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Tatsushi Tokuyasu, Shin’ichiro Oota, Toru Tokuyama, Ken’ic ...
Pages
201
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
FREE ACCESS
The training system for cardiac muscle palpation is highly desired by cardiac surgeons. The needed requirements are to visualize the beating heart, transmit cardiac elasticity to the trainee’s finger, and correlate virtual heart and movement of finger in real-time. To satisfy these functions, the system was constructed of two computers. The one processes virtual heart application, and the other controls 5D haptic-manipulator.
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Seiji Kameda, Kazuhiro Shimonomurra, Keisuke Inoue, Tetsuya Yagi
Pages
202
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Image processing of the vertebrate vision system is superior to traditional vision system consisting of a CCD camera and a PC from novel viewpoints of real-time operation, low power consumption, compactness, etc. A novel vision system using a silicon retina and FPGA circuits was designed to emulate the function of the vertebrate vision system.
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Yosuke Tajika, Shinya Murai, Shogo Yamaguchi, Yasuhiro Morioka
Pages
203
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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In this paper, a wireless office system designed with Bluetooth technology is proposed. Firstly, our ad-hoc network platform, which provides seamless wireless connectivity among the portable information devices such as PCs and PDAs and imaging devices such as data projector which is normally and heterogeneously located in a office, is introduced Also, on demand presentation system which works on top of the platform and its usage case is presented as an typical application. Finally the advantages are discussed.
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Kazushige Ouchi, Takuji Suzuki, Miwako Doi
Pages
204
Published: 2002
Released on J-STAGE: May 15, 2003
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We developed a prototype of wearable healthcare support system ‘LifeMinder
TM’. It is a handy system composed of a wristwatch-shaped wearable sensor module and a personal digital assistant (PDA). The wearable sensor module is equipped with sensors of accelerometer, pulse meter, thermometer, and galvanic skin reflex (GSR) electrodes. It communicates wih the PDA, which monitors the user’s context: health conditions, movements and behaviors, via a Bluetooth. We developed algorithms to recognize the user’s movement from wrist motion and to detect the beginning of a meal from pulse rates and GSR values. The accuracies of both algorithms are about 90%. The system uses this information to guide the user in daily healthcare in real time. It also works in cooperation with the other measuring instruments, such as a blood glucose sensor, via a Bluetooth.
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Hiroshi Kanazawa, Ichiro Tomoda, Yoshiaki Takabatake, Takumi Yamamoto
Pages
205
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Headset-typed wearable computer has been developed. It has a wireless communication function via Bluetooth and command control function using speech recognition technology. We condense wireless communication technology, media processing technology and knowledge processing technology into the mobile device. It realizes ubiquitous computing and hands-free environments. It also enables to realize not only cable replacement but also new application and new culture.
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Osamu FUKUDA, Toshio TSUJI
Pages
206
Published: 2002
Released on J-STAGE: May 15, 2003
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We propose a new concept of a human interface called Cybernetic interface, which can estimate human intensions using extracted information from a human body and control some electric devices such as human assisting devices, personal computers, and so on. The cybernetic interface can adapt itself to a human operator through adaptive learning, so that it can be used as a control tool for handicapped people.
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Satoru SHITAMORI, Toshio TSUJI, Osamu FUKUDA, Yasuhiro UCHIDA, Naoshi ...
Pages
207
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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This paper proposes and develops a new human interface system for the handicapped. Using this interface system, the operator can control various home electrical devices. This system composes of a transmitter unit and a receiver unit of bioelectric signals, and the receiver unit includes an infrared remote controller and an interface port connected with a personal computer. In this paper, the basic design of the proposed system and its utilization are shown.
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Jun ARITA, Toshio TSUJI, Osamu FUKUDA
Pages
208
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper develops a new EMG-controlled pointing device using a novel statistical neural network. The operator can move a pointer in any direction throughout 360 degrees. It can also be used as an interface tool for wearable computers since it does not restrict the operator to being in front of computer devices such as a keyboard or a mouse.
