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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shuxiang Guo T. Fukuda K. Asaka Department of Intelligent Mechanical Systems EngE28099g Kagawa University Takamatsu Japan Department of Micro System Engineering University of Nagoya Nagoya Japan National Institute for Advanced Industrial Science and Technology Ikeda Osaka Japan

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator to realize swimming motion with 3 DOF. A biomimetic fish-like microrobot using an ICPF actuator as a propulsion tail fin and a buoyancy adjuster for a microrobot swimming structure in water or aqueous medium has been developed. The overall size of the underwater microrobot prototype shaped as a fish is 45mm in length, 10 mm in width and 4 mm in thickness. There is a pair of fins and a buoyancy adjuster. The characteristics of the underwater microrobot is measured by changing the frequency and amplitude of input voltage. The experimental results indicate that the swimming speed of the proposed underwater micro robot can be controlled by changing the frequency of input voltage; the moving direction (upward or downward) can be controlled by changing the amplitude and the frequency of input voltage.

关键词： Actuators Frequency Prototypes Voltage control Low voltage Safety Polymer films Servomechanisms Biomimetics Propulsion

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A new model of the visual feedback coordinate transformation in humans based on disturbance noise and feedback error that accounts for time delays

A new model of the visual feedback coordinate transformation...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Oyama K.F. MacDorman T. Maeda S. Tachi A. Agah Science and Technology (AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Intelligent Robotics Laboratory Graduate School of Systems Engineering Wakayama University Wakayama Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

An essential factor in understanding the motor learning capability of humans, is the coordinate transformation learning of the visual feedback controller. Although a number of learning models for the visual feedback controller have been proposed, none has been able to establish a definitive approach. In our previous work, we have suggested a learning model that uses disturbance noise and the feedback error signal to learn the human visual feedback controller's coordinate transformation. However, the model does not fully consider the time delay in the visual feedback control loop. This paper presents a modified learning model taking into account the time delay and the convergence properties of the model. Numerical simulations are presented to illustrate the effectiveness of the proposed approach.

关键词： Humans Delay effects Adaptive control Error correction Biological system modeling Feedback control Convergence Kinematics Intelligent robots Velocity control

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Positive utilization;excess quasiparticle injection in superconducting tunnel junction x-ray detector with quasiparticle trapping layers

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AIP Conference Proceedings 2002年第1期605卷 173-176页

作者： T. Nakamura M. Katagiri M. Ohkubo H. Pressler H. Takahashi M. Nakazawa 1Japan Atomic Energy Institute Advanced Science Research Center Tokai-mura Naka-gun Ibaraki 319-1195 Japan 2Photonics Research Institute National Institute of Advanced Industrial Science and Technology Umezono Tsukuba Ibaraki 305-8568 Japan 3University of Tokyo Department of Quantum Engineering and Systems Science Hongo Bunkyo-ku Tokyo 113-8656 Japan

We report an anomalous x-ray detection property in a superconducting tunnel junction with quasiparticle trapping layers at high bias voltage. Being different from the conventional quasiparticle diffusion and edge loss model, the important characteristic parameters, such as a height and decay time of current pulse signals, are totally dependent on the incident position of photons and the applied bias voltage. This can be explained by the non-equilibrium state in a superconducting electrode induced by excess quasiparticle injection. We suppose that the property at high bias voltage should be advantageous for phonon detection and high count rate photon detection.

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High count rate x-ray detector using a superconducting tunnel junction with current readout method

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AIP Conference Proceedings 2002年第1期605卷 177-180页

作者： M. Katagiri T. Nakamura M. Ohkubo H. Pressler H. Takahashi M. Nakazawa 1Japan Atomic Energy Research Institute Advanced Science Research Center Tokai-mura Naka-gun Ibaraki 319-1195 Japan 2National Institute of Advanced Industrial Science and Technology Photonics Research Institute Umezono Tsukuba Ibaraki 305-8568 Japan 3University of Tokyo Department of Quantum Engineering and Systems Science Hongo Bunkyo-ku Tokyo 113-8656 Japan

We developed a high count rate x-ray detector using a superconducting tunnel junction (STJ) having a structure of Nb/Al/AlOx/Al/Nb with a fast current readout system. The STJ has a current rise time of 100 ns, a current decay time of 160 ns and resistance of 20 Ω at 0.4 K. High count rate capability of the x-ray detector has been measured by synchrotron radiation. The energy resolution is ∼230 eV at 100 cps and ∼265 eV at 100 k cps for 4 keV x-rays.

