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Volume 45, Issue 12
Displaying 1-15 of 15 articles from this issue
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Special Issue on The Next Generation in Man-Machine System Integration PART1
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[in Japanese], [in Japanese], [in Japanese], [in Japanese]2009 Volume 45 Issue 12 Pages 629
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSDownload PDF (145K)
Paper
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Ryota HAYASHI, Tomoyasu ISHIMINE, Kazumi KAWAHIRA, Yong YU, Showzow TS ...2009 Volume 45 Issue 12 Pages 630-637
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSIn this research, we focus on the method of rehabilitation with stretch reflexes for the hemiplegic upper limb in stroke patients. We propose a new device which utilizes electromagnetic force to evoke stretch reflexes. The device can exert an assisting force safely, because the electromagnetic force is non contact force. In this paper, we develop a support system applying the proposed device for the functional recovery training of the hemiplegic upper limb. The results obtained from several clinical tests with and without our support system are compared. Then we discuss the validity of our support system.View full abstractDownload PDF (1589K) -
Ken'ichi YANO, Eiichi OHARA, Satoshi HORIHATA, Takaaki AOKI, Yutaka NI ...2009 Volume 45 Issue 12 Pages 638-645
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSA robot that supports independent living by assisting with eating and other activities which use the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. The proposed system using adaptive filter estimates tremor frequencies with a time-varying property and individual differences online. In this study, the estimated frequency is used to adjusting the tremor suppression filter which insulates the voluntary motion signal from the sensor signal containing tremor components. These system are integrated into the control system of the Meal-Assist Robot. As a result, the developed system makes it possible for the person with a tremor to manipulate the supporting robot without causing operability to deteriorate and without hazards due to improper operation.View full abstractDownload PDF (1795K) -
—Primitive Static States with Full Independence of Work Environmental Conditions and Operator Skill Levels—Mitsuhiro KAMEZAKI, Hiroyasu IWATA, Shigeki SUGANO2009 Volume 45 Issue 12 Pages 646-653
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a work state identification method with full independent of work environmental conditions and operator skill levels for construction machinery. Advanced operated-work machines, which have been designed for complicated tasks, require intelligent systems that can provide the quantitative work analysis needed to determine effective work procedures and that can provide operational and cognitive support for operators. Construction work environments are extremely complicated, however, and this makes state identification, which is a key technology for an intelligent system, difficult. We therefore defined primitive static states (PSS) that are determined using on-off information for the lever inputs and manipulator loads for each part of the grapple and front and that are completely independent of the various environmental conditions and variation in operator skill level that can cause an incorrect work state identification. To confirm the usefulness of PSS, we performed experiments with a demolition task by using our virtual reality simulator. We confirmed that PSS could robustly and accurately identify the work states and that untrained skills could be easily inferred from the results of PSS-based work analysis. We also confirmed in skill-training experiments that advice information based on PSS-based skill analysis greatly improved operator's work performance. We thus confirmed that PSS can adequately identify work states and are useful for work analysis and skill improvement.View full abstractDownload PDF (2568K) -
Ryuji ITO, Kazuhiko TERASHIMA, Yoshiyuki NODA, Takahiro IWASA2009 Volume 45 Issue 12 Pages 654-663
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSIn this paper, in order to systemize the state analysis of a shipboard crane, the integrated computer simulator tool of rotary crane with ship behavior in consideration of ship sway is newly built. The integrated simulator of shipboard crane considering ship sway was realized by corporating an external force interface routine of a component with Fluid analysis software. The transfer control system is conducted by HSA (Hybrid Shape Approach) using STT (Straight Transfer Transformation) method. The proposal method was confirmed to be effective in order to reduce both sway of a ship and a load by the simulation analysis.View full abstractDownload PDF (1864K)
Paper
Measurement
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Hiromichi NAKASHIMA, Mitsuru KAWAMOTO, Masanori ITO, Toshiharu MUKAI2009 Volume 45 Issue 12 Pages 664-670
