Flexible mechanism by revolute pair of the joint mechanism is multi-degree-of-freedom using diagonal joint mechanism. This paper applied inverse kinematics by convergence calculation using Jacobi matrix to flexible mechanism by revolute pair of the joint mechanism. Simulation results shows the effective of calculation method.

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We have been proposed Attack and Retreat Judgment System for fire rescue task force referring the lesson from Fukushima Daiichi nuclear power plant. The proposed system is consist from 2 parts. The remote-controlled surveillance system, which gather the information of radiation dose, gas concentration. And the rescue task force's equipment with wearable vital sensors and environmental sensors. The both system need to communicate to the command post. Therefore, wireless communication network in wide-area is necessary, and mobile radio relay station can achieve communication network. In this paper, we proposed radio relay station for remote-controlled surveillance system.

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This paper proposes audio-based and motion-based methods for detecting search and rescue (SAR) dogs' continuous barking. SAR dogs are trained to bark continuously when they find a victim. Therefore, the victim location can be detected based on using barking actions. Dynamic time warping (DTW) is used to analyze audio data. Periodic motion was happened during the dogs' barking action. The motion can be detected by an inertial measurement unit (IMU) on the vest. A fast Fourier transform (FFT) is used to analyze the dog's barking motion. The proposed detection methods were evaluated using audio and IMU data recorded during actual SAR dog trainings. The F-scores of the audio-based and motion-based barking detection methods were 0.95 and 0.90. As a trial, we marked victim locations on a map based on the body motion.

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This study describes a prototype of a servo valve to control motion of water hydraulic actuators. The structure of the servo valve is not conventional spool valve, but rotary-type valve to downsize and reduce cost. The rotary valve plate has the conduit hole to switch the ports. The metering edge is composed by the conduit holes of the rotary valve plate and the valve bodies. The rotary valve plate is connected to a servo motor that determines the rotational angle of the valve plate. Even if the valve plate and the valve body are worn away, they can be ground and reused. For water hydraulics, the thrust force acting on the rotary valve plate should be reduced because the water has poor lubricity. Therefore, several holes were made through the valve plate, so that the pressure distributions in both clearance become equal.

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The remote controlled type Rescue Robot has the Manipulator in order to discover victims. Some sensors are mounted on the tip of Manipulator in order to obtain information of victims. The Manipulator is used to search for victims in the place which Rescue Robot cannot get into, for example the place inside debris. If the tip of Manipulator is larger, it has a higher risk which hits debris. Therefore, it is important for the tip of Manipulator to be composed smaller. In the collapsed building, one of the method which an operator discovers victims by using Manipulator is to recognize their heats. Infrared cameras are often used at the purpose of recognizing thermo which victims have. However, the infrared camera is not optimum because it is large. Therefore, we developed the method in order to discover victims using smaller thermography module and distance sensor.

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The disaster response robot development considering unexpected conditions has been discussed in the view point of standardization in the paper. A countermeasure development for Type-B accident in the occupational accidents, which has low frequency and high severity, has been referred to consider the unexpected conditions in the view point of the standardization. To promote the standardization activities for the response robot development, a method called Economic Gardening has been introduced, which has been used for local economy development in US.

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When earthquake occurs, rapid response is required. We think the autonomous rescue robot can be used for the help of rescue workers. In this paper, we propose a more efficient system for discovering a heat source by using a pyroelectric infrared sensor. A plurality of pyroelectric sensors are arranged circumferentially, and they are moved by a servo motor. Robot to detect the direction of the heat source. And robot start the search for that direction. The final decision to use an infrared camera. Thereby, rather than repeat search without any purpose, it is possible to efficiently searrch. In addition, I did frequency analysis of basic experiment of pyroelectric sensor. I will report the results.

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We are developing a search type rescue robot to discover the victims that were left behind in the building by the earthquake disaster. Also there are obstacles such as slopes and stairs to the other rubble in the disaster site. However, if you want to remote control the rescue robot, you cannot maneuver smoothly by narrowness of the field of view on camera. In particular, it is difficult to climb slopes and stairs. Therefore, we will use the inertial sensor, considered a way to autonomous travel of the slopes and stairs. Here, we report the results of the experiment with this approach.