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Experimental study on work flow in the pulse tube refrigerator

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AIP Conference Proceedings 2002年第1期613卷 799-806页

作者： T. Ikeguchi M. Shiraishi M. Murakami A. Nakano T. Iida 1Institute of Engineering Mechanics and Systems University of Tsukuba Tennoudai 1-1-1 Tsukuba Ibaraki 305-8573 Japan 2National Institute of Advanced Industrial Science and Technology Tsukuba East Namiki 1-2-1 Tsukuba Ibaraki 305-8537 Japan 3National Space Development Agency of Japan Tsukuba Space Center Sengen 2-1-1 Tsukuba Ibaraki 305-8505 Japan

The variations in the P-V work and the enthalpy flow while gas flows through a regenerator of a pulse tube refrigerator were investigated experimentally. The P-V work and the enthalpy flow were estimated from the data of the pressure, velocity and temperature oscillations simultaneously measured at several positions along the regenerator. A hot wire anemometer was used for the velocity measurement. Differences in the P-V work and the enthalpy flow between those at the warm and cold ends of the regenerator were obtained as a function of orifice valve opening. The P-V work and the enthalpy flow at the warm end increase monotonically, but the differences once increase to a maximum and then decrease with the increase of the valve opening. The maximum values of the differences were attained around the optimum opening where the temperature of the cold end reaches the lowest level. The average or net enthalpy flow at the middle of the regenerator during one cycle was also estimated. It is found that the enthalpy flow increases with the increase of the opening for small opening, while the rate of the increase becomes small for large valve opening.

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TES x-ray microcalorimeters with single element superconductors

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AIP Conference Proceedings 2002年第1期605卷 263-266页

作者： Daiji Fukuda Yoshihiko Noguchi Masashi Ohno Hiroyuki Takahashi Manabu Ataka Harald Pressler Fuminori Hirayama Masahiro Ukibe Masataka Ohkubo Hirohiko M. Shimizu Masaharu Nakazawa 1Department of Quantum Engineering and Systems Science The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-8656 Japan 2Research into Artifacts Center for Engineering The University of Tokyo 4-6-1 Komaba Megro-ku Tokyo 153-8904 Japan 3Institute of Industrial Science The University of Tokyo 4-6-1 Komaba Megro-ku Tokyo 153-8505 Japan 4Photonics Research Institute National Institute of Advanced Industrial Science and Technology Tsukuba Center 2 1-1-1 Umezono Tsukuba Ibaraki 305-8568 Japan 5RIKEN(Institute of Physical and Chemical Research) 2-1 Hirosawa Wako Saitama 351-0198 Japan

To develop high energy resolution x-ray microcalorimeters, we have fabricated single element superconductor TES detectors with W and Ir. In the W-TES, the detector is operated in the saturation mode because of high sensitivity of the W film. Energy resolution of 34.2eV (FWHM) at 5.9 keV is obtained by integrating the reduced current signals. In the Ir-TES detector, a position dependent response of pulse height distribution was observed, however, 15.4 eV (FWHM) energy resolution and 60μsec response time are obtained for collimated 3 keV x-rays.

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Evaluation of heart rate variability by using wavelet transform and a recurrent neural network

Evaluation of heart rate variability by using wavelet transf...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： O. Fukuda Y. Nagata K. Homma T. Tsuji National Institute for Advanced Industrial Science and Technology Japan Department of Artificial Coniplex Systems Engineering Hiroshima University Japan

The purpose of this paper is to evaluate the physical and mental stress based on the physiological index, and a new evaluation method of heart rate variability is proposed. This method combines the wavelet transform with a recurrent neural network. The features of the proposed method are as follows: 1. The wavelet transform is utilized for the feature extraction so that the local change of heart rate variability in the time-frequency domain can be extracted. 2. In order to learn and evaluate the different patterns of heart rate variability caused by individual variations, body conditions, circadian rhythms and so on, a new recurrent neural network which incorporates a hidden Markov model is used. In the experiments, a mental workload was given to five subjects, and the subjective rating scores of their mental stress were evaluated using heart rate variability. It was confirmed from the experiments that the proposed method could achieve high learning/evaluating performances.

