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ZhiDong WANG, Yasuhisa HIRATA, Kazuhiro KOSUGE
Pages
51
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we address a novel approach to transport plane objects via multiple mobile-manipulators by using the concept of Object Closure. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. Properties of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed. A fast test algorithm for checking the Object Closure condition is proposed and is illustrated by a caging experiment with three mobile-manipulators.
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Yasuhisa HASEGAWA, Masaki HIGASHIURA, Toshio FUKUDA
Pages
52
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper proposes an algorithm to manipulate an object by selecting some primitive motions which are previously designed. This algorithm enables a fingered hand to manipulate an object in real time, because the searching area is reduced by the primitive motion. In this paper, we show that four-fingered hand can effectively rotate a rectangular object by using the primitive motions in numerical simulations.
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Yasumichi AIYAMA
Pages
53
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we analyze kinematics of environment-contacting task by position-controlled manipulator with free-joint mechanism. By considering not only geometric analysis, but also kinematic analysis, conditions to achieve desired manipulation against fricion and lost of contact are determined.
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Masakazu Nakamura, Yasuzumi Ochiai, Tewodros Tesfaye, Kazuya Oguri, Yo ...
Pages
54
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, it is shown that a new type of motor is developed by using variable reluctance hybrid magnets. The variable reluctance hybrid magnet is composed of a permanent magnet, an electromagnet and a yoke. The variable reluctance hybrid motor can be of higher torque than that of normal type.
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Sigeru Sato, Muneo Kitajima, Yukio Fukui
Pages
55
Published: 2002
Released on J-STAGE: May 15, 2003
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Grasping is important but undeveloped information for interface. Grasping style differs according to its purpose, even if the object is the same. This suggests a possibility of grasping information. According to Fitts’ law, pointing tasks is easier when the target is larger and the distance is shorter. The proposed realtime adaptive gain adjuster provides large gain (= short distance) in moving phase and small gain (= large target) in positioning phase.
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Nobukazu Naitou, Sigeto Ouchi, Kenichi Yunoki
Pages
56
Published: 2002
Released on J-STAGE: May 15, 2003
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The problems of noise and echo-sound inside or outside the room are increasing recently. The solutions of these problems are indispensable in order to keep our comfortable life. In this paper, we have tried to control the sound at the exit of a pipe using H
2 control theory. And, the pipe controlled by H
2 control theory and the muffler not controlled are compared. As a result, we have confirmed the effect better than the muffler when using the pipe by H
2 control.
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Masatoshi ANABUKI, Koji KOBAYASHI, Hidenori OHMIYA, Shinichiro SAITO
Pages
57
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we propose a position control system of a sphere on tilting flat plate using visual feedback. Two computers are used for a realization of this control system, one is a control computer run on a real time Linux and one is a sensing computer run on windows. We reports system configuration, control system design for a sphere position control and shows experimental result by using actual system. Finally, we discuss some problems.
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Noriaki ITAGAKI, Hidekazu NISHIMURA, Kiyoshi TAKAGI
Pages
58
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper we propose a two-degree-of-freedom control system design method in consideration of actuator saturation. We formulate the linear parameter-varying system to design the gain-scheduled servo system considering actuator saturation, and obtain reference signals by final-state control with error learning for the closed-loop system. We demonstrate that the proposed method is useful for a cart and inverted pendulum system.
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Takehiko OHNO, Naoki MUKAWA, Atsushi YOSHIKAWA
Pages
59
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we describe a novel gaze tracking method which is designed for the use of gaze-based Human-Computer Interaction. Existing gaze tracking methods require complicated and bordersome calibration procedure for each use. To solve the problem, we introduce an eyeball model. Different from existing method, our method requires only two points for each individual calibration.
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Kenichi Matsumoto
Pages
60
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper describes our first trial to evaluate WWW sites by eye mark using WebTracer, that can record user’s gazing point, the user operation data, and the screen image of browsed pages. The experimental results show that eye mark data were useful for getting more comments about web usability from the subjects.
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Taro MAEDA, Hideyuki ANDO, Maki SUGIMOTO
Pages
61
Published: 2002
Released on J-STAGE: May 15, 2003
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The Parasitic Humanoid (PH) is a wearable robot to assist the wearer with behavioral induction. The prediction for the behavior is necessary for the induction. Measurement of eye movement is useful for the prediction because the motion precedes other motions and indicates the aim. In this paper, an experiment of visual reaching task was designed to measure the interval between the saccadic eye movement and the stimulus for successful induction. From the results the new wearable measurement device are under developing.