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Shinji FUJITA, Toshio TSUJI, Osamu FUKUDA, Akira OTSUKA
Pages
209
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Verbal communication acts one of the most important role in our daily life, so it is very valuable to develop an artificial laryngeal device for laryngectomized patients. In this paper, we propose a new method, which can discriminate phonetic sounds based on EMG, using a neural network and hidden Markov models. Experimental results show that the phonetic sound can be discriminated from EMG.
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Yoshihiko NAGATA, Jun SUGAWARA, Osamu FUKUDA, Keiko HOMMA
Pages
210
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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There is the much research using the bio-information to estimate the body condition and control various machineries. This research has the important problem how to acquire the bio-information in usual condition and reduce the influence of measuring device on the human. We propose Mimic Sensing System that the biomedical sensor is embedded to hide in the utensils.
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Chiaki Morita
Pages
211
Published: 2002
Released on J-STAGE: May 15, 2003
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Recently, a rehabilitation staffs in Japan have recognized that the Myoelectric Prostheses are valid for upper limb amptees. However, medical allowance system is not enough to get prostheses they need. Clearly Myoerectric Prostheses has a possibility to make validity, so I investigated it by a questionnaire to ask how to use it in their daily life and their satisfaction.
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Kazuyoshi NISHIHARA, Hiroaki SUNAZAKI, Masaya OSUGI, Akira KIKUCHI, Ic ...
Pages
212
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Two kind of myoelectric hands were developed. One is the hand which allows small movement of the thumb using DC motor. This type of the hand is intended to be used for the users with cosmetic hands. The other is the advanced type of the myoelectric hand which noise was extremely reduced by using supersonic motor.
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ICHIRO KITAYAMA, Kazuyoshi NISHIHARA, Akira KIKUCHI, Kazushi HIROTA
Pages
213
Published: 2002
Released on J-STAGE: May 15, 2003
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EMG and IEMG of a trans-femoral amputee are measured during slow, middle and fast speed walking. Electrodes are applied to his skin surface of his quadriceps femoris and hamstrings. We have a discussion about possibility of voluntary knee joint control using their EMG and IEMG data.
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Isamu Kajitani, Tetsuya Higuchi
Pages
214
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper explains the development of a myoelectric-controlled multi-functional hand prosthesis at the National Institute of Advanced Industrial Science and Technology (AIST). The myoelectric control of electric-powered prosthetic hand has been researched since the early 1960s. Although some prosthetic hands are already commercially available, most are single-function systems—only capable of performing a single function such as open-close—and are thus of limited usefulness in daily life. Therefore, we developed the multi-functional mechanical hand with almost the same size and weight as those currently available; however it is not limited to an open-close function but is also capable of a wrist flex-extend function.
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Hideki HAMAMURA, Kouji TSUJIMURA, Toshio TSUJI, [in Japanese]
Pages
215
Published: 2002
Released on J-STAGE: May 15, 2003
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The present paper proposes a new manipulator system for meal assistance. This system can switch the control commands to the system based on the results of the EMG pattern classification using the neural network. Experimental results show that the proposed system can be easily controlled via the EMG switch with no a forced and unnatural effort by the operator.
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Ryoji Soyama, Azuma Fukase, Sumio Ishii, Sadae Kuroiwa
Pages
216
Published: 2002
Released on J-STAGE: May 15, 2003
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“My Spoon” is a meal-assistance robot for physically handicapped people. It allows the users to eat on their own by grasping food and carrying towards the mouth. It was commercialized in May, 2002, after ten years of research. This paper shows how the operating interface was designed and presents the current research status.
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Susumu TACHI, Hiroshi HARASHIMA, Michitaka HIROSE, Naoki KAWAKAMI, Tak ...