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Crawler type robots equipped with flipper arms are used as many rescue robots because they have high traverse ability. However, in the case where complex operations such as ascending or descending stairs are required, this type of robot has to control flipper arms at the same time, so that the operation is very difficult. In the previous work, our group tried the automation of ascending stairs, but the automation of descending stairs was not achieved. It needs for the automation of descending the stairs to recognize the shape of the stairs and the posture of the robot, and to control the flipper arms based on such recognized information. In this paper, we propose a method for automating the motion of descending the stairs, and verify the usefulness of the proposed techniques through some experiments.

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This paper describes method for attaching to wall and ceiling using UAV. Recently UAVs are expected to utilize for information gathering and work at high altitude. However, continuous flying expends a huge amount of energy. Therefore attaching to wall and ceiling is effective function for saving energy. We propose pressure responsive variable flow restrictor and approach control for stable vacuum contact. Then we show the effectiveness of our method through experiment.

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We introduced phase alignment procedure prior to conducting PCA for gait data, and evaluated principal features both in phase and amplitude in typically developing children. The results showed that 1st and 2nd components in phase corresponded to the shift and the sharpness of the profile, respectively. In the registered data, 2nd component still only had variations in amplitude, while in the unregistered data it had variation in both phase and amplitude. These results showed that our proposal method is effective for evaluating the data with phase and amplitude variations. Also, thanks to the warping procedure, the registered data achieved higher compression ratio than the unregistered data. In the gait pattern, the results indicated that younger children use their ankle for gaining stability.

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Grasping patient's daily health state is important for care plan and risk management. In this research, we developed two measurement systems that allows care staff to monitor patient's location at nursing home. One is a system which measures patient's head position on a bed and at bedside by using a Microsoft Kinect sensor. The system can measure the head location robustly by using an AdaBoost-based head recognition algorithm and a RANSAC-based bed recognition algorithm. The other location system is a system that measures the patient's indoor location in the nursing home by using radio communication. To confirm the effectiveness of these systems, we experimented in an actual nursing home and in the bedside environment created in our laboratory.

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Most of accidents of infants and young children occur at home, and it is necessary to maintain the home environment that infants and young children are hard to cause an accident. To this end, it is necessary to predict what kind of accident may happen in individual environmental and improve the environment. However, statistical data source and scientific knowledge for accident prediction are scattered and not structured for integrative utilization. In this study, the authors developed a new simulation technology to predict what kind of accident may happen in an individual treatment environment. The system consists of the accident situation structure database which structures large-scale accident data, and the development action model which describes the statistical relationship between a body interaction function and the age of infants and young children.

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A large number of injuries were occurred in Japanese school environments. To prevent school injuries, it is important to understand accident situations and prioritize intervention targets. However, it is difficult for a risk manager of each school to do this since each school does not have data enough for statistical analysis. In this study, we developed the system that allows to grasp serious accident situations by integratively utilizing data distributed in multiple schools. The developed system finds serious accident situations that a school risk manager should know as follows. First, the system registers situational feature vectors for accident situations data by using a textmining technology. Second using the database, it searches accidents situations similar to the actually occurred situations. Finally it shows most expensive accidents using medical cost data. The effectiveness of the system was confirmed using 5,817 school injury data.

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We propose a novel approach for reconstructing arbitrary whole-body human models from an arbitrary sparse subset of anthropometric dimensions. The comprehensive set of the dimensions is estimated from the subset via the principal component space for the dimensions. The skin surface model with the obtained comprehensive set of dimensions is constructed by deforming a template whole-body human model. The result is validated based on the error distribution of the dimensions of the obtained surface mesh for the target.

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This paper presents a system for estimating indoor human behavior using laser range finders on the floor. The proposed method uses hierarchical hidden Markov model(H-HMM) composed of an action estimate layer and a behavior estimate layer. The former is constructed by two kinds of HMMs: one is the HMM for estimating each action, and the other is the HMM for deciding the human action considering the action continuity. In the latter layer, one HMM learns each behavior by using as the features the relative relationship among the actions and the furniture. Our behavior estimation using such features enable to recognize the behaviors robustly even thought the indoor environment is changed.