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Nobuyuki Uchida, Youichi Asano, Kenshirou Hashimoto
Pages
62
Published: 2002
Released on J-STAGE: May 15, 2003
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Twelve subjects were participated a lead vehicle following task installed by driving simulator, and two experimental conditions, “Conversation” and “Vocalization” tasks were imposed continuously. Viewpoints gap between left and right eye, and reaction time to target LED arranged subject’s front of view were measured. It was found that the viewpoints gap measurement could possible to estimate a cognitive load of a cell phone usage while driving.
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Yusuke Hirayama, Yutaka Sakaguchi
Pages
63
Published: 2002
Released on J-STAGE: May 15, 2003
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This study aims to examine the possibility of detecting emotional change by analyzing involuntary eye movements. As a feasibility study, we analyzed the eye movements of Japanese subjects while they performed an aural comprehension task. The result showed frequency and amplitude of the movements differed between Japanese and English sentences, suggesting that these indices might be applicable to detect the change in subjects’ internal states.
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Kazuo YAMABA, Kaikoh RIKU
Pages
64
Published: 2002
Released on J-STAGE: May 15, 2003
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In case of automatic parts inspection of the printed wiring board, most important problem is the processing speed and inspection precise. This paper deals with proposed new methods using the Bicolor analysis technique which using only two channels of color information instead of three. The method is the processing speed will be better than the normal RGB image. The result of processing is the same as the Bicolor image. The inspecting precise is better than monochromatic image.
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Hikaru UDA, Yasunori NAGASAKA, Tomoichi TAKAHASHI
Pages
65
Published: 2002
Released on J-STAGE: May 15, 2003
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We are developing a nursing support system using small autonomous robots which have a camera and image processing function. The system continuously observes those who need nursing in a home. When the system detects the unusual situation, it alert the family. The robots extract skin color and move to the position the object(face) can be clearly seen. Object detection in a real room was also investigated.
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Hiroyuki FUDABA, Toshihiko AOKI, Yasunori NAGASAKA, Tomoichi TAKAHASHI
Pages
66
Published: 2002
Released on J-STAGE: May 15, 2003
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We are developing a nursing support system using ceiling cameras and a monorail robot. This system aims to observe those who need nursing from remote place. The monorail robot can change its position on the rail to watch the person’s face on the bed clearly. Taken pictures are analyzed, then are sent to the database with status. Nurses can search their conditions later on.
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Teruhisa Onishi, Tatsuo Arai, Kenji Inoue, Yasushi Mae
Pages
67
Published: 2002
Released on J-STAGE: May 15, 2003
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The human endoskeleton consists of kinematic pairs. A module-type exoskeleton designed with a maximum of three degrees of kinematic freedom would be able to contain an entire body such that it could assist the function of the arms, hands, legs and other body parts. Based on this concept, it is possible to develop an exoskeleton cyborg. And this system are joined and treated together by the data of sound, picture and motion.
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Nobuhiro FUJIMAKI, Tadachika OZONO, Toramatsu SHINTANI
Pages
68
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we propose a visualizing method for a customer knowledge discovery from questions and answers. For this purpose, we use dependency structure analysis. Our method represents the dependency structure as the graph structure. And we introduce rules in order to merge synonyms. By our method, users can investigate the questions and answers effectively.
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—Engineering Approach to Robotics—
Kunikatsu TAKASE, Yoshiro HADA
Pages
69
Published: 2002
Released on J-STAGE: May 15, 2003
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Robotics is now expected to play an active role in various kind of social activities. For the purpose a robot must be endowed with object-level motion control functions. Introduction of an intellecturalized environment is proposed to realize the functions. The concept is implemented in the feasibility study of delivery robot system and its usefulness is verified.
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Kenji MATSUKUMA, Ryokichi HIRATA, Shinji OKUMURA, Yoshiro HADA, Kunika ...
Pages
70
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper proposes a mobile robot system supported by intelligent equipment in robot’s working environment. The intelligent equipment consists of PCs, elevators and automatic doors, and all components are connected by IntraNetwork. They help robot’s movement from one designated place to another, through rooms and floors. We developed a post distribution robot system based on this concept, and experimented on office building to prove the system’s feasibility.
