on the rotational table. Using this sensor, moving object can be recognized by the calculus of difference between two adjacent 3D environment data, sequentially. Experimental results verified a validity of our approach in simple environments. In this paper, we explain our development of high-frequency 3D LIDAR, detection method of moving obstacles, and report experimental results of recognition about moving objects.

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This paper describes a concept and implementation of cone-shaped scanning LIDAR for mobile robots. It makes laser lines to scan from the top of a mobile robot for covering the whole robot body and measuring the floor shape. This concept enable mobile robots to detect terrain shape with superior and constant density. In addition, it can be used for safety sensor because the laser beams cover the robot to detect upcoming obstacles or human beings. An implementation and evaluation with a cone shaped mirror are shown.

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Detection of obstacles on a plane is important for a mobile robot that moves in a living space, especially for a humanoid that falls down even with a small obstacle. In this paper, a range image sensor for detecting small obstacles on a plane is constructed using a multi-slit laser projector. The sensor consists of a commercially available laser projector and a CCD camera. It measures a relative disparity map (RDMap) whose measurement errors are not affected by the distance. From the obtained RDMap, a plane is estimated using LMedS and regions out of the plane are detected as obstacles. Experiments show that the constructed sensor can detect small obstacles such as a LAN cable with the proposed methods.

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This paper describes a new three dimensional environment recognition method using conical scanning distance measurement for 3-D mobile robot that can walk up and down the stairs. According to this method, robots can recognize object shape, location, and posture. The procedures are as follows. 1) Setting up the direction of the scanning area. 2) Measuring distance that follows the cone generating line. 3) The extraction of the planar feature quantity that noteworthy area. In this report, we apply this method to the 3D-TOF-camera. We report on the outcome of an experiment that it goes to the wall and the stairs used by this method.

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In this paper, we propose a method for segmentation of multiple human in a projection plane. Our algorithm requires a stereo camera system called Subtraction Stereo, which extracts foreground information with a fixed stereo camera. The main contribution of this paper is how the image sequences that include partial occlusion of the foreground objects can be accurately segmented using mean shift clustering in real-time processing. The proposed method is suitable for inside a medium-sized environment, such as a room and an entrance. Finally, we try to segment the image sequences that include partial and full occlusion and show the accuracy of the proposed method.

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This paper describes a three-dimensional environment recognition method using vertical and horizontal scanning distance measurement for 3-D mobile robot that can walk up stairs. This method can recognize environment shape, location, and posture. The procedures are as follows .1) Getting the distance data from the TOF range imaging sensor. 2) The extraction of the feature quantity of the vertical scanning lines. 3) The extraction of the horizontal feature quantity concerning multiple scanning lines. 4) The recognition of the environment according to the consolidation of the information. When the sensor finds stairs, it can measure the relative location between the sensor and the stairs and the geometries of the stairs.

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In this paper, we discuss on an estimation of foot's direction using range image sensor. For the robot works with a human cooperatively, a robot should detect human statuses adequately. Specially, the direction of human is one of most important information. To detect the direction of human, we focus the tip of foot. Foot may be detected by range image sensor stably. We propose a method to estimate the position of leg and the angle of foot. Then, we confirm the effectiveness of the method through experiments.

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A function to find objects and to estimate their poses is crucial for a home service robot that works in human living environment. In this paper, we propose a "SIFT-Cloud-Model (SCM)", that is designed to represent objects in daily scene. The model consists of SIFT feature descriptors, and their 3D positions, and eye vectors. The model is automatically obtained by using Structure from Motion techniques. Then it is matched against single camera images by finding the corresponding SIFT features, arid using them to estimate the object pose. The system is optimized using GPGPU methods. Finnally experimental results for accuracy and calculation time are shown. The method achieves 5.5 fps with 8% error in translation and 25deg. error in rotation.

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3D Environment Recognition System is developed in order to obtain 3D information of environment. This paper describes development of the unlimited rotatable pan-tilt platform equipped with range sensor and 3D environment recognition system using this platform, and its application with all-around view cameras.

