In this paper, an electronic “gimmick picture book” whose contents pop up when its pages are flipped is proposed. From educational aspect, the gimmick picture books are appropriate for training children’s cultivate imagination and special recognition abilities. However, production of the handmade gimmick requires high technical skills. Our proposed method realizes the gimmick by combination of a projection mapping method and a trick art technique which is used for a pseudo stereoscopic image.

We propose a method that measures the displacement of an AR marker for our odometry calibration system. The bias on odometry is a fundamental problem for mobile robots. Some calibration methods for the bias have been proposed, and we have also proposed a calibration method using a software library of AR. However, in our system, the displacement of AR marker on the robot affects calibration results. Therefore, we try measuring the displacement of AR marker on the robot coordinate system. Experimental results show that the displacement can be caliculated by the proposed method.

We propose new master-slave system using VR(Virtual Reality) instead of master-slave manipulator. In this system, operator use input device consisted of electric gripper which is the same shape as end-effector of manipulator and attached VR tracker and force sensors. Operator inputs target position and quaternion of end-effector by moving input device and holding force grasping input device. Then the system calculates joint angles of 6-DoF manipulator solving inverting kinematics and sends command to controller. With our proposed system, subjects were succeeded to grasp peg and insert into hole. But they also had many errors of inserting. Most of causes of errors are failure of peg and hole positioning or posture tilt of peg. In the future, we will improve this system developing method of correcting position and posture and posture inputted by user depending on tasks that the user wants to perform.

The development of content using VR technology is increasing and is used in various industries. There are a lot of studies that take the physical characteristics into consideration, such as walking. In this paper, we develop a virtual system that a user can climb up the stairs in a virtual environment by presenting the muscle sense of the leg with artificial muscles. Based on the results of muscle activity and motion analysis during actual stair climbing, we set the intensity and timing of the force provided by the artificial muscles. We evaluate how the participants feel by a subjective evaluation experiment.

In this study, we propose a real-time 3D image presentation system of micro-targets for efficient cell manipulation. This system estimates 3D position and size of micro-targets using a focal position adjustment mechanism of an electrical tunable lens; then the system presents reconstructed 3D images of the micro-targets. The effectiveness of the proposed system is demonstrated through a 3D image presentation experiment of micro-targets.

This paper proposes a real-time rigid body simulator whose objects consist of the contact points. This simulator calculates the contact force using the penalty method. In this simulator, the calculation of contact force can be simplified by considering the point side and surface side separately. The simulator determines whether one contact point has penetrated the floor or the surface of an object, and calculates the contact force according to the amount of penetration. The contact force applied to the object can be easily obtained by repeating this calculation at all contact points.

Echography is an imaging diagnostic method that has advantages of low cost, minimally invasive, real time, compactness, and simplicity. Examination with echography greatly depends on the expertise and experience of an operator. So, it is difficult to obtain standard cross sections if a person who handles the probe beside the patient is not skilled in echography. On the other hand, doctor and ultrasonographer who operate it has mental and physical burden. So, it is required the system that reduces the physical burden on the ultrasonographer and reduces the risk of musculoskeletal disorders. In this paper, we have constructed the ultrasound diagnosis support system that superimposes and displays biological information and acquired echograms in real time using a optical see-through head mounted display to the ultrasonographer with the aim of providing visual feedback of the physical burden on the ultrasonographer.

In response to increase interest in VR/AR in recent years. various head-mounted display (HMD) have been developed and attracted attention. However, HMD have problems such as vergence-accommodation conflict (VAC) and display delays. When performing a superposition of the annotation to the dynamic real-world needs to be a high-speed display. Also, VAC is said to cause fatigue and sickness called 3D sickness. To solve VAC and display delay, the principle of 1000volumes/s high-speed volumetric display for high-speed HMD[1] has been proposed. In this paper, we report a prototype of a high-speed volumetric display based on this principle and its performance evaluation.

Task training support systems capable of presenting appropriate task instructions according to the work situation have been developed in order to perform tasks requiring skill even if the worker is not an expert. A task instruction presentation system we are developing can present 4K high-resolution stereoscopic images without wearing shutter glasses and can also present haptic sensations at the same time. Using this system, a virtual object can be grasped or a virtual object can be placed at a specified position using a work tool. Taking advantage of such features of the system, assuming task training in an augmented reality environment in which real and virtual objects coexist, there is a possibility that components can be handled in the same way whether they are virtual or real objects. In order to realize this, this paper examines the haptic sense presentation method in the augmented reality environment presented by this system, and confirms its effectiveness by evaluation experiments.