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Yoshiro HADA, Gang Ye, Kunikatsu TAKASE
Pages
71
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we propose the advanced AGV (Automatically Guided Vehicle) that delivers letters, parcels or documents in the real environment such as offices or hospitals. To date, we suggested the navigation system of mobile robots using distributed acquisition, actuators, and intelligence embedded in the robot’s working domain, and realized robust navigation of mobile robots[1]. Now we propose the new architecture of delivery service robot system which are divided into several functional modules, such as the user interface using a web browser, the task scheduling server that allocates robots delivery tasks, the iGPS server that executes global localization of robots, and the robot motion control server that guides robots to follow paths toward their goals. These functional modules are connected by CORBA to build a navigation system. This architecture facilitates the extension of the system. In this paper, we describe our design policy of the system and its implementation.
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Edward Indyanto Hemeldan, Yoshiro Hada, Kunikatsu Takase
Pages
72
Published: 2002
Released on J-STAGE: May 15, 2003
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Our research group is developing personal delivery robot as carrier for parcel, letter, etc. We are constructing navigation system embeded in the environment as infrastructure, that is essential for robot to accomplish robot’s tasks properly. This paper describes the developed Cart-like robot that can be operated in this environment. We detail the design of hardware and software configuration, and introduce utilization of position information from iGPS in robot’s trajectory tracking.
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Songmin Jia, Chunhai Hou, Yoshiro Hada, Kunikatsu Takase
Pages
73
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper describes the concept of network distributed robotic systems for support of elderly and disabled people using CORBA as communication architecture. The paper also details the architecture and key technologies of implementation of the system. The proposed system gives the care receivers the ability to operate the robotic systems to supply some basic daily services. Human caregivers can manage the control user and control rights, do supervisory control to support the local user, and monitor the state of robot working and the aged or disabled staying alone at home or small-scale distributed facilities by video feedback. The developed system has the potential to improve the QoL of the aged or disabled and care cost in the future population-aging society.
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Kazuaki IWATA
Pages
74
Published: 2002
Released on J-STAGE: May 15, 2003
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Skills have been investigated only in the individual domains and for the limited applications, lacking the academic perspective. The main objectives of this report are to establish an integrated methodology of research for discovering the principles of skills, and to form a hub of skill research which attracts more researchers of various fields and utilizes the interchange of knowledge and opinions.
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—Definitions of Skill Concepts and a Research Methodology—
Masahiko ONOSATO, Keiichi SHIRASE
Pages
75
Published: 2002
Released on J-STAGE: May 15, 2003
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This reports summarizes the investigation results on the skill research methodology in IIAS research project “Science of Skills”. The concept of human skills is defined as the interactive scheme between human and working environment for mission achievement. Each research activity is categorized into four types by its goal: skill understanding, artificial skills, skill transfer and skill creation.
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From Perspectives of Interactiveness with Work Environment
Tetsuo Sawaragi, Yukimasa Nomura, Koichi Osuka, Tsuneo Kawano
Pages
76
Published: 2002
Released on J-STAGE: May 15, 2003
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Koji TERAMOTO, Satoshi TADOKORO
Pages
77
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper deals with a framework of skill research form structural aspect. There are various researches to investigate the human skills. However, each skill research introduces its own assumptions. Relation among conventional skill researches is illustrated based on schematic representation of skill structure.
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Yasuhiro TAKAYA, Motohide UMANO, Yasuyoshi YOKOKOJI, Tomoyuki MATSUO
Pages
78
Published: 2002
Released on J-STAGE: May 15, 2003
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The problem how a human becomes skillful in performing complex and difficult works is widely treated in scientific and engineering fields. The work in this paper deals with a fundamental scheme for investigating processes and mechanisms of acquiring skills. To make it clear, scientific methodologies are discussed from the point of view of learning and meta-learning, motor skills, observation problem of skills.
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Tatsuo ARAI, Hiroshi NIHO
Pages
79
Published: 2002
Released on J-STAGE: May 15, 2003
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The destruction of the abandoned chemical weapons is one of the crucial issues to restore the safe, secure, and reliable society. The Japanese Cabinet Office is promoting to destruct the abandoned chemical weapons remaining in China, left behind by the Japanese Imperial Forces after World War II. One of the task forces is in charge of designing and implementing teleoperated and/or automated excavation system. This report will describe the technical issues and the current status of the related works.
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Hideo HARA, Minoru NAKAJIMA
Pages
80
Published: 2002
Released on J-STAGE: May 15, 2003
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The robotic grip-system-test was carried out due to, the recovery of non-stockpile munitions by the remote control. This report is related to the test that carried out by KOMATSU LTD. that took charge from Japan Institute of Affairs. The gripping hand had 3 simple fingers. We demonstrated the practicality of the hand by the test.
