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Volume 38, Issue 11
Displaying 1-13 of 13 articles from this issue
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Ziye LI, Keiji KUBO, Sadao KAWAMURA2002 Volume 38 Issue 11 Pages 915-921
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis study aims at clarifying the effects of internal force between human arms and a bicycle handle on the rotational stiffness of the bicycle handle. Rotational stiffness of the handle is determined by internal force stiffness and stiffness of human arms and body. We use the three-link model to analyze the rotational stiffness due to the internal force, and measure the rotational stiffness on level roads and slopes as a function of the internal force, Through theoretical calculation and experimental results, it is reveraled that the stiffness due to internal force is significantly large in comparison with the stiffness due to the muscle conrraction of arms and body. Moreover, the effective way to generate rotational stiffness of a bicycle handle by using internal force is proposed in this paper.View full abstractDownload PDF (1275K) -
Measurement of Golf Driver Swing FormMasaki HOKARI, Kajiro WATANABE, Yousuke KURIHARA, Yusuke SEGAWA, Takes ...2002 Volume 38 Issue 11 Pages 922-930
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is aimed at describing how to measure the sports form. The measurements can be used for the quantitative sports skill evaluation for example. Here we focus our discussion on the golf driver swing form which is most difficult to measure and is one of the difficult sport forms to skill up.
The presented measurement derived by the kinematic human body model analysis and the system developed by using the three dimensional rate gyro sensors set at the several body positins can catch the three dimensional rotation motions and the three dimensional translational motions of various parts of body. The system can measure the golf driver swing forms by various golfers correctly. Form the data caught by the measurement system, some skill criteria linguistically written in the internationally famous golf lesson text books are quantitatively expressed. The quantitative data for the criteria by a novice golf player and a middle class player show the reasonable and appropriate results.View full abstractDownload PDF (4754K) -
Yoshito SHIRAI, Yoshifumi KITAYAMA2002 Volume 38 Issue 11 Pages 931-937
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the paper, the posture sensor using weak electrolyte surface level that is considered environmental pollution for bipedal robot was proposed. The signal processing method that the weak electrolyte surface level detects by point electrode, and simulator for the weak electrolyte surface level behavior simulation was proposed. In addition, the posture sensor was made for trial purposes by using these technique and result. We combined with this posture sensor and two oscillatory gyros, and experimented as a sensor unit. As a result, the effectiveness of the posture sensor that used weak electrolyte could be proven.View full abstractDownload PDF (2279K) -
Non-Destructive Inspection of Concrete Structures by Ultrasonic Sensor Based on a Frequency AnalysisShogo TANAKA, Tomoyuki WAKUNAGA2002 Volume 38 Issue 11 Pages 938-946
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe authors previously developed two non-destructive inspection methods for concrete structures using an ultrasonic sensor. One was based on a multi-reflected wave model and the other on a stationary wave model. For the former, only a method in time domain was developed. The method required a cumbersome parameter adjustment in the use, since the fundamental reflected wave was difficult to extract from the raw sensor output contaminated with large noises. The paper proposes a method based on a frequency analysis in the framework of the multi-reflected wave model and demonstrates that cracks at any arbitrary depth from 40mm to 500mm are easily detected with the method.View full abstractDownload PDF (1587K) -
Tohru NAKANO, Osamu TAMURA, Hirohisa SAKURAI2002 Volume 38 Issue 11 Pages 947-951
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSNew high pressure type of hydrogen sealed cells is designed and developed for realizing the triple point of equilibrium hydrogen, which is possible to replace sample gas without destruction. The triple point of equilibrium hydrogen has been realized using a calorimetric method and the new sealed cells, which include ferric hydroxide as a catalyst for the ortho-para equilibration. The triple point of equilibrium deuterium has also been realized using a sealed cell fabricated at Istituto di Metrologia G. Colonnetti, which include gadolinium oxide as a catalyst for the ortho-para equilibration. Anomalous increases on heat capacity curves of each substance, which markedly disturb melting curves of the triple point, are observed at temperatures just below the triple point. In the case of equilibrium hydrogen, a reduction of the amount of the catalyst suppresses the anomalous increases and allows one to obtain more reliable melting curves of the triple point.View full abstractDownload PDF (2012K) -
Kazuhiko YAMASHITA, Masao SAITO2002 Volume 38 Issue 11 Pages 952-957
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA simple method is desired that can evaluate the function of the aged against tumbling. This paper proposes a toe-gap force measurement as an evaluation of the lower-limb function for this purpose. The effectiveness of the method is examined from the viewpoints of anatomy, EMG and general physical strength. In the proposed method, the clipping toe-gap force is measured between the great-toe and the digitus secundus. The toe-gap force in this situation, is generated by the collaboration of the flexor-tensor muscles of the lower-limb, which are supposed to have roles in the effort against tumbling. The measurement device has a structure similar to the dynamometer, and the toe-gap force is displayed by a mechanical structure. As to the physical strength against tumbling, 153 examinees were tested and the results were compared to the indication of the proposed device. It is seen that the measured toe-gap force is closely related to the physical strength of the lower-limb examined by the general examination. It is thus concluded that, the proposed method can be a practically useful method for evaluating quantitatively the function of the lower-limb of the aged against tumbling.View full abstractDownload PDF (3328K) -
Manabu KANO, Shouhei TANAKA, Hiroshi MARUTA, Shinji HASEBE, Iori HASHI ...2002 Volume 38 Issue 11 Pages 958-965
