The 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.

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In 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.

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This 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.

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Programmable 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.

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