Virtual Reality technology becomes popular, Motion Platform are being developed. However, the relationship between MP movement and sensation has not been sufficiently evaluated. Therefore, we confirmed the possibility of affecting the human sense of rotation by movement front and back synchronized with the video and the continuous rotation with MP. Then, we change the angular velocity of continuous rotation, estimate the threshold of rotational sensation that can be perceived by humans experimentally, and verify the relationship between MP movement and sensation. From the experimental results, we confirmed that if the continuous rotation was up to 19 [deg/s], 75% of the people could not recognize the continuous rotation and might not affect the bodily sensation.

In this paper, we present a golf putting training system using vibrotactile cues and mixed reality technology. A model of ideal putter swing was determined to derive putter head path during an ideal swing. A head mounted display type mixed reality device was used to show virtual objects on a real world. For example, a hologram of putting direction and ideal putter head path were shown to the user by the system. This system also gives vibrotactile stimulation on a user’s wrist during the swing to give feedback when error of the putter head position or angle of the putter face is larger than predetermined threshold. By using this system, the user can expect improvement in golf putting skills.

-Regarding scuba diving, it is required to reduce the accident rate of inexperienced divers and to quickly train undersea workers. However, on-the-job training is indispensable for improving the skills of scuba diving, but there is a problem that on-the-job training is expensive. To solve this problem, we aim to develop a virtual underwater experience system for performing scuba diving training that reproduces various underwater conditions in a familiar pool. In this study, we examined the method of presenting the sensation of infinite sea travel in the water using the illusion method of the movement sensation by the retraction by the body retraction mechanism and the visual stimulus.

Luxury mechanical watches are assembled and repaired by professional craftsmen because of their precise structure. A novel tool that can display a three-dimensional image of very small parts on a smart glass is developed to support the skilled workers. In this paper, the outline of the developed tool is introduced first, and then, some fundamental experiments are performed to evaluate the effectiveness of the developed tool in comparison with a conventional supporting tool, and the problems for practical use of this system are considered.

At work sites, observation-based posture assessment is mainly used to quantify the workload. This method is to manually categorize and score the posture at the time by the pre-standardized posture points. Therefore. This method has a problem that the motion speed of the worker is not considered. The study of Manabe（2004）showed that the hip joint torque increases as the motion speed increases at the squat motion. The authors considered that the change of joint torque by motion speed could be added to the observation-based posture assessment as a weight. In this study, we measured the shoulder and elbow joint torques during three kinds of upper limb lifting with different motion speeds. The joint torques did not change significantly with different motion speeds. Therefore, it is not necessary to add the joint torque of the upper limb to the observation-based posture assessment as a weight.

We proposed a gait variability index invariant with gait speed based on generalized principal motion analysis (GPMA). GPMA finds base functions, which are called principal motions, that maximally separate distinctive types of motions and that weaken the effects of gait speed within individuals. We computed principal motion ellipsoids based on principal motion analysis (PMA) and GPMA, and compared how distributed the samples between gait speed conditions. As a result, principal motion ellipsoids based on GPMA is invariant with gait speed. However, the principal motions obtained by GPMA can be difficult to interpret what the motions represent and we cannot understand how the walking motions vary. Therefore, when we can interpret the meanings of the principal motions, the principal motion ellipsoid can be more useful index.

We are studying the use of a dynamo in a wheel-type moving body that has a steering control device and can be driven manually and can be used not only for power generation but also as a sensor for odometry. We manufactured an angle accuracy measuring device by the counter method, and the accuracy of the dynamo was measured. It was shown that the error on the road was less than 3mm, assuming that the wheel diameter was 100mm in the range of 0.2rps to 1rps.Since the hub dynamo used this time has 16 poles, the resolution for measuring the amount of movement on the road surface is about 20 mm. From the above, it was shown that the hub dynamo can be sufficiently used as a sensor for odometry.

We realized a device making difference visual texture such as matte or gross by using Micro Electro Mechanical Systems (MEMS) scanner. Static mirror surface could be displayed gross surface. Meanwhile, scanning mirror surface could be displayed matte texture surface because light reflected by scanning mirror is similar to scattering light. We could also achieved visual texture mixing of matte and gross by driving signal. In addition, We defined scattering ratio as light intensity at 0° divided by intensity at 0.035° for optical characteristic evaluation on each driving signals. As a result, we have shown quantitatively that we can control visual texture by driving signal of the MEMS scanner.

