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Volume 47, Issue 12
Displaying 1-9 of 9 articles from this issue
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Paper
Measurement
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Akira KAZAMA, Takahiko OSHIGE2011 Volume 47 Issue 12 Pages 591-596
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSIn steel strip surface inspection, high discrimination capability of extracting harmful defects by suppressing excessive detection such as harmless oil patterns is required. Firstly we estimate the relative intensity profiles along azimuth angle of polarized light reflection of surface objects. Secondly we execute experiments with rotating analyzer, finding that defects and oil patterns have different polarity of intensity to the normal surface in polarized images. Finally we bring the technique into practice as a real-time on-line inspection equipment and prove the effective function discriminating excessive-detection matters from real defects.View full abstractDownload PDF (1419K) -
Jun-ya TAKAYAMA, Sang-il KO, Shinji OHYAMA2011 Volume 47 Issue 12 Pages 597-605
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSIn wireless sensor network systems, localization of sensor nodes has been required, since positional information of sensing values can be used for many purposes. Consequently, range measurement, i.e. propagation time measurement technique has been demanded, in order to obtain accurate distance between sensor nodes. In this paper, novel RF propagation time measurement method has been proposed. This method employs two heterogeneous operation clocks, and based on basic or generalized vernier effect, it generates new virtual time resolution which is much finer than unique time period of operation clocks like vernier caliper. Concretely, when RF communication is performed between transmitter and receiver by using heterogeneous operating clocks each other, duplicated transmission of RF impulse signals has made up particular impulse receiving pattern which depends on amount of RF propagation time. Proposed method has been installed to experimental RF sensor nodes, and its validity has been confirmed. As a result, improved time resolution, that is, precise propagation time measurement has been realized by evaluating RF impulse receiving pattern.View full abstractDownload PDF (1168K) -
Kei NAKATSUMA, Hiroyuki SHINODA2011 Volume 47 Issue 12 Pages 606-613
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSIn this paper we propose a method of device position and orientation measurement in Two-Dimensional Communication networks. Two-Dimensional Communication technology enables devices placed on a thin sheet to achieve two key functions for ubiquitous networks, to communicate with each other and to receive electricity through the sheet wirelessly. For device localization on the sheet, the top conductor layer of the sheet has a 2D pattern of position codes. We develop a positioning sensor based on capacitance sensing that identifies the position code in the 2D conductor pattern under the sensor. We evaluate the accuracy of obtained position and orientation through an experiment using a prototype of our positioning sensor.View full abstractDownload PDF (3923K)
Control
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Sunseong CHOE, Kunihiko HIRAISHI, Koichi KOBAYASHI2011 Volume 47 Issue 12 Pages 614-620
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSIt is known that computation of bisimulaion for hybrid systems does not always terminate. In this paper, we propose a new notion of approximate bisimulations, called here “transition-approximation bisimulations”, for hybrid systems. Transition-approximation bisimulations are defined as bisimulations for approximate transition systems, and can be computed within finite steps. Also, we show a kind of optimality of obtained bisimulations. The effectiveness of the proposed approach is shown by a numerical example.View full abstractDownload PDF (742K) -
Gou NISHIDA2011 Volume 47 Issue 12 Pages 621-630
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSThis paper derives a field implicit Lagrangian system and a field implicit Euler-Lagrange equation. Field implicit Lagrangian systems are a global representation for higher order field equations derived from degenerate Lagrangians. Field implicit Euler-Lagrange equations are the local representation of field implicit Lagrangian systems. First, we derive the field implicit Lagrangian system under zero boundary conditions by using a Dirac differential. Next, we extend the field implicit Lagrangian system to the case of non-zero boundary conditions by using a Stokes-Dirac differential. A Stokes-Dirac differential is an extended Dirac differential in terms of integration by parts formula and Stokes theorem. Furthermore, we derive field implicit Euler-Lagrange equations from the Hamilton-Pontryagin principle.View full abstractDownload PDF (489K)
System Integration
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Shoichi MAEYAMA, Masaki NISHIMOTO, Keigo WATANABE2011 Volume 47 Issue 12 Pages 631-639
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSIn environments where a robot lives together with human, it is necessary for the robot to work objective tasks safely. Furthermore, the human activity should be respected more than the robot behavior. Therefore, we propose a human frequency map (HFM), which is a grid map using the observed human position and frequency in each term. The HFM can construct pathway information available for the robot because the human walked path seems to be safe in high possibility. A main pathway network based on Voronoi algorithm is automatically generated from the HFM. Then, the path of respecting human movements by using the HFM information can be planned so as to consider the difficulty of encounter between robot and human or consider the ease of passing each other. Experimental results applied to a path planning of a mobile robot are demonstrated to show the feasibility of the proposed HFM.View full abstractDownload PDF (1938K) -
Discoid Objects Handling by an Active-Fingertip GripperGen ENDO, Hiroya YAMADA, Shigeo HIROSE2011 Volume 47 Issue 12 Pages 640-647
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSThis paper describes a development of a light duty arm with an active-fingertip gripper for handling discoid objects. The system is potentially capable of sharing a workspace with human workers, assuming the use in a cell manufacturing system. We propose a new 3-DOF gripper mechanism with two fingers which symmetrically move in parallel and each finger has a 2-DOF fingertip of a cylindrical shape. We also develop a lightweight arm with a weight compensation mechanism which is composed of a non-circular pulley and a spring to minimize required actuator torque. After verification of basic performance, the hand-arm system successfully performs a pick-and-place task for a discoid object from horizontal placement to vertical placement and vice versa. We evaluated the positional error tolerance of the discoid object through hardware experiments. The results suggest that the developed hand-arm system has sufficient performance to achieve repetetive pick-and-place tasks where its cycle time almost equals to a human worker.View full abstractDownload PDF (3098K) -
Mitsuru HIGASHIMORI, Ryohei ISHII, Kenjiro TADAKUMA, Makoto KANEKO, Sy ...2011 Volume 47 Issue 12 Pages 648-655
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSThis paper describes an elasticity sensing system for a left ventricular tissue of small experimental animal. We first show the basic concept of the proposed method, where a ring shaped specimen is dilated by a balloon type probe with pressure based control and the elasticity is estimated by using the stress and strain information. We introduce the dual cylinder model for approximating the strengths of material of the specimen and the balloon. Based on this model, we can derive the Young's modulus of the specimen. After showing the developed experimental system, we show basic experiments using silicone specimens. We finally show a couple of experimental results using rat and mouse, where specimens with HFPEF (Heart Failure with Preserved Ejection Fraction) can be separated from normal specimens.View full abstractDownload PDF (3290K) -
Yukio HORIGUCHI, Kohei KURONO, Hiroaki NAKANISHI, Tetsuo SAWARAGI, Tat ...2011 Volume 47 Issue 12 Pages 656-665
Published: 2011
Released on J-STAGE: January 21, 2012
JOURNAL FREE ACCESSFor the purpose of developing a practical support tool for human workers engaged in industrial robot teaching, the work domain of position teaching is analyzed in terms of means-end relations. In this work domain analysis, a mechanical explanation model is introduced to capture the force-displacement relationship inherent in and thus informative on the work system. The model is utilized for the investigation of the robot operators' decisions in search of accurate operation positions and clarifies a basic strategy making use of a characteristic frame of reference in the search space. Based on the analytical results, a prototype display is developed that can provide effective information supports. The display presents the activity-related information in a way that affords the robot operators' strategic operations and thus can successfully reduce task time and operational errors in a teaching work.View full abstractDownload PDF (1579K)
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