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3D environment recognition system is developed in order to obtain 3D information of environment. This paper describes development of tendon-driven biped robot equipped with 3D environment recognition function and realization of merging 3D information captured at different spots.

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We describe a low power consumption and compact embedded stereo vision system for small robot applications. The system consists of two CMOS color image sensors and Field Programmable Gate Arra (FPGA). The system extracts multiple edge images with intensity and color information from the input image, and computes a disparity map in real-time (30 fps) by using a pipeline processing.

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By capturing three dimensional motions of small markers on a heart of a small laboratory animal with 1000 fps stereo images, we realized a cardiac motion analysis system to quantify a rate of change of myocardial area on its heart, which indicates the myocardium's activity for rhythmic expansion/contraction motion in a local area. On the cardiac motion capture system, we actually analyzed three dimensional motion distributions of a heart of a rat model for myocardial infarction, whose heartbeat is 4 times/s or more. In the analysis, a characteristic cardiac motion in ischemic heart diseases was spatio-temporally quantified and visualized that infarction area on the heart of the rat caused by ischemia was spreading around its left ventricle.

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The authors aim at modeling of unknown objects in human life environment using robot technologies. The proposed method can be used by service robots to find an unknown object and to collect the information. In this paper, we explain about a method for detecting unknown objects using an environmental sensor mounted on a ceiling and a method for modeling an unknown object using a robot manipulator. Areas where unknown objects exist are detected from 3-D shapes and camera images measured by the environmental sensor. Advantage of the detection method is to find these areas without any prior knowledge. In addition, an unknown object on a desk is modeled using vision sensors, a manipulator, and a pressure sensor mounted on the robot. Pushing motion enables one to create a object model that cannot be grasped by a robot hand. During pushing motion, the object shape and the motion are measured. Combining the estimated motion and the measured 3-D shape, the model is built.

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Obtaining surrounding environment information using mobile rescue robots is important for search and rescue missions where have a risk of secondary disaster. In such case, three dimensional information is very useful to figure out surrounding environment and to navigate in unknown environments. This paper descirbes about constructing a three dimensional map with moving. The three dimensional map is displayed by point clouds, but it is hard to figure out complicated surrounding environment. To improve conspicous map, the three dimensional map need to divide into some parts. We propose a moving scan method which considers point cloud density for classification. Finally, we present results from field tests using rescue robots and classification results.

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There are a lot of researches on daily assistive humanoids which have rotatable laser range sensors to use 3D depth information in the living situation. In this paper, we use "Unlimited Rotatable Pan-tilt Platform equipped with Range Sensor" [1] as a sensor located in the room and we aim to realize the system which can deal with the information of human, robots and furniture as the supporting information in a living environment. We'll examine the ability of the system for some situations.

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Somatic sensation should be necessary for the trunk balance and skillful movement. However, Somatic sensation deteriorates due to aging and spinal cord injury. Training for the recovery of somatic sensation is required because of the prevention of overturning and the gait training. The group of authors developed a new rehabilitation system for somatic sensory training. Purpose of this study is to evaluate the effects of the system for quantitative measurement of therapeutic results in the rehabilitation programs in surgical patient with intramedullary spinal cord tumor accompanied with postoperative posterior column injury. Results of the new rehabilitation system coincided with a therapeutic effect clinically and semi-quantitative evaluation using conventional methods.

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The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension motion but also inner/outer rotation motion, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive motion. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate knee joint troubles and verify the effectiveness by fundamental experiments.

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We are developing the training and evaluation support system for upper limbs using 3D force display robot. This robot is introduced to resistance training performed in CI (Constraint-Induced movement) therapy. For this purpose, the resistance force control method is proposed to imitate three types of training programs, namely step mode, slope mode and wall mode, performed by a therapist. And two types of braces are developed for patients. In this system a therapist can make various training trajectories suitable to a patient's conditions by using the teaching and guided function and easily set the training programs' parameters suitable for patients. This system can be expected to reduce therapist's burden in CI therapy.