Music timbre is changeing depending on keystroke position, rhythm, velocity and length when playing piano．Therefore it is not easy for beginners to learn how to press piano keys accurately and they also cannot easily use both hands at the same time when playing. Thus, it is necessary to practice for a long time to play the piano well. Currently, there are plenty of systems for enhancing playing skill. It is possible to provide more useful assist using haptic feedback when playing a musical instrument. In order to improve the playing velocity skill, we compared the keystroke’s speed when playing the keyboard instrument and the tactile feedback to change the dynamics of the keyboard. Performance improvement on keystroke velocity using this reserch’s keyboard calibration is examined. Experiments were performed with and without calibration. Results demonstrate a better keystroke speed performance using the proposed calibration.

In this paper, we propose a method of generating action description and detecting certain combination plays observed in volleyball games. Motions are represented as motion symbols with lower dimensions, and positions of the ball at each time are obtained. These motion symbols and ball positions are used to detect and describe motions. In detecting combination plays, motion pattern at each time and each players are compared with reference motion patterns selected by hand, and similar motion patterns are detected. In generating motion descriptions, motion symbols and ball positions are used as the initial state of Gated Recurrent Unit, and it learns to generate motion descriptions. This method was tested using motion data obtained from real volleyball match.

Viscoelasticity of soft objects, such as food products, plays an important role in robotic handling and manipulation. Comparing to linear viscoelasticity, nonlinear viscoelasticity of soft objects has not been investigated intensively and it is of great concern when large deformation occurs during robotic handling or manipulation. In this paper, a nonlinear viscoelastic model was proposed and an approach for estimating the nonlinear properties was established based on time-scale transformation. Simulation was performed to validated the nonlinear model and the property estimation approach.

Our laboratory aims to make the robot avoid obstacles using only image information. What is important in achieving such a goal is appropriate processing of external environment information, and it is necessary to define what information is focused on and what is used. To get hints for making such a definition, we decided to investigate when a human was in the same environment as a robot. This paper describes the development of a system used for eye tracking research when a subject operates a mobile robot from the viewpoint of a robot.

Teamwork was evaluated with a post-experiment questionnaire survey. However, it has some problems, such as subjectiveness and not being in realtime. Also, team composition is mainly based on performance, and there is no team composition based on compatibility. CFO, which pays attention to differences between cooperative and solo tasks, allows realtime evaluation. However, teamwork evaluation with CFO needs experiments for each pair. It makes it difficult to evaluate team combination. Thus, we try to generate a model that considers force interaction. However, we could generate a model with only half of the subjects group. Therefore, we present a model generation a method with LSTM or DNN and more Optuna. The proposed method improves model accuracy and could generate a model with all of the subjects group. Finally, we discuss the prediction with the model-model interaction of a cooperative task.

Housework is daily task for human’s health and cleanly life. To prepare for an aged society, a new method to reduce housework load for is needed. In previous study, floor cleaning motions by a mop attached with cleaning sheet as housework were investigated to optimize the loads by using a motion capture system and some sensors at a laboratory space. But such floor cleaning motion as housework is conducted at living space in house. In this study, floor cleaning motions by the mop at the laboratory space and actual living space were investigated and compared by using a new system built form a motion capture system and inertial measurement units. As one of the results, it was found that maximum value of sweeping speed of the mop tended to be slower and maximum value of spine flexion angle tended to be smaller in actual living space than the laboratory space.

In this study, we propose a portable sound source direction estimation device (CASH-H) for people suffering from hearing loss and for the elderly. CASH-H, which is the proposed device, is one that estimates sound source direction by using sound signals from two microphones, and then transmits the estimated direction data to the user. This study proposes and evaluates a sound source estimation method by signal processing. The sound source direction is calculated from the reception time difference between the two microphone signals. FFT analysis was used to enable multiple sound source direction estimation. The sound source direction estimation was performed with a mean angle error of 6.58 ° and angle standard deviation of 4.97 °.

This study develops a novel sensing system to monitor two trip-risk-related factors when walking on any surface and under any condition. One factor is the visualized plantar aspect during walking. We extended our previous system to a new wireless wearable device that also provides more stable image as well as improves the walking comfort. During walking, a plantar image is produced on a reflecting surface and captured by a camera embedded in a clog. The other factor is the minimum toe clearance (MTC). MTC is defined as the minimum distance between the ground and toe at the swing phase. Acceleration and time-of-flight sensors are attached to the plantar surface of a clog to accurately observe the MTC. The efficacy of both sensing systems embedded in the clog is demonstrated using the data obtained by experiments.

