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arXiv 2022年

作者： Xu, Jiayi Yoshimoto, Shunsuke Ienaga, Naoto Kuroda, Yoshihiro The Graduate School of Science and Technology Degree Programs in Systems and Information Engineering University of Tsukuba Japan The Department of Human & Engineered Environmental Studies The University of Tokyo Japan The Faculty of Engineering Information and Systems University of Tsukuba Japan

Cold sensations of varying intensities are perceived when human skin is subject to diverse environments. The accurate presentation of temperature changes is important to elicit immersive sensations in applications such as virtual reality. We developed a method to elicit intensity-adjustable non-contact cold sensations based on the vortex effect. We applied this effect to generate cold air at approximately 0 ◦C and varied the skin temperature over a wide range. The perception of different temperatures can be elicited by adjusting the volume flow rate of the cold air. Additionally, we introduced a cooling model to relate the changes in skin temperature to various parameters such as the cold air volume flow rate and distance from the cold air outlet to the skin. For validation, we conducted measurement experiments and found that our model can estimate the change in skin temperature with a root mean-square error of 0.16 ◦C. Furthermore, we evaluated the performance of a prototype in psychophysical cold discrimination experiments based on the discrimination threshold. Thus, cold sensations of varying intensities can be generated by varying the parameters. These cold sensations can be combined with images, sounds, and other stimuli to create an immersive and realistic artificial environment. Copyright © 2022, The Authors. All rights reserved.

关键词： Vortex flow

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Development of Machine Learning-Based Assessment System for Laparoscopic Surgical Skills Using Motion-Capture

Development of Machine Learning-Based Assessment System for ...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Ebina, Koki Abe, Takashige Yan, Lingbo Hotta, Kiyohiko Highuchi, Madoka Iwahara, Naoya Furumido, Jun Kon, Masafumi Murai, Sachiyo Kurashima, Yo Komizunai, Shunsuke Tsujita, Teppei Sase, Kazuya Chen, Xiaoshuai Senoo, Taku Shinohara, Nobuo Konno, Atsushi Graduate School of Information Science and Technology Hokkaido University Sapporo Japan Hokkaido University Faculty of Medicine Department of Renal and Genitourinary Surgery Sapporo Japan Hokkaido University Clinical Simulation Center Faculty of Medicine Sapporo Japan Kagawa University Faculty of Engineering and Design Takamatsu Japan National Defense Academy of Japan Department of Mechanical Engineering Yokosuka Japan Tohoku Gakuin University Department of Mechanical Engineering and Intelligent Systems Sendai Japan Graduate School of Science and Technology Hirosaki University Hirosaki Japan

ISBN: (纸本)9798350312072

Laparoscopic surgery is a widely used surgical technique, on the other hand, its high degree of difficulty makes it difficult for beginners to learn the technique efficiently. In addition, recent working hour restrictions and shortages of surgeons have resulted in insufficient training time, and establishing the efficiently training methods is becoming urgent needs. Therefore, to promote the skill proficiency of novice surgeons, machine learning-based assessment system for laparo-scopic surgical skills was developed. A measurement system with a simple configuration was introduced so that trainees can easily use it alone. Alternatively, the indices related to the opening ratio and the rotation angle of surgical instruments, which were measured in the authors' previous study were no longer available. Therefore, comparative experiments were conducted to verify the effect of the lack of indices related to these data on the accuracy of skill evaluation. Based on the measurement data of 104 wet lab trainings measured in the previous study, a machine learning model that evaluates surgeon's skill at 3 levels based on the number of surgical experiences, and global operative assessment of laparoscopic skills (GOALS) which is a type of surgical skill evaluation index were established. By using the explainable AI method, this system can present the skill evaluation result including its basis to the trainee. Since the developed system can be easily operated by a GUI-based program, trainees can confirm the quantitative evaluation result on-site immediately after the training. © 2024 IEEE.

关键词： Laparoscopy

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Simulating the Gravitational Displacement of a Gigantic Manipulator Posture Using Lumped Stiffness-Matrix Modeling on a Physics Engine

Simulating the Gravitational Displacement of a Gigantic Mani...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Maruyama, T. Ogawa, S. Jaklin, N. Tolsma, S. Tsubouchi, T. Graduate School of Systems and Information Engineering University of Tsukuba Ibaraki Tsukuba-shi305-8573 Japan National Institutes for Quantum Science and Technology Department of Iter Project Ibaraki-ken Naka-shi311-0193 Japan Da Vincilaan 31 6716 WC Netherlands