Pages
217
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Telexistence is a concept that enables us to overcome the limitations of time and space by mutual presentation of a feeling of existence in a virtual sense. By using telexistence technology based on this concept, even if users are far apart from each other, they can meet and talk as if they share the same space and time. This is the goal of the development of the mutual telexistence communication systems as a natural extension of the telephone to the telexistence-videophone. In this paper, three types of telexistence communication systems are proposed for development, i.e., the telexistence communication booth for public facilities/offices, the telexistence-videophone for home use, and the wearable telexistence-videophone for personal use.
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—Methods for making stereoscopic images for TWISTER—
Junya Hayashi, Kenji Tanaka, Masahiko Inami, Ichiro Kawabuchi, Dairoku ...
Pages
218
Published: 2002
Released on J-STAGE: May 15, 2003
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We research on a face-to-face tele-communication system, TWISTER (Telexistence Wide-angle Immersive STEReoscope) through which people in distant locations can communicate as if they were in the same virtual 3D space. TWISTER displays azimuth difference images on cylindrical display for observer’s both eyes. In this report, we introduce the methods for making stereoscopic CG and real images for TWISTER.
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Kazuto KAMIYAMA, Terukazu Mizota, Hiroyuki KAJIMOTO, Masahiko INAMI, N ...
Pages
219
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Transmittance of tactile information is essential to telexistence. The sence of touch is divided into two categories, cutaneous sensation and deep sensation, so telexistence system of tactile sense should get and display these two sensations at a time. We developed the telexistence system using a vision-based tactile sensor and electro tactile display that could transmit necessary information of cutaneous sense. It is easy to integrate this system and system of deep sensation.
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—Measuring gaze communication capability of displays—
Tomoko IMAI, Dairoku SEKIGUCHI, Masahiko INAMI, Naoki KAWAKAMI, Susumu ...
Pages
220
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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We are investigating new criteria in rating communication systems that enable users to guess how far the user can communicate like face-to-face condition using the system. In this paper, we propose to use gaze perception measurement. Our user testing results show that the measurement can rate face-to-face condition, stereoscopic condition, and monoscopic condition quantitatively.
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Keita USHIDA, Takeshi NAEMURA, Hiroshi HARASHIMA, Jun ISHIKAWA
Pages
221
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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In this paper, we introduce an interactive crystal-ball-like display “i-ball 2”. i-ball 2 displays images in the transparent ball using a special optical system, and each user can also observe different image. The ball works as a track ball and the viewers can use it for interaction. i-ball 2 equips optical sensors and cameras too, and has a potential for various interactive experiences.
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Yasuaki KAKEHI, Takeshi NAEMURA, Hiroshi HARASHIMA, Keita USHIDA
Pages
222
Published: 2002
Released on J-STAGE: May 15, 2003
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We have been developing an interactive system: i-trace. i-trace illuminates the area where it is placed by drawing traces of those who are walking there unintentionally. Traces sparkle by crossing, the area is more illuminated and the sparkling tells they are sharing the area. In this paper, we describe the i-trace system design and report the exhibition of i-trace in “InfoComm Japan 2002” and “CAFE IN MITO”.
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Ryoko Ueoka, Koichi Hirota, Michitaka Hirose
Pages
223
Published: 2002
Released on J-STAGE: May 15, 2003
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We discuss the present state of our research of wearable computer for outdoor information display. We define two distinctions of it. One is for information display without area boundaries and another is for information sensor which records both internal and external information of a user. Our final goal of this study is to integrate these distinctive functions to develop context driven system for interactive communication tools in the future.
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Hiroaki Hashimukai
Pages
224
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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Internet technology and its infrastructure have transformed Information Systems into being Web based, mutually interconnected, flexible and scalable. Open information technology based on Internet technology and infrastructure has been expanding its application field. New web based de-facto standards, XML and Web Service, have become key technologies for manufacturing information systems. Manufacturing systems should utilize technology from open de-facto standards for mutual system connectivity and inter-operability.
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—Activation of Manufacturing Industry by Standardization—
Seiichi Shin
Pages
225
Published: 2002
Released on J-STAGE: May 15, 2003
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This paper presents a significance of XML for production systems. We founded a new consortium for utilization XML on Production System supported by Manufacturing Science and technology Center for activating industry by using XML.