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Museums represent important places of scientific learning for children. They also operate as centers for informal education in connection with schools, because museums enhance the effectiveness of scientific education. However, because the main learning method within museums is the study of the specimens on display and their explanations, there are few chances for learners to observe or experience the environment about which they are learning. Hence, we are developing an immersive learning support system for a paleontological environment within a museum. The system measures the physical movement of the learner using a Kinect sensor, and provides a sense of immersion in the paleontological environment by adapting the surroundings according to these movements. As the first stage of this project, we have developed a prototype system that allows learners to experience the paleontological environment. This paper summarizes the current system.

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Expectations of a sound interface are increasing because this interface does not need advanced knowledge for any machines and a physical operation. It is difficult to use this interface because of a general living environment with a background noise. In order to solve the problem, there are many studies of sound separation system with a microphone array. In previous study, this microphone array was small system and considered only 2-D directivity control to put this microphone array on machines. The authors developed a spherical microphone array with 3-D directivity. We confirmed by an evaluation experiment that developing microphone array had 3-D directivity. In this paper, we reported about the development of the spherical microphone array and the evaluation experiment.

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This paper describes relationship between visual attention and eyeblink. We make situation that a subject lets visual attention act and examine influence that visual attention gives to frequency of eyeblink. When examining the relationship, we objectively grasp that the subject lets visual attention act. This way makes the examination more objective than before. We use Electro-Dermal Activity (EDA) to grasp state that the subject lets visual attention act. EDA has meaningful correlation with visual attention. This study judges that the subject lets visual attention act by EDA and examines the relationship. Experimental results showed that visual attention decreased frequency of eyeblink and when visual attention did not act, the frequency increased. It made the evaluation objective to judge the state that the subject let visual attention act by EDA.

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In order to separate multiple voices, various Speech Separations has been examined using microphone array. But, they are on the assumption that multiple humans are static. So moving multiple humans are not considered. We have investigated Speech Separation considering moving humans. To separate moving multiple voices, we need to measure positions of multiple humans at the same time as record voices. We have focused on depth image sensor to measure positions of multiple humans. At first, measuring positions of multiple humans using depth image sensor. Then we try Speech Separation based on multiple human positions. We experiment on Speech Separation with microphone array and depth image sensor.

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In this study, we calculate gaze direction with relationship between face and eyes. Face and eyes divides laterally and lengthwise direction. We set up the object laterally and lengthwise direction and measured the face angle with Kinect sensor when gaze at object. The eyes angle is fixed at an angle of the object and grasp of the relationship between face and eyes. We calculate gaze direction with grasped of the relation between face and eyes. Than the results of present experiment, if based on relationship between face and eyes, has been shown to be effective though the results of the experiment.

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In this study, growth of gait in maturing children was analyzed. For this purpose, we conducted longitudinal gait measurement and calculated inclination angle that was defined as the angle between vertical line and CoM to CoP line projected in sagittal and frontal plane. In all trials, inclination angle in both plane had its peak value in 99 % of gait cycle. We use this value to evaluate growth. Peak anterior angle (PAA) increased until 6 years old while it decreased between 6 and 7 years old. Peak medial angle (PMA) decreased with growth and converged until age of 6 years. These results suggested that PAA was related to the ability for restoring body balance and PMA was related to the degree of compensatory movement for acquiring step length.

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In this research, we proposed two methods for estimating full hand dimensions from a small number of known dimensions for reconstructing individual hand model. In both methods, the problem is reduced to the estimation of coefficients for the corresponding eigen vectors of hand dimensions computed from database including 55 dimensions of 529 subjects. In the first method, the coefficients were approximated by multiple regression analysis given the known dimensions as independent variables. The second method was mathematically strict where the coefficients were computed by multiplying pseudo inverse of the eigen matrix and singular value matrix to the known dimensions. For comparing the performance, we conducted leave-one-out cross validation by using the database. The mean absolute difference (MAD) in both methods gradually decreased as the number of dimensions in the known dimension set increased. However, there was different trend between the MAD of known dimensions in both methods.

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This paper presents a method to generate 3D foot model with individual differences. Analyzing mechanical behaviors of foot is a good method for investigating causes of diseases. Previous method takes high costs because of making certain individual 3D model only. In this study, we used volume registration technique to quantity the individual differences and used principal component analysis to calculate the principal features of foot shape with geometric variations.