关键词： Heart rate variability Wavelet transforms Recurrent neural networks Human factors Wavelet domain Feature extraction Time frequency analysis Circadian rhythm Hidden Markov models Performance evaluation

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Development of hybrid micro machine tool

Development of hybrid micro machine tool

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International Symposium on Environmentally Conscious Design and Inverse Manufacturing (EcoDesign)

作者： T. Kurita S. Watanabe M. Hattori Domestic Research Fellow Mechanical Systems Engineering AIST Tsukuba Ibaraki Japan Disco Company National Institute for Advanced Industrial Science and Technology Japan

ISBN: (纸本)0769512666

The prototype hybrid micro machine tool developed in this study. It is a tabletop size machine tool which has five changeable machining units. To study the basic performance of hybrid micro machine tool, a complex machining experiment is carried out. The complex machining has 3 steps: electrode machining by milling, hole shaping by EDM, and hole finishing by ECM. These steps are performed in sequence on the same machine tool The complex machining is successfully carried out. In order to evaluate a hybrid micro machine tool from the environmental point of view, machining energy, the volume of machining liquid, and installation space of hybrid micro machine tool are measured. The measured values are compared with estimated values with conventional machine tools, and found to be smaller. Another type of complex machining with hybrid micro machine tool is investigated. It is unnecessary to prepare a form electrode in the complex machining, and the machining covers a variety of machining shape.

关键词： Machine tools Electrodes Prototypes Milling Finishing Electrochemical machining Extraterrestrial measurements Energy measurement Volume measurement Shape

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Inverse kinematics learning by modular architecture neural networks with performance prediction networks

Inverse kinematics learning by modular architecture neural n...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Oyama Nak Young Chong A. Agah T. Maeda Intelligent Systems Laboratory National Institute of Advanced Industrial Science and Technology Ibaraki Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA School of Engineering University of Tokyo Tokyo Japan

ISBN: (纸本)0780365763

Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, the inverse kinematics system of typical robot arms with joint limits is a multivalued and discontinuous function. Since it is difficult for a well-known multilayer neural network to approximate such a function, a correct inverse kinematics model cannot be obtained by using a single neural network. In order to overcome the discontinuity of the inverse kinematics function, we proposed a novel modular neural network system that consists of a number of expert neural networks. Each expert approximates the continuous part of the inverse kinematics function. The proposed system uses the forward kinematics model for selection of experts. When the number of the experts increases, the computation time for calculating the inverse kinematics solution also increases without using the parallel computing system. In order to reduce the computation time, we propose a novel expert selection by using the performance prediction networks which directly calculate the performances of the experts.

关键词： Kinematics Neural networks Artificial neural networks Multi-layer neural network Computer networks Robots Computer architecture Manipulators Concurrent computing Parallel processing

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VISUAL DISTRACTION WHILE DRIVING

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IATSS Research 2001年第2期25卷 20-28页

作者： Hajime ITO Bunji ATSUMI Hiroshi UNO Motoyuki AKAMATSU General Transportation Systems Development Division Yazaki Meter Co. LTD. Shizuoka Japan Vehicle Evaluation & Engineering Div. 1 Toyota Motor Corporation Aichi Japan ITS Human Engineering Safety and IT Research Division Japan Automobile Research Institute Ibaraki Japan Institute for Human Science and Biomedical Engineering National Institute of Advanced Industrial Science and Technology Ibaraki Japan

One of the problems brought into focus by the development of navigation and other ITS devices is that the operation of such devices draws the driver's eye from the visual field where it belongs while driving and creates a visual distraction that may impede safety. The article provides background information and summarizes worldwide trends in research on accident rates, the special characteristics of visual behavior and the effects of visual distraction on drivers and vehicle behavior. It also reports on the state of ISO standardization efforts and related technological trends. Finally, it defines a number of topics for future research in the field of human engineering.

关键词： Visual distraction Navigation ISO Driving safety Human factors ITS IT

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