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Volume 53, Issue 1
Displaying 1-15 of 15 articles from this issue
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Special Issue on System Integration with Broader Perspectives :
Exploring Frameworks for System Design to Offer Effective Solutions for Issues with Highly Sophisticated Systems
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Yasuhisa HASEGAWA, Fumihito ARAI, Kosuke SEKIYAMA, Masahiro NAKAJIMA, ...2017 Volume 53 Issue 1 Pages 1
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSDownload PDF (507K)
Paper
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Takaomi KOMURA, Seiga KIRIBAYASHI, Keiji NAGATANI2017 Volume 53 Issue 1 Pages 2-12
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSIn order to perform surveillance missions in case of natural/human-caused disasters, all-terrain mobile manipulators are useful tools for rescue crews' safety. It has a capability to traverse on rough terrain, and to handle objects with the mounted manipulator. For example, the mobile manipulator “Packbot” opened a door in Fukushima Daiichi Nuclear accident in 2011. However, it is well-known that it requires a lot of skill for its teleoperation, particularly in case of missions in narrow and rough terrain. Based on our ex-researches, we found the following issues: (1) According to the rough terrain, the pose of the manipulator is not fitted with the inertial frame of reference, and it prevents an intuitive teleoperation. (2) In narrow areas, the manipulator contacts with the environment because of the lack of environmental information. (3) Communication delay makes more difficult for teleoperation. To solve the above issues, in this research, we implemented a base-altitude synchronous type master-slave controller for the issue (1), teleoperation system with vision and 3D information for the issue (2), and anti-communication-delay-system with 3D point cloud information for the issue (3). To evaluate the above system, we conducted some experiments with non-skilled operators. In this paper, we describe the above system implementation, and report the experimental results to evaluate the above system.View full abstractDownload PDF (4242K) -
Akira INOMATA, Yoshiyuki NODA2017 Volume 53 Issue 1 Pages 13-21
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSThis paper is concerned with an advanced transfer trajectory planning method of an overhead traveling crane. In the overhead traveling crane, it is required to reach the target position in a short time, avoid the obstacles, and suppress the load sway. Therefore, the trajectory planning method using the optimization problem with considering input and state constraints in the overhead traveling crane, obstacle avoidance and vibration suppression is proposed in this paper. In the proposed approach, the trajectory optimization for 2-Dimensional transfer machine proposed by the authors in the previous study is applied to the trajectory planning of the overhead traveling crane. And, it is discussed how to give the cost function in the trajectory optimization with reducing the fluctuating cart motion. In the previous study, it takes a long time to derive the reference trajectory because of many variables in the trajectory optimization. Therefore in this study, we also proposed the fast solution for optimizing the trajectory by giving a feasible initial trajectory. The effectiveness of the proposed transfer trajectory planning method is verified by simulations and experiments of the overhead traveling crane.View full abstractDownload PDF (1922K) -
—Design of Wire Suspension Manipulator for Positioning of Probe—Mitsuru ENDO, Mai ENDO, Takao KAKIZAKI, Yasuhiro NAKAMURA, Tsukasa HEB ...2017 Volume 53 Issue 1 Pages 22-30
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSAfter the great East Japan earthquake, explosions at TEPCO Fukushima 1st nuclear power plant and planned power outages change an attitude to power generation. As a result, a lot of large scaled solar power plants termed Mega-solar has been built. To maintain solar panels, inspection of a fault solar panel is important. However, previous methods to find a fault solar panel require removal of panels from the power plant and large manpower. In this study, automatic inspection system for solar panels utilizing multiple robots is proposed. The system consists of cooperative multiple robots, which have a wire-parallel mechanism for positioning an object or a sensor-prove on a surface of a solar panel. For realization of on-site inspection, a cooperative robot system using wire-parallel mechanism is proposed in this paper. Furthermore, based on vector closure and manipulability, a method to optimize a design of a manipulator using the genetic algorithm is described.View full abstractDownload PDF (1824K) -
Takeshi TANABE, Hiroaki YANO, Hiroo IWATA2017 Volume 53 Issue 1 Pages 31-40