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In this paper, we propose a method for estimating the pose of a human hand using normal histograms. The method is composed coast to fine of three steps. First, within the database which consist of hand model postures in a reduced degree of freedom space about human hand postures in a daily life, screening of postures is conducted using dispersion of point clouds. Second, the similarity between normal histograms generated from the input posture and the database posture is evaluated with Chi Square. Third, optimization for minimizing the evaluation function is conducted in the reduced parameter space. In the experiment, the hand model was used as input postures. The result of the experiment shows that the maximum estimation error was 21[%] using this method.

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We propose a new tunable mechanism of a superconducting filter. The basic operation of the tunable method is realized by changing the gap length of the dielectric rod on the maximum electric field point at the edges of the resonator pattern. Thus, this tunable mechanism is composed of a substrate of High-Tc superconducting filter, piezoelectric actuators using piezoelectric element displacement magnifying mechanism, dielectric rods of sapphire in the vacuum chamber. The tuning range is 2.17MHz at 1GHz band with a maximum dielectric displacement of 101μm.

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This paper presents design and implementation of a three dimensional magnetic tweezer system for measurement of mechanical and rheological properties of living cells. The developed system consists of a 3D magnetic tweezer (MT) having six magnetic poles, a 3D prove visual measurement system and a control system. To reduce assembling error which causes unnecessary nonlinear error of magnetomotive force estimation, a magnetic pole positioning mechanism was introduced. By exerting a constant static current to each magnetic coil attached to a magnetic pole, effectiveness of the positioning mechanism was experimentally validated with the homogeneity of force amplitude of each pole and agreement of model estimation and measurement result.

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This paper presents a fabrication of graphene cubic structure by a nanomanipulation in a FESEM (Field Emission Scanning Electron Microscope). We developed two nanomanipulators with three degrees of freedoms to handle two end-effectors. A cube net was designed and fabricated using a multi graphene by a FIB (Focused Ion Beam) etching. For bending the one side of the cubic net graphene, a tungsten probe was used after reforming by FIB etching to adjust the cube net design. The multi graphene was bent to form a cubic 3D structure in study. Additionally, the bending forces of multi graphene were measured using a silicon cantilever based on the nanomanipulation.

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When high-frequency circular vibration is applied to a micropillar in fluid, flow is generated around the micropillar. In this research, we propose an innovative system of oocyte transportation by using vibration-induced flow. It is integrated on a chip with on-chip probe and force sensor for mechanical characterization of oocyte. This system enables us to measure the mechanical property of oocyte in open chip environment. As a result, the bubbles on the chip can be eliminated easily. Moreover, loading and picking up of oocytes is easily done by using conventional mechanical micromanipulator. In this paper, we constructed on-chip transportation and mechanical characterization of oocyte, and demonstrated effectiveness of our proposed method by experiments.

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Recently, demands of small and high-sensitivity load sensor are increasing. However, the conventional sensors, for example, strain gauges, beam structures, and capacitance sensors have a problem that rigidity of the sensor becomes low as long as sensitivity becomes high. In consequence, high-throughput sensing is difficult because the resonance frequency of the sensors becomes low. Here we present the high-sensitivity load sensor using quartz crystal resonator (QCR). QCR has superior characteristics such as high accuracy, improved strength under compressive stress, and long-term stability. We succeeded in miniaturizing the conventional QCR sensor and improved its sensitivity. For further downsizing, we demonstrated the fabrication method for ultra-small QCR sensor.

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This paper describes Research of Control the Permanent-Magnet-Synchronous-Motor (PMSM). We using the mbed LPC1768 that is General Purpose Microcomputer Board. The reason for simplified the development of control programs. Moreover, we need to incorporate the Vector-control-method for exert the highest efficiency of Permanent-Magnet-Synchronous-Motor. The research target is mounting this system for small mobile. The present conditions is available rectangular-wave-control-method.

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This paper introduces a robotic arm which has 2DOFs using rotational counterweights. We already have proposed the actuation mechanism in previous report. However, the performance of the system was verified only for a 1DOF system. In this paper, the robot arm is extended to 2DOFs system. Joints of the robot arm between links are completely free though links are able to be driven by the counterweights. Additionally, the counterweights reduce gravity effect of cantilever structure since the posture of the arm automatically converges to gravitational equilibrium state. Therefore, the proposed robot arm has high joint flexibility and a small base.