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Hirohisa TEZUKA, Kimitaka ENDO, Takashi IMAEDA, Tetsuya YAMAMOTO, Tsut ...
Pages
226
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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In order to introduce network-based production system into manufacturing industries, we propose FDML(Field Data Markup Language) as a data format for circulating manufacture information, and develop Factory Data Center(FDC) which is a platform for the application construction and Factory Gateway(FA-GW) which can collect the information on the manufacturing spot efficiently. In this report, we explain basic functions of the Factory Data Center and Factory Gateway with experimental manufacturing environment.
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The Technology for Process Data Exchange via Internet
Li Zheng
Pages
227
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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The OPC is a technical specification that defines a set of standard industrial software interfaces based upon Microsoft’s OLE/COM technology. The application of the OPC specification makes possible data exchange and interoperability between field systems/devices, automation/control systems and manufacture management software. This paper introduces one of the latest OPC developments-OPC-XML, by which it is possible to exchange process data via internet.
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Masashi YAMAZAKI, Yasuyuki NISHIOKA
Pages
228
Published: 2002
Released on J-STAGE: May 15, 2003
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PSLX is a XML language for production management and scheduling. PSLX Consortium Japan released the candidate recommendation in March 2002. The candidate recommendation consists of four parts: Basic Concepts of Discrete Manufacturing, Common Object Models, XML Standard Specification, Term Definitions. This article presents the objectives of the consortium and the basic concepts of the XML specification.
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—Based on the Result of The 2nd ResCon—
K. Osuka, Exective Committee of Rescue Robot Contest
Pages
229
Published: 2002
Released on J-STAGE: May 15, 2003
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We have been proposed a new robot contest named Rescue Robot Contest. The first Rescue Robot Contest was held in Osaka in July 23 and 24, 2001. The second one was held in also Osaka in August 17 and 18, 2002. In this note, we introduce a brief history of the Rescue Robot Contests and discuss the future picture of the contest.
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—Version for the 2nd RESCON—
Hitoshi Yamauchi, Toshitaka Oki, Tetsuya Kinugasa, Koji Yoshida, Exec ...
Pages
230
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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In the Rescue Robot Contest(RESCON), a computer system is employed for smooth and effective progression of competitions and adequate evaluations. For second RESCON, the system was newly constructed with consideration to system portability and employing data base for uniquely management and later manipulation. In this paper, abstract of the RESCON system is presented.
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—Improvement in Reliability and Form of Operation—
Masamitsu KURISU, Exective Committee of Rescue Robot Contest
Pages
231
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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We have developed a sensor integrated rescue dummy named DAMIYAN to evaluate the rescue operations performed in the Rescue Robot Contest. However, DAMIYAN often fell into wrong condition in the 1st Contest held on July 2001 in Osaka. We conceded that DAMIYAN have low reliability. Therefor. various improvements were given to DAMIYAN in order to acquire higher reliability. This report describes those improvements and the operation form of DAMIYAN in the 2nd Contest held on August 2002 in Osaka. Also, DAMIYAN are evaluated on the basis of performance data obtained in the 2nd Contest.
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Yuichi Mino, Ken Fujikawa, Shoichiro Fujisawa, Shohachi Sonozaki
Pages
232
Published: 2002
Released on J-STAGE: May 15, 2003
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The Robot Research Institute of the Takamatsu National College of Technology made four rescue robots for the 2nd Rescue Robot Contest. These robots have functions for debris removal, and dummy rescue and transportation. In this paper, we will explain the mechanisms and functions of the three robots. We will also explain the contest strategy for cooperation among the three robots. Finally, we will report on our participation in the 2nd Rescue Robot Contest.
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Takashi Ishikawa, Hiroaki Konishi, Kazuhiro Ishida, Koji Edo, Yuuya To ...