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSHuman beings and living things have the capability of identifying the directions of two or more sounds by a certain amount of correctness with only two ears. However it is difficult to give this capability to robots. Almost all the robots which have been proposed until now have three or more microphones in order to localize sound sources. In this paper, we propose a technique of estimating two kinds of directions, that is, vertical and horizontal directions, using a robot head consisted of two microphones, where the microphones of the robot head have reflectors working like the pinna.View full abstractDownload PDF (1042K) -
Mitsuhiro NAKAO, Kenji KAWASHIMA, Toshiharu KAGAWA2009 Volume 45 Issue 12 Pages 671-677
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSMeasurement-integrated (MI) simulation is a numerical simulation in which experimental results are fed back to the simulation. The calculated values become closer to the experimental values. In this paper, MI simulation using a standard k-ε model is proposed and applied it to steady airflows passing an orifice plate in a pipeline. The upstream corner tap pressure in simulation is compensated by using proportional controller or proportional-integral controller. The signal is fed back to the axial velocity control volume in vena contract. The effectiveness of the method was evaluated compared with the experimental results at downstream of orifice. The calculation time of proposed MI simulation is significantly reduced compared with ordinary simulation analysis.View full abstractDownload PDF (1014K)
Control
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Takahiro INOUE, Toshiki MATSUI, Shinichi HIRAI2009 Volume 45 Issue 12 Pages 678-687
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper presents a very simple way to design a robotic system having a visual feedback loop. Generally, human motor control is constructed on the basis of a largely-delayed dynamic system from the viewpoint of neurophysiological aspect and musculoskeletal structure. In particular, the optic nerve system potentially contains large delay time for image capturing and its processing that is absolutely imperative not only for human usual movements but also for robotic operations. Despite that, conventional robotic systems have been being explored for an extremely-fast processing system that is constructed on recent ultra-high-speed cameras. This study elaborates on the stability of soft-fingered manipulation on a situation at which enormously large time-delays exist. In addition, we show that, even in that case, the design method for controlling a target object grasped by a two-fingered robotic hand can be simply described. Finally, we say that the large time-delay system is an advantage architecture for achieving refined movements of humans and robots.View full abstractDownload PDF (1868K) -
Hiroki KAWAKAMI, Toru NAMERIKAWA2009 Volume 45 Issue 12 Pages 688-695
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper deals with cooperative target-enclosing problem for swarms of vehicles with dynamic network-topology. First, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-enclosing strategy based on consensus seeking with dynamic network-topology. In proposed strategy, at least one vehicle has to acquire the states of target-object. Furthermore, we prove that convergence speed of each vehicle is independent of network-topology. To analyze the convergence of target-enclosing behavior under dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.View full abstractDownload PDF (1430K) -
Mitsuo HIRATA, Takahiro KIDOKORO2009 Volume 45 Issue 12 Pages 696-702
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSWe have proposed a design method of feedforward input that does not excite high frequency resonance modes based on a final-state control (FSC). However, for a long span motion, the number of steps of feedforward input tends to be higher, and the final-state control method may not produce a correct solution because of numerical conditions. In this paper, we propose a new design method of the final-state control for the long span motion. The amount of calculation is reduced to have time intervals in which the feedforward input is a constant or zero. The effectiveness is shown by simulations.View full abstractDownload PDF (882K) -
Jun'ichiro KAWAGUCHI, Yoshikazu MIYAZAWA, Tetsujiro NINOMIYA2009 Volume 45 Issue 12 Pages 703-710
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper focuses on design and evaluation of a flight control law based on the hierarchy-structured dynamic inversion approach, where a general fixed-wing aircraft system is decomposed into four small subsystems according to the time scales inherent in the dynamics and dynamic inversion is applied to each subsystem. The hierarchy-structured dynamic inversion approach considerably simplifies the flight control design and also features universal design of flight control systems through real-time utilization of the vehicle's 6DOF simulation model on board. In this paper, the outline of the proposed approach is presented in the first place followed by a numerical simulation using the highly reliable ALFLEX flight simulation model to ensure the validity of the approach. A root sum square (RSS) analysis is finally conducted to guarantee robustness against wind conditions and some influential parameters.View full abstractDownload PDF (1143K) -