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In this paper, we propose a new movement mechanism using a resonance phenomenon. We use the phase-matched twist mode of the plate to the moving mechanism. By the synthesis of rigid body mode and twist mode, the rear endpoint of the plate vibrates in an elliptical trajectory. Driving force is generated by this trajectory. To realize this movement mechanism, we fabricated the small test model. We determined the shape suitable to the twist mode by FEM eigenvalue analysis. From the result of driving experiment, velocity of the model has been increased rapidly by the twist mode. From these results, we were able to find the possibility of movement mechanism based on twist mode of plate.

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The control of the pneumatic system, On-Off valve is often used. But for the sake of sophistication of control, continuous flow control is required. In general, the control valve which is capable of continuous flow rate control tends mass and weight becomes large. The purpose of this study is the development of a new flow control valve using a torsional vibration. This valve is to continuously control the flow of air, can be driven by a power-saving. In the previous report, we were prepared flow control valve using a torsional vibration. A change in the flow rate of the control valve was confirmed, but the evaluation of the vibration characteristics vibration. As a result, we considered theis structure is suitable for driving.

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In recent years, pneumatics actuators were required for industrial robots. It is important to make small valves with using high pressure and high flow-rate for driving pneumatics actuator. We have developed the small valve for unconstrained vibrational pneumatic poppet valves, and to do experiments on the McKibben actuator, but the valve haven't experiment on robots yet. In this paper, the position control system using unconstrained vibrational pneumatic poppet valves for pneumatics manipulator. We need a pair of pneumatic valves to drive a single actuator. We thus challenge to apply simple ON/OFF control to the pair of valves. A position control system was proposed based on the ON/OFF control strategy. Experimental results showed that it is possible to control the link position with our proposed valve.

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Generally, low backlash mechanisms are required for robot joints to perform tasks accurately, so we are proposing a new concept of a low backlash reducer using precessing crown gears. We call it the crown reducer. The features of this reducer are low backlash, high reduction ratio and ease of downsizing which we believe will contribute to the design of small mechanisms such as finger joints of robot hands. This paper describes a design of tooth profile for improvement of accurate motion. Firstly, we estimate the effect of tooth profile parameters on the hysteresis loss and the start-up torque. Then, we discuss the effect using manufactured prototype reducers.

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The results of the experiment to investigate the transient responses of the regenerative brake and powder clutch show that the time constant of the regenerative brake is smaller than that of the powder clutch, and the maximum brake torque depends on revolution speed. Based on this, the servo clutch mechanism with regenerative brake and differential gear unit is proposed.

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The muscle of creatures is bundle structure consisting of a large number of thin muscle fibers. Our research group succeeded the development of thin McKibben artificial muscles which is 1.8[mm] in diameter. The purpose of this research is realization of the mimetic mechanism of muscle structure of creatures. The McKibben artificial muscles expand radially and contract axially. Therefore when thin McKibben artificial muscles are bundled, their expansion of radial direction cause an interference of each other. However the influence of the interference for the output of axial direction has never been clarified. We evaluate the influence of the interference between the artificial muscles by measuring contractive force and contraction ratio.

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Generally, high power motors have problems that both of the maximum rotational speed and the responsiveness are lower than small motors. We consider that Multi-Motor Power Unit (MMPU) can solve these problems. MMPU consists of many small DC motors and their outputs are transmitted to driving shaft through gears. In this work, we propose the new concept of MMPU named as Tandem-Type Multi-Motor Power Unit that is arranged MMPU in shaft direction. We actually developed Unit-Type Multi-Motor Power Unit (Unit-Type MMPU) that is one of the Tandem-Type MMPU. Unit-type MMPU can separate and combined to each unit. We also developed an experimental device for measuring performance of MMPU. We obtain the following results by experiments. Maximum torque and torque at the maximum efficiency increases with the number of units. Maximum speed and maximum efficiency does not change. Now we are developing Cluster-Type Multi-Motor Power Unit based on the concept of "Multi-Motor of Multi-Motor Power Unit", that has a hundred of motors.

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Many pneumatic actuators have been developed in order to be lightweight for decreasing impact force. However, for pneumatic actuators, it is difficult to maintain exact control because these actuators have constraints. In this study, the model predictive control is applied to pneumatic actuator we developed. As discussed in this paper, we evaluated the control performance using MPC and PFC control system.