Nowadays, aspiration pneumonia has become one of the most fatal cause of death in Japan. The aspiration pneumonia is mainly caused by dysphagia, however the quantitative evaluation and effective treatmenat have not been developped yet. In the present study, we try to propose a novel method to quantitatively grasp the swallowing state by utilizing mechatoronics technology. This paper, in particular, investigates the applicability of electret condencer sensor (ECS), which can detect wideband sound including ultrasonic sound, for measuring the swalloing state.

In order to develop a new mechanism for myoelectric prosthesis, a new part of myoelectric measurement was selected for the face. Among them, the movement of the mouth of the vowel without speech was characteristic. We measured the surface EMG of the vowel mouth movement, performed a Fourier analysis on the measured data, and evaluated it.

We aim to achieve a massively parallel localized intracellular delivery method for uniform transfection. The intracellular delivery of nucleic acids on a localized region is significant to control the quality of cells more precisely than the previous transfection methods. We prepared two different energy absorber materials, Ti and SU-8 / TiO₂, where TiO₂ nanoparticles were mixed with SU-8. We observed remained bubble at various laser energies and evaluated shock wave to judge whether the laser irradiation is possible to introduce molecules.

For this study, we propose a novel sensing system for biometric identification within short time under wet environment. For this purpose, we prepared multiple nanoparticle samples to be embedded and examined the factors that effect of the magnetically-induced heat generation. As a result, in the exothermic experiment of particles in liquid, the exotherm was remarkable in the sample with high particle concentration. This suggests that Brownian relaxation is likely to be dominated. In addition, heat generation was confirmed in the heating experiment of the dried particles, and it was shown that the superparamagnetic particles are likely to generate heat due to Neel relaxation in the fixed state. This research contributes to environmental technology and sensing / tracing technology.

In this research, we have developed a method to fabricate a dielectric elastomer actuator (DEA) that can withstand high-voltage driving. The DEA can achieve high-speed driving with the high-voltage input. We changed density distribution of carbon nanotubes (CNT) that are flexible electrodes by changing the timing of application of the CNT. Generally, the CNT electrode is applied after completely pre-streching the elastomer. We propose a method to apply the CNT before completely pre-streching the elastomer to reduce CNT density We conducted an experiment with several models, and we found improvement of performance in some models. The instantaneous performance of the proposed DEA is superior to that of the conventional DEA, and it is expected that a higher output artificial muscle will be developed depending on further improvement.

This paper proposed a technique to introduce the membrane protein into the lab-on-chip analysis system having a planar lipid bilayer. The proposed technique utilized a dielectrophoretic force generated by the asymmetric configuration of the solid electrodes on the aqueous buffer separator. By applying the alternating current to the separator and the counter electrode, we manipulated liposomes that could host the membrane proteins on the surface. The key point for the dielectrophoretic manipulation on this system was to fabricate the liposome making the different complex permittivity. In this study, we utilized the centrifugal encapsulation technique with the polyethylene beads and the sucrose inside the liposome. In addition, we analyzed an effective configuration of the droplet separator having the taper-edge on the contour of the micropore. This configuration made a strong interpenetrating dielectrophoretic force at the lipid bilayer, and prompted the fusion of liposome into the lipid bilayer. The separator was fabricated by micromachining technique. Using the separator, we formed the lipid bilayer without evading the solid electrode on the surface. Finally, we elucidated the introduction of the liposome by monitoring with the optical microscopy.

In this study, we investigated the developmental process of Electrohydrodynamics(EHD) flow. In recent years, researchers are interested in soft actuators as an application to IoT devices. We focused on EHD which is one of the promising actuation source among soft actuators. EHD is a phenomenon that is driven when a high electric field is applied to a dielectric fluid, but the detailed flow mechanisms has not been clarified. Therefore, for the current study, FEM analysis and fluid observation has been carried out to clarify the mechanism of EHD flow. The body force equation was derived from the general electrostatic force equation and Clausius-Mossotti relation. We simulated FEM analysis using this equation. Besides, EHD flow was observed by optical visualization that was Schlieren method. The result of the FEM analysis and flow visualization is compared and evaluated in order to establish the design theory of EHD actuators.