Pages
233
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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The Kinki University Robot Club participated in the 2nd Rescue Robot Contest. Four robots are fabricated for the contest; the GAREKIN is useful to remove the debris, the KYU-JON is to relieve a rescue dummy(DAMIYAN), the HAKO-BUN is carrying the DAMIYAN to safety area and the KAPUSERU-KUN is playing a very important roll to protect the DAMIYAN from secondary disaster. This paper describes about functions of our fabricated robots and strategy for the contest.
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Takako Ichikawa, Tatsumi Hirata, Toru Yamamoto
Pages
234
Published: 2002
Released on J-STAGE: May 15, 2003
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In the last rescue robot contest, the rescue robot development group in Hiroshima University wrestled with desinging and making rescue robots. This paper describes strategies of our team in the contest to lifesave dummies in rescue activities, and shows three robots which are made from the viewpoint of their strategies.
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Tadahiro Kaneda, Tomoharu Doi, Junichi Tamura, Tetsuya Kimura
Pages
235
Published: 2002
Released on J-STAGE: May 15, 2003
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We examined robot learning menu in Rescue Robot Contest Jr. which included a contest, demonstration and a handicraft class. Pupils and junior high school students are made the target, and it has the importance of the thing that rescue system is developed to the participant and difficulty experienced. In the future, it will aim at raising the talented people who support this field in some way.
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Yoshiyuki Miwa
Pages
236
Published: 2002
Released on J-STAGE: May 15, 2003
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As a promising method to overcome an every-growing social crisis, a creation of practical community has been attracted. In this paper, for accomplishing the supporting aid for the co-creative activity, the significance of development of an implicit communication technique to cultivate trustful relation has been emphasized and also, for designing this communication technique, necessity of conceptual paradigm-shift from subject-object separative method to subject-object non-separative method has been discussed.
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Yoshihiro Miyake
Pages
237
Published: 2002
Released on J-STAGE: May 15, 2003
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The purpose of our research group is to realize “Co-creation System.” This co-creation means real-time coordination by co-emerging subjective space between different persons. Human communication with emergent reality like this needs two modes of processing and mutual constraint between them. One is explicit communication such as the exchange of message and the other is implicit embodied interaction such as sympathy and direct experience. By using self-referential dynamics in this duality, we are developing co-creative man-machine interface and media. We think that this new technology would be effective to recover human linkage, social ethics and mutual-reliability that had lost in IT society.
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Mariko SHIBA
Pages
238
Published: 2002
Released on J-STAGE: May 15, 2003
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The body is the form of human existence. I believe that the body is not an invariable physical existence, but a variable psychological one since its mere presence carries certain implications. Based on the findings of my creative dance sessions for psychiatric inpatients, my report discusses 1) one’s mind and body resonate with each other and amplify the feeling of vitality and energy, and 2) how a process of dance creation functions as process of regaining and discovering oneself.
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Shuji Hashimoto
Pages
239
Published: 2002
Released on J-STAGE: May 15, 2003
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Cultural evolution has been conducted by the continuous co-creations in the space of human communication. The advanced digital network will provide a new space for co-creation that includes computers as new intelligence. This paper discusses an embodied interface that has multi-modality and multi-channel accessibility to establish a new relation between human and machine for co-creation space with computers.
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Tomio Watanabe
Pages
240
Published: 2002
Released on J-STAGE: May 15, 2003
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Embodied Communication System for Mind Connection (E-COSMIC) is developed for supporting essential human interaction and communication. E-COSMIC consists of an embodied virtual communication system for human interaction analysis by synthesis and a voice-driven embodied interaction system. The system would form the foundation of mediated communication technologies as well as the methodology for the analysis and understanding of human interaction and communication for co-creation.