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Various pipes are used in the factory and the human body also consists of pipes. In order to inspect such pipes, we have developed twisted bundled tube locomotive device. However, the diameter of the minimum pipe in that the device can move was 9mm. Therefore, we are downsizing the mechanism, aimed to utilize the device in the small pipe such as a blood vessel. In this paper we developed the device by using a silicone tube of 1mm in diameter. In order to constrict the inflation of the diameter of the tube by pressure, we wound the thread around wound tubes and solidified by latex. The devise can move in the pipe with a diameter of 2.5 mm.

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There are many usage of endoscopes in industrial and medical fields. There are many studies to assist insertion of endoscopes. We have proposed the soft in-pipe mobile robot named the bundled-tube locomotive device that consists of three inflatable tubes. There are two type of the device; a helix and a braid. However the helix type cannot travel without rotating, and the braid type is not suitable for equipping an electrical wire or a tool channel. In this study, we developed the new bundled-tube locomotive devices with many tubes. They can solve the problems of the old devices with three tubes. The results of the experiments prove that these developed device can travel in pipes.

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In this research, we consider a posture control problem of a planer two-link torque unit manipulator under viscous friction condition. The torque unit is a module which consists of an electric motor and a reaction wheel. The friction arising from the presence of a viscous environment cannot he ignored in the real system. In this report, first, we clarify the relation between the angle of links and the angular momentum of reaction wheels under the viscous friction condition. Next, we propose the method to control the rotation angle of the second link to the reference position. When a residual angular momentum in reaction wheels is unloaded by using this proposed method, there arises a problem such that the first link has an oscillation. Then, we consider the influence of the first link's oscillation on the posture control of the second link.

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The tube pump which transfers the fluid by squeezing the tube with some rollers are used in various fields from the cleanliness and the convenience. However, when the rollers leaves from the tube, the release of the tube causes the flow reduction periodically. In this paper, we report that the pulsation can be reduced by moving the rollers at a non-constant speed based on the pulsation model we made. In general, because the periodic motion is not realizable by PID control, we achieve the less-pulsational flow by a repetitive control. The effectiveness of this study is shown by some simulation and experimental results.

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Ionic polymer-metal composite (IPMC) is a low-voltage driven soft actuator, and it can be also used as a sensor. In this report, we consider the possibility of the simultaneous use of IPMC as the sensor and actuator. In this report, we propose the similar method to measurement the strain by the strain gage as sensing mechanism

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In this paper, A small-sized real-time controller circuit board with MCU (Micro Control Unit) and FPGA (Field Programmable Gate Array) is described. This controller is suitable for small size mobile robot or experimentation of actuator control. A MCU of this controller supports real time OS, network interface and floating point unit. And a FPGA is able to realize PWM generator, pulse counter, communication interface, etc. Two examples of application are also described.

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For safety of an inverted two-wheeled vehicle, redundant drive mechanism is effective. However, it is also necessary countermeasure for fixing failure. In the conventional method, when one motor becomes physically seized, whole of drive system will be seized too. In this paper, we describe a fixing failure-tolerant redundant drive mechanism based on differential system using planetary gear mechanisms.

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This paper describes the development of the propulsive motion by the fluid powered self-excited oscillation. Until now, our group proposed Flat Ring Tube (FRT) that occurred self-excited oscillation by the fluid power under atmospheric pressure and some applications using FRT. Therefore, in this study, we discuss the mechanism that can generate propulsive motion using FRT and clarify the FRT's parameters that maximize propulsive power. That mechanism helps movement in the environment that cannot use electricity or the narrow-mindedness environment where flexibility is required.

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This paper proposes the identification procedure for rate-dependent friction of robotic manipulators with limited motion range due to the configuration or environment. The procedure is characterized by following three features: (i) the function for the curve fitting is defined by linear interpolation and extrapolation of sampled velocity-force pair points, (ii) each joint is controlled by high gain PID position controller of some cycles of sinusoidal desired trajectory with different frequencies, and (iii) the velocity-force pairs are obtained from each cycle with subtracting the effect of the gravity and the inertia. The procedure was validated with an industrial robotic manipulator YASKAWA MOTOMAN-HP3J, in which harmonic-drive gearings are embedded.

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