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSThis paper describes the properties of proprioceptive sensations induced by an asymmetric vibration using a vibration speaker-type non-grounded haptic interface. We confirm that the vibration speaker generates a perceived force that pulls or pushes a user's hand in a particular direction when an asymmetric amplitude sound signal that is generated by inverting a part of a sine wave is input. We conducted 5 psychophysical experiments and evaluated the subjects' physical properties in order to apply this phenomenon for a variety of applications. As a result, we confirmed that the vibration speaker was able to control both the direction and magnitude of the reaction force by changing the input signal.View full abstractDownload PDF (1944K) -
Keisuke SHIMA, Hiroaki HANAI, Koji SHIMATANI2017 Volume 53 Issue 1 Pages 41-47
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSIn a previous paper, the authors outlined a technique for motion communication involving functional electrical stimulation in combination with estimation of the user's intended motion. As this approach does not allow information on dynamic motion to be conveyed, however, the authors here outline a technique for the communication of such information between individuals using a state transition model in combination with electrical stimulation and classification of patterns. The method's incorporation of a electrical stimulus-joint angle model also enables the communication of patterns observed in muscle contraction. Experiments performed to verify the applicability of the approach indicated favorable discrimination rates and successful transmission of information on dynamic motion between users, thereby confirming the system's validity.View full abstractDownload PDF (1869K) -
Daisuke HASHIMOTO, Osamu FUKUDA, Go SOUDA2017 Volume 53 Issue 1 Pages 48-55
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSTo investigate the relation between non-invasive bioelectrical impedance values and Beef Marbling Standard (BMS) numbers measured from the surface of the sirloin part in live fattening cattle within one month before slaughter, the extracellular resistance (Rex), intracellular resistance (Rin), and the cellular membrane capacitance (Cm) were calculated using the measurement values in bioelectrical impedance analysis (BIA). The non-invasive BIA approach showed lower estimation capability than the invasive BIA approach. However, significant correlation was found among Rin and BMS values. This result indicates that non-invasive BIA might be useful to estimate the BMS number in live fattening cattle. Further development of this measurement technique is necessary.View full abstractDownload PDF (1639K) -
Daisuke NAKANISHI, Yasuhiro SUGIMOTO, Yuichiro SUEOKA, Koichi OSUKA2017 Volume 53 Issue 1 Pages 56-63
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSA robot driven by McKibben pneumatic actuator (MPA) generates stable motions in spite of its simple control and simple actuator model. In this paper, we investigate a relation between the design of a robot driven by MPA and the joint stiffness, based on mechanical analysis and simulation. After deriving a singular point of the joint stiffness, we confirm that qualitative relation between input pressure and the joint stiffness is reversed where the hip position is higher than the singular point. Moreover, we analyze the influence of MPA properties and geometric parameters on the singular point. From the results, we confirm that the significant posture disappear by increasing the radius of the knee-pulley. Finally, we verify the validity of these analytical results via numerical simulations.View full abstractDownload PDF (1157K) -
Sho MAKINO, Vannak YIM, Koichi KOGANEZAWA2017 Volume 53 Issue 1 Pages 64-72
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSThis paper shows a prosthetic wrist joint that has 3 rotary axes controlled in an antagonistic actuation similar to a human musculo-skeletal system. Some dexterous actions of human arm toward external entities are much attributed to adjustability of its joint stiffness. The joint stiffness of human articulations or of those of any other vertebrate animals is adjustable due to an antagonistic structure of their musculoskeletal system and non-linear elasticity of individual muscle. In our previous studies we have developed a mechanical system that mimics the human musculoskeletal system, in which muscle-like actuators: ANLES (actuator with non-linear elastic system) was developed and deployed in antagonistic configuration to control rotation angles and rotary stiffness of a multi-DOF robotic joint. This paper shows a subsequent development of the 3 DOF wrist joint. Main points of refinement are as follows. First is a downsizing to serve it as a forearm prosthesis having an active wrist joint, second is an extension of stiffness adjustable range especially that of inner/outer rotation.View full abstractDownload PDF (1962K) -
Kensuke HATA, Takashi INOUE, Masayuki KATAYAMA2017 Volume 53 Issue 1 Pages 73-79
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSVarious operation models of ionic polymer actuators have been reported. In ionic polymer actuators including saturated ionic liquid, we discovered the phenomenon that a liquid exuded from a cathode during the voltage application. We can't explain this phenomenon using the reported operation models so far, because other studies have reported on the movement of the ion, but they have not focused on liquid movement. Here, we investigated the behavior of ionic liquid during the voltage application. We observed not only the liquid movement but also size of the course and the movement properties. From these results, we confirmed that cations and anions of ionic liquid moved to a cathode by the electroosmotic flow and propose this as a new operation model.View full abstractDownload PDF (1448K) -