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Akira Hiraiwa, Kouki Hayashi, Hiroyuki Manabe, Toshiaki Sugimura
Pages
241
Published: 2002
Released on J-STAGE: May 15, 2003
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We propose the application that uses a humanoid robot as a communication terminal. The humanoid robot is a life size and movement moves, although be done appearance and have the whole body with the wheel movement system that boarded a chair each. We depend the humanoid robot, and propose about the service mode of the chat mode, the e-mail mode, and the autonomous mode. In the chat mode, the hand gesture of the humanoid robot by the operator is carried out with surface EMG signals recognition. In the future, the humanoid robot is conceivable in regard to the instrument of the telecommunications.
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Yasushi NAKAUCHI
Pages
242
Published: 2002
Released on J-STAGE: May 15, 2003
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We have developed social interaction robot that stands in lined people. When the robot was standing in line, we have found people who stand behind the robot. In this paper, we explain how we developed the robot as human behaves and discuss what kind of factors worked for leading the phenomena.
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S. Hirai, T. Suehiro, K. Kitagaki, T. Kotoku, K. Tanie
Pages
243
Published: 2002
Released on J-STAGE: May 15, 2003
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Functional modularization of robotic components, i.e. module as software, is important from the viewpoint of integration. However no appropriate methodology is established yet. This paper gives a discussion on a policy for modularizing robotic components through software technology.
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Mitsuhiro Shibata, Tomohiro Furuta, Takeo Oomichi
Pages
244
Published: 2002
Released on J-STAGE: May 15, 2003
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In this paper, we propose open architecture of robot’s control system, and introduce the adapting example to the autonomous mobile robot. We introduce idea of open architecture into robot’s control system and plan to reuse it. The basic structure of the control system consists of layered and parallel structure, and the signal is one way.
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Kazuhiro Kosuge
Pages
245
Published: 2002
Released on J-STAGE: May 15, 2003
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This article discusses how Open Robot Technology (Open RT) will lead to the development of daily life support systems. First, the research principle published by National Academy of Science in 1999 will be reviewed. Then, how daily life support systems could be constructed based on the Open RT.
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—Specification for Open Description applicable to various robots and devices—
Makoto MIZUKAWA, Takayuki OTSUKA, Yoshinobu ANDO
Pages
246
Published: 2002
Released on J-STAGE: May 15, 2003
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In order to use various I/O devices in PAS, it is important to have some guideline to describe their specifications. The platform consists of client-server and data-server using XML and JAVA was built for this purpose. In this paper, we propose the guideline for open-interface description.
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Hideaki Hashimoto, Fumio Ozaki, Junji Oaki, Hirokazu Sato, Nobuto Mats ...
Pages
247
Published: 2002
Released on J-STAGE: May 15, 2003
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Although home-use or service robots have to fulfill many complicated tasks, their prices should be reasonable to be accepted widely in the public. The keys for this requirement are making robot hardware and software modular, open, and standard. In this paper, we introduce fundamental concept of ORCA(Open Robot Controller Architecture) based on a distributed object-oriented technology.
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Mitsuichi Hiratsuka, Akiyoshi Saiki, Kazuhiko Onoue
Pages
248
Published: 2002
Released on J-STAGE: May 15, 2003
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Kawasaki Heavy Industries, Ltd. has developed “Open Architecture” PC based controller. The openness and flexibility of the PC based controller enable us to integrate the robot control with various sensors, network, and other peripherals, and to build robot systems in various fields. In this report, the features of the PC based controller are introduced, and several robot systems are presented.
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Norikatsu Shimizu, Kazuhito Hyodo, Hirokazu Noborisaka, Keijiro Yamamo ...
Pages
249
Published: 2002
Released on J-STAGE: May 15, 2003
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Noboru Hayasaka, Naoya Wada, Shingo Yoshizawa, Yoshikazu Miyanaga
Pages
250
Published: 2002
Released on J-STAGE: May 15, 2003
CONFERENCE PROCEEDINGS
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The current speech recognition system shows high performance if testing and training data are collected from the same environment and acquisition system. In this paper, we present a novel filtering technique on spectral time trajectory. This method improves recognition accuracy in spite of differences between training and testing conditions. The recognition performance of the proposed method has been evaluated.
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