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Kensaku HAZAWA, Jinok SHIN, Daigo FUJIWARA, Kenzo NONAMI
Pages
81
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper presents development of autonomous flight control of small unmanned helicopter named Sky Surveyor, especially focusing on hovering control. This helicopter have been developed for safety inspections for structures in high places like power lines. Simple SISO models were derived from experiments and brief kinematical analysis. Accurate hovering performance was achieved using the controllers designed based on the model.
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K. Nonami, Y. Shiraishi, Y. Ikedo, M. Fujimoto
Pages
82
Published: 2002
Released on J-STAGE: May 15, 2003
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H. Tsukagoshi, Y. Kamata, A. Kitagawa
Pages
83
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper discusses the assisting method of the multiple joints for the human body. So as to realize the excellent clothing comfort and the easy mounting, the cylindrical type actuator to assist the whole arm is proposed, which consists of Wound Tube Actuators with the bars and the high torque mechanism.
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Hiroki Murakami, Toru Yamaguchi, Shunsuke Masuda
Pages
84
Published: 2002
Released on J-STAGE: May 15, 2003
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We aim at the development of Human Centered Network System, which forms the smooth collaboration including the intention of the user by the interaction. In this paper, we propose new type ontology, “bottom up ontology” and realize Intelligent Space that recognizes text as command according to context as situation. In this Intelligent Space, this system recognizes human’s intention with higher accuracy.
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Masaya Takasaki, Takeshi Mizuno, Takaaki Nara
Pages
85
Published: 2002
Released on J-STAGE: May 15, 2003
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When the surface with burst standing SAW is explored through a slider, friction shift can be perceived as tactile sensation. For real reproduction of tactile sensation, the burst frequency was controlled according to measured exploring speed. With a fabricated tactile display, we could enjoy the tactile sensation in the case of rubbing on a solid surface with roughness.
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—Behavior Modes and Functions for Interaction—
Akihisa Ohya, Yousuke Nagumo, Takumi Munekata
Pages
86
Published: 2002
Released on J-STAGE: May 15, 2003
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We are aiming to develop a robot supporting our daily life through its movement together with human. In this study, we pursue the true nature of intelligence needed for robots to interact with human. We describe three action modes (following, accompanying and guidance) of the robot and report on the functions for interaction with human in each mode.
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Ken Sugawara, Masaki Sano, Toshinori Watanabe
Pages
87
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we introduced multi-robot with simple interaction, and investigated their behavior from quantitative aspect. Here, we chose a foraging task and measured the performance of heterogeneous system which is composed of interacting units and isolated units. Focusing on the relation between the ratio of interacting units and the fractal dimension of food distribution, we found out there is an optimum ratio for effective food collection. We also discuss the model for task allocation in order to obtain optimum group ratio.
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—Intelligent Space—
Hideki HASHIMOTO
Pages
88
Published: 2002
Released on J-STAGE: May 15, 2003
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In this report I show the current progress of Intelligent Space. I explain our setup and human tracking as an important function of Intelligent Space. Then I discuss “Interaction and Intelligence” from the viewpoint of developing Intelligent Space.
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Yutaka SEIKE, Jun’ichi YAMAGUCHI
Pages
89
Published: 2002
Released on J-STAGE: May 15, 2003
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In face recognition in any posture, it is important not to be influenced by human position, posture and face direction. We show an invariant pattern on shift and rotation in three dimensional space, and propose a method for detecting the position of the face in unrestricted posture.
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Kentaro Hayashi, Manabu Hashimoto, Hideto Fujiwara, Kazuhiko Sumi
Pages
90
Published: 2002
Released on J-STAGE: May 15, 2003
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The system tracks facial features by a new tracking method that integrates two disparate trackers and estimates head direction. We implement this on a microprocessor Hitachi SH-4, which is mounted on a board we developed. The system detects head shaking as a sign of inattentiveness using this algorithm. Experimental results show that our system is robust enough for real use.
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Fumihiko Sakaue, Kazuma Shigenari, Takeshi Shakunaga
Pages
91
Published: 2002
Released on J-STAGE: May 15, 2003
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We have proposed a decomposition of the eigenface into two orthogonal eigenspaces and have shown that the decomposition is effective for realizing robust face recognition under various lighting conditions
3). This paper reports a face recognition system based on the decomposed eigenface method.
