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Volume 50, Issue 1
Displaying 1-15 of 15 articles from this issue
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Special Issue on Human Centric System Integration
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[in Japanese], [in Japanese], [in Japanese], [in Japanese], [in Japane ...2014 Volume 50 Issue 1 Pages 1
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSDownload PDF (117K)
Paper
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Rina SAITO, Makoto SUZUKI, Takashi MAENO, Hiroyuki MAYAMA, Yoshimune N ...2014 Volume 50 Issue 1 Pages 2-8
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSThe tactile texture of water is not necessarily favourable. When 20 subjects applied 0.1mL of water and five thickener solutions to artificial skin, the favourability score for water was the lowest among the six liquids. This unfavorability is caused by non-smooth and stick-slip feel, which reflect the increase of friction coefficient and their drastic changes on wet skin. The Stribeck plots show that the rupture of a fluid film on human skin can induce the stick-slip feel during application. These findings could potentially be applied for the design of cosmetic products and cleansing products.View full abstractDownload PDF (888K) -
Kentaro OYAMA, Kenichiro NONAKA2014 Volume 50 Issue 1 Pages 9-17
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSIn this study, a model predictive control (MPC) for parking control and obstacle avoidance is proposed. We transformed the nonlinear dynamics into two linear subsystems using time-state control form (TSCF). Both steering and travel range constraints can be considered using 1st order approximation with enough accuracy. The parking problem may include a switching movement where the switching point should be optimized. To resolve this problem, the switch back point can be determined automatically based on the framework of MPC. In addition, to realize the obstacle avoidance, we introduce an artificial potential field into the objective function of MPC. The performance of proposed method is verified through scale model car experiments of a parking problem with obstacles.View full abstractDownload PDF (3077K) -
Hiroaki MATSUDA, Tetsuo TOMIZAWA, Shunsuke KUDOH, Takashi SUEHIRO2014 Volume 50 Issue 1 Pages 18-23
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSThis paper proposes a design of highly reusable hobby servo RTCs (Robotics Technology Component specified by OMG). It is important for ensuring actual reusability of an RTC to define a good design of the RTC which could be commonly used in many kinds of use cases. Command-control is a popular method in hobby servo. Thus we have designed the structure of hobby servo RTCs to resemble the control method. The RTC has two inports and one outport of TimedLongSeq type which emulate a serial line for the control command. In order to evaluate the effectiveness of the design, we implemented the following RTCs and RT systems: we implemented an RTC for a command-type hobby servo based on the proposed design, and built two RT systems, a robot arm and a laser scanner, making use of the RTC. Next, we implemented RTCs for different types of servos, another type of command-control servo and a PWM-control servo, to show the reusability of our design. Finally, we built platforms for humanoid robots using these RTCs to confirm the effectiveness of our design concept in complicated applications.View full abstractDownload PDF (2487K) -
Satoru NAKAI, Akio NODA2014 Volume 50 Issue 1 Pages 24-29
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSProgrammable logic controller (PLC) is widely used for sequence control in industrial automation system, and its program is mostly written in ladder diagram. In recent years, as processing performance of PLC has improved remarkably, ladder diagram becomes larger and more complex so that it is not easy to analyze and find the bugs or cause of unexpected control. To solve this problem, this paper describes how to apply a technique of program slicing to ladder diagram. In ladder diagram, data dependence almost represents control dependence, and we define slicing of ladder diagram as extracting directed graph of data dependence. But normally it tends to be divergent because ladder diagram is large and complex. So we focus on the directed graph composed only by frequently referenced data, which expresses the core of control structure, and we divide ladder slicing into three phases; extracting directed graph of data dependence only among frequently referenced data, slicing from start data to core structure, and slicing from core structure to the end destination data. The efficiency of this proposed method is shown through applying to actual ladder diagram analysis.View full abstractDownload PDF (1041K) -