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The authors are developing a rehabilitation support system for upper limbs using 3D force display robot. This paper presents a muscle test system using the robot to support manual muscle test (MMT) performed by a therapist in clinical site. The resistance force control method is proposed to generate a constant pushing force instead of the therapist's force. This system enables the therapist to evaluate not only patient's muscular strength but also the range of motion quantitatively. The evaluation of patient's condition can be achieved by using the proposed resistance force control, the teaching and guided function and the sensors, namely a force/torque sensor and encoders.

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Motor and pneumatic pressure are commonly used as actuator for the current rehabilitation devices in the marketplace, but water pressure is also possible to be considered. The water pressure is more energy-efficient compared with other actuators and less pollutive to the environment and people. It is considered to be appropriate as an actuator for medical and welfare devices which emphasize the safety. In this research, the rehabilitation device with which patients with early-stage of stroke can exercise an open-close-movement of fingers without any help of caregivers was studied. The continuous passive movement therapy, which is generally used for the patients with early-stage of stroke, is used as the rehabilitation method for the device.

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The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling "pinpointed" motion support, rehabilitation and training by explicitly specifying the target muscles. In this research, we proposed a novel control method to realize the pinpointed muscle force control during movement. The validity of this method is confirmed by measuring surface EMG signals for each muscle.

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In the past, we proposed a feature extraction method using quadratic polynomials and a discrimination method using conic models. By this method, open, grip, chuck, wrist extension and wrist flexion can be discriminated at a rate of above 90 percent without the incorrect discrimination that elbow motions cause. However, because this method cannot discriminate both hand motion and wrist motion at the same time, it is like a human hand. In this research, we propose a myoelectric prosthetic hand control method to discriminate parallel both hand motion and wrist motion from EMG signals. In experiment, discrimination accuracies of proposed method were verified. The discrimination accuracies were above 90 percent.

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We have proposed and developed an intelligent walking support machine with the safety devices, which provide a patient with partial body weight support and prevent the patient from falling. The constant force springs are used in order to provide the patient with partial body weight support. The powder brake, which can control the torque, is used as the device to prevent patient's falling. In this paper, we examine the control methods of the powder brake from the viewpoint of the biomechanics. First, we explain the intelligent walking support machine. Second, we describe the musculo-skeletal model to analyze the muscular tensions of human legs. Third, we evaluate the brake control methods on the basis of the analysis results of leg muscle action. Finally, we experimentally examine the usefulness of the musclo-skeletal analysis in evaluating the control methods.

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The measurement of ground reaction forces (GRF) and zero moment points (ZMP) is important in gait analysis. We have proposed and developed a wearable sensor system to measure GRF and ZMP by using very thin (about 0.2mm) flexible tactile sensors. In this paper, we experimentally examine the feasibility of the measurement of GRF and ZMP during gait, by using the sensor system. The data of GRF and ZMP is measured in some healthy subjects by using the sensor system and two force plates. From the measurement results, we discuss the usefulness of the sensor system.

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When we display the texture of virtual 3D objects, it is required to display both tactile and force information at the same time. Although some force displays are commercially available in order to display tactile information together with force information, a wearable tactile display should be realized. Hence this paper proposes a novel wearable tactile display aiming for the integration with force display. To realize such a device, we used the squeeze film effect for tactile display, occurred by an ultrasonic vibration. First, we developed an ultrasonic vibrator for tactile display. The ultrasonic vibrator is required to be small and produce enough force to display the texture. Then, we develop a wearable tactile display using the ultrasonic vibrator. Finally, we verified the usability of the wearable tactile display by experiments.

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A novel magnetic type tactile sensor was proposed that can measure a three-axis force and detect slips. Features of the tactile sensor are a wiring reduction, simple structure and low cost. The proposed tactile sensor can be created many variation in hardness and shape of the elastic layer. In this paper, our purpose is downsized tactile sensor in order to realize a low cost and useful robot hand. Therefore, we are going to design the tactile sensor using finite elemental method for estimation of the size of the elastic layer and the arrangement of electric parts. Eventually, we verify the performance of this downsized sensor.

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