Takayuki WADA, Yasumasa FUJISAKI2009 Volume 45 Issue 12 Pages 711-716
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper presents a probabilistic cutting plane technique for solving a robust feasibility problem which is to find a solution satisfying a parameter-dependent convex constraint for all possible parameter values. The proposed algorithm employs random samples of the parameter and maximum volume ellipsoid centers. It is shown that the numbers of updates and random samples are polynomials of the problem size, where the numbers are much smaller than those of the other randomized algorithms, especially the probabilistic cutting plane method based on analytic center. This feature of the algorithm is illustrated through a numerical example.View full abstractDownload PDF (421K)
Systems and Information
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Ayuko IBE, Manabu GOUKO, Koji ITO2009 Volume 45 Issue 12 Pages 717-723
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThe present paper proposes a multiple step discrimination method to determine single and combined movements intended by an amputee from surface electromyogram (EMG) signals. Most previous approaches to the discrimination of movement using EMG signals have been restricted to single joint movements. Our approach enables the amputee's intended movement to be determined from among four single and two combined limb functions using an initial rise zone 125 msec long. Experiments with ten subjects and four electrodes demonstrated that our proposal determines six forearm movements at a discrimination rate exceeding than 90%.View full abstractDownload PDF (1638K) -
Taro SHIBANOKI, Keisuke SHIMA, Toshio TSUJI, Takeshi TAKAKI, Akira OTS ...2009 Volume 45 Issue 12 Pages 724-730
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a novel variable selection method based on the KL information measure, and applies it to optimal channel selection for bioelectric signal classification. Generally, the accuracy of classifcation for bioelectric signals is greatly influenced by measuring positions of the signals as well as individual physical abilities of a user. Therefore, it is effective for classification to select optimal positions for each user in advance. In the proposed method, the probability density functions (pdfs) of measured data are estimated through learning of a multidimensional probabilistic neural network (PNN) based on the KL information theory. Then, a partial KL information measure is newly defined to evaluate contribution of each dimension in the data. The effective dimensions can be selected eliminating ineffective ones based on the partial KL information in a one-by-one manner. In the experiments, the proposed method was applied to EMG electrode selection with six subjects (including an amputee), and the effective channels were selected from all channels attached to each subject's forearm. Experimental results showed that the number of channels was reduced with 36.1±12.5 [%], and the average classification rate using selected channels by the proposed method was 98.99±1.31 [%]. These results indicated that the proposed method is capable to select effective channels (optimal or semi-optimal) for accurate classification.View full abstractDownload PDF (1132K) -
Masakazu TAKAHASHI, Yoshinori FUKUE2009 Volume 45 Issue 12 Pages 731-740
Published: 2009
Released on J-STAGE: November 03, 2011
JOURNAL FREE ACCESSThis paper proposes a Retrospective Computerized System Validation (RCSV) method for Drug Manufacturing Software (DMSW) that relates to drug production considering software modification. Because DMSW that is used for quality management and facility control affects big impact to quality of drugs, regulatory agency required proofs of adequacy for DMSW's functions and performance based on developed documents and test results. Especially, the work that explains adequacy for previously developed DMSW based on existing documents and operational records is called RCSV. When modifying RCSV conducted DMSW, it was difficult to secure consistency between developed documents and test results for modified DMSW parts and existing documents and operational records for non-modified DMSW parts. This made conducting RCSV difficult. In this paper, we proposed (a) definition of documents architecture, (b) definition of descriptive items and levels in the documents, (c) management of design information using database, (d) exhaustive testing, and (e) integrated RCSV procedure. As a result, we could conduct adequate RCSV securing consistency.View full abstractDownload PDF (2672K)
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