Tatsuya NAGATANI, Akio NODA, Kenichi TANAKA2014 Volume 50 Issue 1 Pages 30-36
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSGenerally, when we repair or replace a robot, we re-teach each operation points. Because we didn't have practical tools for correcting errors happened by them. We introduce tools for recovery teaching points by the measuring location and pose of objects in the robot coordinate system. Objects are works, hands or partner robots. These tools reduce works for recovery or re-produce a production system.View full abstractDownload PDF (2307K) -
Masachika FUTAMATA, Kentaro NAGATA, Kazushige MAGATANI2014 Volume 50 Issue 1 Pages 37-43
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSElectromyogram (EMG) is a kind of biological signal that is generated because of excitement of muscle according to the motor instruction from a brain. We have been experimentally developing the real-time hand motion recognition system by using 4 channels forearm SEMG signals. In our system, in order to classify measured SEMG SVM (Support Vector Machine) that has higher discriminability is used. Usually SVM is used as a non-linear classifier. However, In the conventional system that we developed, we used a canonical discriminant analysis (CDA) method. CDA method is based on linear discriminant function, and it has shown good experimental results. So, we think linear SVM also has good separate performance. Than before, these discussions are not enough. Therefore, we developed real-time hand motion recognition system that uses linear SVM or non-linear SVM as a discriminant function, and we have compared the discriminant ability between linear SVM, non-linear SVM. In this report, we will describe about the results of this experiment.View full abstractDownload PDF (682K) -
Hideaki AOKI, Hideyuki NAGAO, Koichi KOGANEZAWA2014 Volume 50 Issue 1 Pages 44-50
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSIn this paper, we propose a method to discriminate fingers activity and wrist activity from electromyogram (EMG) picked up from surface electrode. Generally it is difficult to pick up the EMG that comes from muscle fibers of the finger flexors because they are located at the substantially deep layer of the forearm. We focus on difference between the EMG that comes from the muscle fibers located in the deep layer and the shallow layer in two fold. One is the difference of frequency distribution, and the other is the difference of their EMG amplitude due to whether it is picked up by the wide distance differential electrodes or by the narrow distance ones. We introduce the Recursive Running DFT to discriminate on the first feature on real-time, and we also develop a double surface differential electrode to pick up two channels EMG with different length of electrodes simultaneously to find the second feature. We found the combination of these features allows us to discriminate a fingers activity, a wrist activity and their combined activity. The experiments with five subjects revealed the effectiveness of the proposed method. The method is calculated so fast that it is expected to serve it for real-time control of multi-functional forearm prosthesis.View full abstractDownload PDF (1629K) -
Toshihiko FUKUSHIMA, Kazuyuki HYODO, Michihiro KAWANISHI, Tatsuo NARIK ...2014 Volume 50 Issue 1 Pages 51-57
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSPassive dynamic walker has excellent energy efficiency, but has problems keeping stable gait in real environments. Especially, it is sensitive to changes in slope angle. To overcome this problem, past researches altered foot shape with respect to slope angle to achieve gait stability. However, this poses a new problem of adaptivity. In this paper, we propose foot shape design which can robustly walk in multiple slope angles. We optimized foot shape by genetic algorithm and discussed how it improved its gait performance.View full abstractDownload PDF (1614K) -
Wataru KUMAHARA, Gakuto MASUYAMA, Yusuke TAMURA, Atsushi YAMASHITA, Ha ...2014 Volume 50 Issue 1 Pages 58-67
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSThis paper proposes a new navigation method that makes a mobile robot move in dynamic unknown environments. Past dynamic motion planning methods are applied to low pedestrian density. If the robot is surrounded by a lot of pedestrians, it becomes difficult that the robot breaks away from the crowd. To overcome this problem, we introduce a new potential field method that makes the robot follow and avoid pedestrians without map information. The robot can move smoothly by joining a pedestrian flow that is headed in a leading vector. The leading vector indicates about the direction of the destination. In addition, the leading vector is updated by local path information, such as an informatory sign in a station, and pedestrians. Simulation results show the effectiveness of the proposed method.View full abstractDownload PDF (1999K)