In recent years, with the development of 3D printers and wearable devices, it is required to increase the wide range of the material including soft material to be processed where the electrical circuit is wiring. In this study, we proposed a method for wiring various objects in a simple process using electrically-induced bubbles. In order to improve the instability of this system, the evaluation of the system were divided into two parts which is reduction phase and embedded phase, respectively. The evaluation showed the stability of the system is closely related to the size and dispersibility of the particles. Further study is required to stable the properties of particles or solution of the system.

In recent years, autonomous system in soft robots has been gotten much attention by many researchers. This is because a behavior that was impossible with a conventional actuator can be achieved. Especially hydrogels and elastomers are attractive to create novel autonomous soft robots and actuators. Gels are composed of three-dimensionally cross-linked polymer chains and contain solvents. In particular, stimuli-responsive polymer gels are known to undergo volume changes due to external stimuli. We have been studying BZ gels. BZ gels shows spontaneous swelling and shrinkage driven by oscillatory Belousov-Zhabotinsky reaction. In this study, we seek new BZ gels that are capable of producing higher pressure.

Soft robots have a potential to build human-machine coexistence. It is important for autonomous robots to adapt external force and locomote without external controllers. Since the electrical performance of Dielectric Elastomer Actuator (DEA) is similar to a capacitor, its power consumption is small. In addition, DEA is light in weight and thin in thickness. In this research, we developed an untethered control system for DEAs. From our experiments, we found that our controller can drive four DEAs and confirm that the power consumption of the DEA is low. Our research would contribute to develop untethered soft robots and open up the society of the human-machine coexistence.

We propose EHD pumps. EHD pumps are small, lightweight and quiet. EHD pumps can be expected as smart actuators for fluidic actuators. In previous studies, the maximum output of the EHD pump was 15 kPa. In this study, we developed multiple plane electrode pumps to increase the pressure of EHD pumps. We developed a one-layer 150 units pump and a two-layer 300 units pump. At the same applied voltage, 300 units produced higher pressure than 150 units. However, the 300 units occurred breakdown at the lower applied voltage. As a result, the generated pressure of the EHD pumps is around 30 kPa of 150 units.

In recent years, various micromixers have been reported. However, conventional constant flow-based methods have undesirable dead volume about 10-100 μL in tube connection parts between microfluidic chips and external pumps. Thus, conventional methods are not suitable for mixing of rare samples, such as antibodies, proteins or exosomes. To solve this problem, we propose micromixer based on vibration-induced flow. Vibration-induced flow is the localized flow which is induced around a vibrating microstructure by being applied high-speed vibration to the structure. By using this proposed method, dead volume which exists in tube connection parts of conventional micromixers can be omitted. In this study, we fabricated two types of micromixers having micropillar array with hexagonal configuration or matrix configuration. Then, we quantitatively evaluated mixing performances of proposed micromixers by calculating variance of distance between microparticles and observing flow distribution and vorticity with PIV.

In this study, we propose a method for concentration of nanoparticles based on vibration-induced flow. In recent years, analysis technologies of nanoparticles are attracting large attention in the fields of genetics and medicine. To analyze nanoparticles, concentration techniques of nanoparticles is demanded. Microfluidic chip is one of the powerful tools to realize low-cost and easy concentration of nanoparticles. We report on-chip concentration method of nanoparticles by using vibration-induced flow. Vibration-induced flow is local flow around vibrating microstructures. Additionally, this flow becomes strongly localized under condition of high applied frequency. Thus, we can manipulate nanoparticles by using this flow because large particles are weakly affected strongly-localized flow. In this study, we confirmed reduction of flow induced area by using vibration of high frequency. In addition, we demonstrated concentration of nanoparticles by using vibration-induced flow under condition of high frequency.

Retinal vein occlusion is a disease that causes vision disorder due to occlusion of the retinal vein which is one kind of micro-vascular spreading to the fundus. Most of the current treatments are aimed at suppressing symptoms caused by vascular occlusion. However, there is no method targeting the blood clots which is the root of the disease. In this study, we focused on the impact pressure of micro-jet which is generated by the collapse of the electrical-induced bubbles. This pressure can be worked as local and minimally invasive physical stimuli from the outside of the blood vessel to resolve the vascular occlusion itself. For the current the optimizing design is proposed by evaluating the electric and fluidic field using model experiment and calculations. In this paper, we proposed the electrofluidc optimization design considering the electric double layer capacitor(EDLC).