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Masashi Mitani, Tomoyuki Yoshimura, Akio Nakamura, Yoshinori Kuno
Pages
92
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper presents an intelligent wheelchair that observes the user, the caregiver, and pedestrians. The user control it by his/her face feature movements registered for each user. It can follow the caregiver and avoid pedestrians smoothly based on the observation results.
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Masashi NISHIYAMA, Osamu YAMAGUCHI, Kazuhiro FUKUI
Pages
93
Published: 2002
Released on J-STAGE: May 15, 2003
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We realize a face recognition system on a home video game machine. The system can detect face region and identify four face directions. Face region is found by searching nostrils and pupils. For the identification of direction, we apply the Mutual Subspace Method. Through experimental results, we show that the system works in real time despite the limited computation power.
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Masahiko Yachida
Pages
94
Published: 2002
Released on J-STAGE: May 15, 2003
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Projects of “Intuitive Human Interface” field started in the fiscal year of 1999 under the Research for the Future Program (RFTF) run by the Japan Society for the Promotion of Science (JSPS), intending to make both basic and practical researches for building human interfaces which meet human intentions and/or kansei. In this paper, we will describe the objectives, outline, and results obtained so far of “Construction of Kansei Emergence World based on Synergetic Interaction”, which is one of the four projects of “Intuitive Human Interface” field.
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Yuichi YOSHIDA, Yasunori YAMAGISHI, Kazuki KANAMORI, Naoki SAIWAKI, Sh ...
Pages
95
Published: 2002
Released on J-STAGE: May 15, 2003
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In recent years, several musical systems have been developed, which can perform cooperating with emotional information. For most of these systems, however, users are required ability to play the music well and knowledge. So we constructed a musical session system with which children and novices can play pleasantly. The session system is composed of two parts. One is musical part which is a kind of instrument with which users can perform the music by modifying the combination of some phrases. Another is visual part which can visualize a change of the condition of the performance on the real-time session. This prototype system was evaluated by many children. The result of evaluations showed that children could play this system pleasantly.
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Takatsugu HIRAYAMA, Yoshio IWAI, Masahiko YACHIDA
Pages
96
Published: 2002
Released on J-STAGE: May 15, 2003
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Facial recognition technology is effective in human computer communication. Robustness for facial recognition is necessary because face views in many ways due to position, expression, and light. We propose a system which performs stable face recognition for image with arbitrary view. The proposed method is mainly composed of our flexible feature matching and rapid estimation of facial position and scale.
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Hajime Nagahara, Yasushi Yagi, Masahiko Yachida
Pages
97
Published: 2002
Released on J-STAGE: May 15, 2003
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Many applications in virtual reality and multimedia arequire to show a realistic virtual environment. A high-resolution and wide field of view are some factors of the reality. We proposed two techniques; super-resolution modeling and wide field of view catadioptrical head mount display to enhance a reality for such applications. Super-resolution modeling improves a resolution of a model which constructs the virtual view. The wide field of view HMD realized 180-degree field of view horizontally including human peripheral vision.
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Asako Kimura, Yoichi Ikeda, Kenya Kawasaki, Kumi Harada, Kosuke Sato
Pages
98
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we propose two types of handy haptic interface, which allow users to manipulate appliances and digital data in a ubiquitous and extended information environment simply and intuitively. First interface is multi appliance remote control interface that displays each appliance’s GUI on the controller when users direct it to the appliance. This interface also helps users to direct appliance properly by haptic feedback. Second interface is Tool Devices that copy and paste digital data from and to both appliances and real objects. Tool Devices imitate physical tools shape and haptic feedback such as scissors, tweezers, and syringe, which users have experience to use.
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Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Jun-ichiro MAEDA, Tatsuo A ...
Pages
99
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper describes a method of construction automation using integration of construction components with their information. It is desired to manage conponents in a construction site and their information integratedly in order to apply robots into construction sites. An ID is attached to each component using an ID tag so that the component is strongly related to its information. Therefore information of composed modules is reconfigured as the achieving tasks. An assembly experiment shows the feasibility of our proposed idea.
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Rie KATSUKI, Jun OTA, Takahisa MIZUTA, Tomomi KITO, Tamio ARAI, Yusuke ...
Pages
100
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper proposes a method to estimate an object pose from several marks attached on the object. A robot measures poses of the marks several times and estimates errors. The errors are estimated from pre-measured data in advance. Then, the robot can determine the object pose with weighted least-squares method. The usability of the method is verified from experiments results.
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