Paper
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Takeshi TSUCHIYA2014 Volume 50 Issue 1 Pages 68-74
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSAn onboard real-time optimal control method is applied to the guidance of an aircraft in the interest of balancing safe and efficient flight. The aircraft, which has a laser LIDAR (LIght Detection And Ranging) system to detect turbulence in the forward region, is given the real-time optimal control to avoid the region. The real-time optimal control algorithm in this study is based on Receding Horizon control method with Neighboring Extremal method. The Neighboring Extremal method, which solves the change in the optimal solution into the variation of the problem definition, can be applied only in the case that the variation is very small, and it is difficult to efficiently deal with inequality constraint conditions in the problem. This paper aims to resolve these issues. To confirm the effectiveness of the proposed algorithm, the avoidance flight from the turbulence that the aircraft encounters is numerically simulated, and satisfactory results are obtained.View full abstractDownload PDF (1231K) -
Masakazu SATO, Kazuyuki NAGAI, Satoru SAKAI2014 Volume 50 Issue 1 Pages 75-81
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSIn this paper, we propose a pseudo-passivity based control on polynomial space. First, we identify a model of a liquid sloshing system using a robotic vision and convert the model into a physical system on a polynomial space. Second, we design a passivity based control with a state-dependent gain to stabilize the horizontal surface asymptotically on polynomial space. Finally, we confirm the validity of the proposed method by visual feedback for the liquid sloshing system.View full abstractDownload PDF (1309K) -
—Integration of Heterogeneous Sensor Data Based on 4W—Yukihiro NAKAMURA, Shin-yo MUTO, Makoto MIZUKAWA, Manabu MOTEGI, Toru ...2014 Volume 50 Issue 1 Pages 82-90
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSIn this paper, we propose the framework for both the sensor introduction and information acquisition needed for service execution. First, the sensor class based on the acquisition capability of a sensor to the user information expressed by the format of 4W (Who, When, Where and What) is proposed. Then, the sensor requirements and combination are discussed. The method to integrate multiple 4W information with respect to each individual is also proposed for the common function of the network robot platform. The field experimental results are shown to confirm the effectiveness of the framework for information acquisition needed to execute the service among multiple areas.View full abstractDownload PDF (3612K) -
Yuzo MAESHIMA, Satoru SAKAI2014 Volume 50 Issue 1 Pages 91-100
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSThis paper proposes a parameter identification method for hydraulic manipulators. First, the state-space equation of hydraulic manipulators is converted into a linear equation with respect to the physical parameters which are a set of unknown parameters such as the bulk modulus and the flow gain coefficients. Second, a new sequential parameter identification method is proposed based on the linear equation. Finally, the validity of the proposed method is confirmed via the model validation using an actual manipulator. By the proposed method, unlike the conventional methods with PSO or GA, it is possible to construct the nonlinear model whose response of the positions and the pressures are very close to those of the actual manipulator.View full abstractDownload PDF (4130K) -
Takayuki NAKAYAMA, Hideo FUJIMOTO2014 Volume 50 Issue 1 Pages 101-108
Published: 2014
Released on J-STAGE: February 05, 2014
JOURNAL FREE ACCESSAlthough the feedback error learning (FEL) controller had been broadly applied to the robot manipulation problems, the complete proof of the asymptotic stability of the controlled system has not been given clearly. In the previous work, it was made clear that the asymptotically stable trajectory tracking can be achieved by introducing the saturated proportional feedback or third-order position error feedback into the feedback control loop in the FEL controller. However, in the practical robot manipulation, the simple linear PD feedback controller has been extensively used rather than such the nonlinear ones. Thus, this paper proposed a new FEL controller which consists of the linear PD feedback and the adaptive parameter estimation law composed of the off-line regressor matrix and saturated error signals. The asymptotic stability of the controlled system was proven along the LaSalle's invariance theorem for the non-autonomous system.View full abstractDownload PDF (443K)
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