Satoru MATSUOKA, Tetsuo SAWARAGI, Yukio HORIGUCHI, Hiroaki NAKANISHI2017 Volume 53 Issue 1 Pages 80-89
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSIn recent automated production lines, it is important for industrial robots to recover from unexpected errors autonomously without intervention by human operators. In this paper, a hierarchical planning system that realizes autonomous error recovery of robots is proposed and demonstrated, and its effectiveness in cooperative work is verified. In order to realize a variety of flexible error recovery functions, a partial order planning scheme as well as a re-planning capability utilizing semantic information on the production environment are proposed.View full abstractDownload PDF (1684K) -
Ryosuke KAWAMURA, Noriko TAKEMURA, Kosuke SATO2017 Volume 53 Issue 1 Pages 90-98
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSIn this study, we propose the method for estimating the user's fatigue due to mental load like a desk work based on information of facial expressions. It is, however, difficult to estimate the mental fatigue using ambient sensors information because of a small change of user's appearance. Thus the user's mental fatigue is measured based on his/her facial expression during speech. As experimental results, recognition rate base on facial expression during speech marks higher rate (at most 89%) than that based on facial expression without speech. In addition, we conduct the another experiment for different types of workload, it is confirmed that proposed method is effective for various fatigue.View full abstractDownload PDF (2041K)
Short Paper
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Susumu HARA, Nobuo FUKUWA, Toshihiro NODA, Takashi TASHIRO, Jun TOBITA ...2017 Volume 53 Issue 1 Pages 99-101
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSThis short paper makes a quick note on an attempt of novel experience-based program on vibration engineering lecture in Nagoya University. In the program, the building to perform the lecture is vibrated freely. The building “Disaster mitigation research building (Gensai-kan)” possesses the base isolation system and can be vibrated by using the oil jack loading system. Students experience real motion of five-floor building free vibration from both inside and outside of the building. The goal of this attempt is that the students understand the vibration phenomenon and its isolation technique effectively by the combination of real experience, simulations, and theoretical explanation.View full abstractDownload PDF (1235K)
Paper
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Tadamichi MAWATARI, Kensuke TSUCHIYA2017 Volume 53 Issue 1 Pages 102-111
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSThis study considers highly-skilled handwork in which skilled worker's motion is transferred to certain orbital paths on workpieces, and establishes an evaluation method of the quality of the handwork. For the handwork of which the requirements and evaluation criteria are not clearly specified, a methodology is introduced to compare individual's handwork with that of skilled worker. Then, taking into consideration that all pieces of information of the handwork are contained in the orbit in the space where the result of work is reflected, a comparison method based on orbits is introduced. Furthermore, being based on the view point of differential geometry that a three-dimensional orbit can be uniquely determined by curvature and torsion, a mathematical model is developed to evaluate degrees of spatial similarity of orbits by curvatures and torsions. This mathematical model then introduces “degree of distribution similarity”, an index to quantitatively evaluate similarities of actual work. Then, this evaluation method is applied to shapes of characters of Japanese calligraphy to confirm the method's validity.View full abstractDownload PDF (1266K) -
Kohei NATORI, Takatoshi SUDA, Toru NAMERIKAWA2017 Volume 53 Issue 1 Pages 112-120
Published: 2017
Released on J-STAGE: January 22, 2017
JOURNAL FREE ACCESSIn this paper, we propose a novel parameter initial value estimation method of Lithium-ion battery for state of charge (SOC) estimation by using Local Regression Modeling (LRM) and Vector Fitting (VF). To estimate SOC accurately using nonlinear extended Kalman filter, an adequate set of initial parameters of the battery model are required. Therefore, we apply LRM and VF method to derive the initial parameters and the battery model from database of the frequency response. In addition, we show the SOC estimation method using EKF by determined initial value and model. Finally, the effectiveness of the proposed method is shown via several experimental results.View full abstractDownload PDF (2015K)
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