In this study, we made a device that can perform cell manipulation of oocytes and reagent injection to a single cell. This two-dimensional chip composed of two functions which is; (1) loading oocytes one by one and (2) reagent injection by electrically-induced bubble on a chip. When gene transfer is performed, a pulse voltage is applied to the substrate fabricated on a chip, and the electric field is concentrated to the holes which is composed of dielectric material, and hence the fine electrically-induced bubbles were generated. When the bubbles are collapsed and a pore formation is successfully provided to the target together with the transportation of reagent which performs gene transfer. All chips are fabricated by photolithography targeting the achievement of a high-precision, high-throughput and stable injection system.

This study aims to create a disease model that mimics the microenvironment of a cancer, which is useful for drug discovery and elucidation of biological functions. Using a digital mirror device, cells were fixed in gelatin methacrylate (GelMA) by light irradiation. We report the results of exploring minimally invasive cell placement conditions based on cell viability and time-lapse observation.

“Tears of wine” is a physical phenomenon that appears due to the result of a liquid flow along the glass surface against the gravity. In this study, we try to visualize the convection inside droplets in "tears of wine" by using the particle image velocimetry (PIV) method. We also examine the difference of convection flow which occurs when heat is applied to a part of a droplet. From the observation results, we assume that the temperature gradient can change the Marangoni flow in "tears of wine".

We study the motion control of a self-propelled oil droplet dropped into aqueous solution by using a rigid frame. It is well known that an oil droplet with fatty acid anhydride moves in random directions in aqueous solution. Although we have discovered that the moving direction could be controlled using a rigid boomerang-shaped frame, the mechanism of the autonomous motion in a particular direction is not understood theoretically. Since self-propelled droplets move with the effect of Marangoni convection caused by surface tension difference at the droplet surface, we focus on the directional behavior of the Marangoni convection and verify it using a SPH (Smoothed Particle Hydrodynamics) method, which is a meshfree fluid simulation.

This paper describes anisotropic wetting on microstructured surfaces inspired by butterfly wings. Tilted pillar structures were fabricated on a glass substrate by using oblique exposure of high-viscosity thick photoresist. The effect of the surface structures on droplet behavior was investigated by changing the shape (triangle, long triangle, semicircle), fraction of surface area (1/4, 1/5, 1/6), and tilt angle (0°, 40°, 60°) . Difference in sliding angles in the tilted direction and the opposite direction were observed by changing these parameters. The maximum difference in sliding angles reached 8.4°on the long triangular pillars at 1/6 of fractional area and 60°of tilt angle

Servospheres are robotized observation equipments that produce endless fields for behavior observation of wandering animals. This paper discusses optimal motor locations for translational motions of servospheres.

Finding the odor source is one of the difficult tasks for an autonomous robot because it is difficult to detect the odor information. On the other hand, insects have the ability to find the odor source by integrating multiple sensory information. However, this multimodal information processing has not yet been elucidated because it is difficult to measure the relationship between input environmental information and output behavior based on free walking experiments. In this paper, therefore, we constructed a virtual reality system (VR) that can measure the relationship between the multiple sensory input timing and behavioral output for analyzing the insect odor source search behavior.

We perform human response modeling as a time response, angular velocity and velocity response modeling to light stimuli response. Data are collected as IMU sensors data and remote-control signals data . By analyzing these data, we can create probabilistic model of Human response to light stimuli

Our research is canine guidance using spotlights. Using dogs' habit following light, a spotlight guidance suit can remotely guide dogs by switching spotlight irradiation. The problem was that the spotlight devices were long and could get caught in the dog's surrounding environment. In this study, we considered lenses with different focal lengths and shapes using an optical simulator to shorten the length of the spotlight devices. By using a short focal length and a plano-convex lens, we succeeded in shortening the spotlight device. In addition, we verified to guide canine outdoors using a spotlight guidance suit. The difficulty of outdoor guidance is that people and animals walk around the field, and their movements and sounds attract the dog's attention. Also, we examined whether the dog could follow the spotlights even in a bright outdoor environment. As a result, we succeeded in the outdoor navigation.

In recent years, zoologists have been used bio-logging approach to study the ecology of wild animals. The bio-logging is a method to record the ecology of animals by attaching a measuring instrument called a logger. Sperm whale is one of the targets. Previous bio-logging studies have revealed some ecological facts about the sperm whales. However, the scene where the sperm whale preys on the giant squid has not been photographed yet. We’re developing a system that uses drones to attach a camera logger to the whale. However, in order to use this system, it is necessary to adsorb logger to the surface of the whale body just by dropping it. To tackle the problem, we proposes a drop-type adsorption logger combining multiple bellows suction cups and original check valves. In this paper, several experiments were conducted to verify the performance of the developed drop-type adsorption logger.