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA chemical process has a large number of measured variables, but it is usually driven by fewer essential variables, which may or may not be measured. Extracting such essential variables and monitoring them will improve the process monitoring performance. In the present work, a new multivariate statistical process control (MSPC) method based on independent component analysis (ICA) is proposed for realizing this concept. In addition, to cope with changes in operating conditions such as load changes, the proposed ICA-based MSPC is integrated with external analysis. The influence of changes in external variables, which represent operating conditions, can be removed from operation data by conducting external analysis. To investigate the feasibility of the proposed ICA-based MSPC and external analysis, the fault detection performance of ICA-based MSPC is evaluated and compared with that of univariate SPC and conventional MSPC using principal component analysis (PCA) by applying those methods to several monitoring problems. The simulation results have clearly shown the superiority of the proposed ICA-based MSPC over the other SPC methods and also the usefulness of external analysis.View full abstractDownload PDF (2129K) -
Hisahiro ITANI, Takeshi FURUHASHI2002 Volume 38 Issue 11 Pages 966-973
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper studies understanding of humans' teaching information by an autonomous mobile robot. Two steps of teaching information understanding are introduced in this paper. The first step is to ground the teaching information by reconstructing them through collection of data using the teaching information and acquisition of rules from the data. The second step is to extract the skill implicitly included in the teaching information for learning in a new environment. A simulation using a mobile robot is done to demonstrate the understanding of the humans' teaching information.View full abstractDownload PDF (1655K) -
Yoshiaki SHIMIZU, Atsushi KAWADA2002 Volume 38 Issue 11 Pages 974-980
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently multi-objective optimization (MOP) that can support agile and flexible decision-making has been highly required to deal with complex and global decision environment. We have proposed, in this paper, a new method relying on a prior articulation in tradeoff analysis among conflicting objectives. To overcome stiffness and shortcomings of the conventional methods, a novel approach has been developed by the virtue of simple subjective judgment and neural networks. Then incorporating the value function thus identified into the optimization procedure, we have given a general framework for solving MOP. Since the value function is decided by simple and relative responses that will be done separately from the searching process, DM's tradeoff analysis is not only very easy but also of small load compared with the conventional interactive methods. Another advantage is that we can carry out MOP based on the method viewed most suitable under present consideration. Finally, an illustrative application will be provided to outline the proposed method and verify its effectiveness.View full abstractDownload PDF (1461K) -
Akinobu FUJII, Akio ISHIGURO, Peter EGGENBERGER HOTZ2002 Volume 38 Issue 11 Pages 981-989
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generator (CPG). In contrast to these approaches in which monolithic CPG neural circuits are employed to control locomotion, in this paper a polymorphic neural circuit is employed instead. This allows the dynamic change of its properties according to the current situation in real time. This is because what we are intrigued with is not to simply generate stable locomotion patterns but to investigate how sensory information modulates locomotion patterns according to the current situation.
To this aim, the concept of neuromodulation with a diffusion-reaction mechanism of chemical substances called neuromodulators is introduced to modulate a CPG circuit. To verify the feasibility of this approach, this concept is applied to the control of a 3-D biped robot which is intrinsically unstable. In order to explore the parameters of the CPG circuit with a neuromodulation mechanism, an evolutionary, algorithm is employed in this study.
Simulation results show that the neuromodulation mechanism dynamically changes synaptic weights of the CPG circuit. This synaptic change leads to the modulation of oscillator outputs and creates the appropriate walking pattern according to the situation in real time. In addition, simulation results indicate that the proposed approach outperforms the monolithic CPG approach not only in terms of adaptability but also evolvability.View full abstractDownload PDF (3545K) -
Tomoyuki HIROYASU, Mitsunori MIKI, Masaki SANO, Yusuke TANIMURA, Masah ...2002 Volume 38 Issue 11 Pages 990-995
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a new model of distributed genetic algorithm, “Dual Individual genetic algorithms: Dual DGA”. In this algorithm, the subpopulation size is two. The specialized genetic operators which keep the diversity of the solutions and contribute the high searching ability are performed in each subpopulation (island). The advantage of this model is that this algorithm has fewer parameters that need to be specified than the traditional distributed genetic algorithm (DGA) has. Through the numerical example, it became cleared that Dual DGA has a higher searching ability compared to the traditional DGA. It is also inferred that the searching method of Dual DGA is different from that of fine-grained model, even when there are two individuals in each island.View full abstractDownload PDF (3322K) -
Keisuke ICHIKAWA, Trevai CHOMCHANA, Jun OTA, Hideo YUASA, Yusuke FUKAZ ...2002 Volume 38 Issue 11 Pages 996-1002
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, region-exploration planning algorithm is proposed for a mobile robot to measure shape and pose of several objects in a restricted working environment. The exploration task is modeled as a problem of generating minimal-cost path, in which a robot goes through several sensing positions that satisfy the following condition: any point in a working environment should be within a fixed distance from at least one corresponding sensing position. Both the number of the sensing positions and the path length should be minimized. The proposed algorithm has two characteristics; efficiency in calculation cost and adaptability to dynamic environmental changes. It can be realized with the combination of (a) distributed sensing-position arrangement algorithm by using a reaction-diffusion equation on a graph, and (b) generation of a Hamiltonian cycle that connects all sensing positions. The sensing positions dynamically change their locations in accordance with the recognized environmental situation. The calculation cost for path generation is shown to be O(N1.5), where N is the number of the sensing positions. The effectiveness of the proposed method is shown by simulations. Experiments are also made with a real robot in indoor environment with three objects.View full abstractDownload PDF (3117K) -
Hideki SANO, Yoshiki MIHARA2002 Volume 38 Issue 11 Pages 1003-1005
Published: November 30, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this note, we discuss on the stability of neural networks for image restoration. The neural network treated here is described by a system of linear ordinary differential equations. Our aim is to give the convergence rate of the neural network. In particular, it is shown that, in the case where an image consists of a great many pixels, the convergence rate is derived based on the one of the corresponding partial differential equation.View full abstractDownload PDF (405K)
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