ISBN: (纸本)9798350312072

The ITER project seeks to construct the world's largest fusion device to validate fusion as a viable energy source. The blanket remote handling system (BRHS) manages blanket modules weighing up to four tons, which shield the vessel from fusion plasma. A virtual reality (VR) environment is indispensable for effective motion planning and monitoring during BRHS operations. However, gravitational displacements over 100 mm at the end -effector pose a challenge to achieving the required ±50 mm error range of the VR relative to the actual manipulator. To address this issue, we propose a method utilizing the lumped model, in which virtual joints simulating the stiffness of the manipulator links are implemented. The physics engine of the VR software calculates the deformation of the virtual joints. Since stiffness parameters are obtained through structural analysis, this approach eliminates the need for actual equipment measurements. The virtual joints feature a six-degree-of-freedom (6-DoF) spring, commonly used in the lumped model, and a full stiffness matrix for better simulation. Through evaluation, we reduced the maximum VR error from 97.8 mm (rigid model) to 64.6 mm (6-DoF spring model). Although the maximum error still exceeded the ±50 mm requirement, the proposed method significantly improved the VR accuracy. © 2024 IEEE.

关键词： Manipulators

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Proposal and Evaluation of High-Heat Insulation System for Spacecraft by Using WPT

Proposal and Evaluation of High-Heat Insulation System for S...

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作者： Honda, Sayuri Shimada, Shuhei Tanaka, Kosuke Nakamura, Kana Imura, Takehiro Hata, Katsuhiro Hori, Member Yoichi Research Unit I R&D Directorate Japan Aerospace Exploration Agencym 2-1-1 Sengen Ibaraki Tsukuba305-8505 Japan Research Unit II R&D Directorate Japan Aerospace Exploration Agency 2-1-1 Sengen Ibaraki Tsukuba305-8505 Japan Department of Engineering Mechanics and Energy Graduate School of Science and Technology Degree Programs in Systems and Information Engineering University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8573 Japan Department of Electrical Engineering Faculty of Science and Technology Tokyo University of Science 2641 Yamazaki Chiba278-8510 Japan Department of Informatics and Electronics Institute of Industrial Science University of Tokyo 4-6-1 Komaba Tokyo153-8505 Japan

As a new space station succeeding the International Space Station (ISS), a lunar orbit manned base, called "Gateway," is considered and manned lunar surface exploration via the Gateway is also studied. To realize manned lunar surface exploration, new technologies are required to overcome the severe condition of the lunar night. As one of these technologies, applying wireless power transfer (WPT) to a spacecraft, such as a rover, is proposed. The WPT system contributes to the improvement of heat insulation performance and is ideal for reducing the weight of the battery of the spacecraft. In addition, magnetic transmissive multi-layer insulation (MT-MLI) is developed to suppress the generation of eddy currents. In WPT experiments with MT-MLI, the power transmission efficiency between coils is 90% or more. Furthermore, thermal vacuum tests demonstrate that the combination of WPT and MT-MLI reduces thermal leakage. © 2023 The Institute of Electrical Engineers of Japan.

关键词： Orbits

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Auditory indication system for object-finding in remote collaborative assistance 14

Auditory indication system for object-finding in remote coll...

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14th Asia-Pacific Workshop on Mixed and Augmented Reality, APMAR 2022

作者： Komoda, Takayuki Utsumi, Fumina Yamada, Takayoshi Zempo, Keiichi Graduate School of Science and Technology University of Tsukuba 1-1-1 Tennodai 3058573 Japan College of Engineering Systems University of Tsukuba 1-1-1 Tennodai 3058573 Japan Faculty of Engineering Information and Systems University of Tsukuba 1-1-1 Tennodai 3058573 Japan

In this paper, we propose a remote collaboration system to assist the person with visually impaired in object-finding. The system consists of a 360-degree image centering on a person with visually impaired and presented as a panoramic image on the PC screen of a supporter in a remote location. By clicking on the PC screen, the supporter can present the AR audio (auditory indicator) superimposed on the real space that the person with visually impaired perceives, using spatial sounds. Auditory indicator enables the person with visually impaired to understand the location of the object intuitively. We conducted experiments to clarify the effect of the proposed system on the performance time of the object-finding task and the phrases of the supporters. The results of the experiment showed that the auditory indicator enabled the supporter to guide the simulated person with visually impaired by using demonstrative pronouns such as "this" and "here". © 2022 Copyright for this paper by its authors.

关键词： Augmented reality

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Improved Method of Preparation for Shape-memory Polymer Sheet with Embedded Electrical Heating Wire for Use in Pneumatic Artificial Rubber Muscle

Improved Method of Preparation for Shape-memory Polymer Shee...

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SICE Annual Conference

作者： Yuta Okamura Kazuto Takashima Toshiro Noritsugu Toshiharu Mukai Graduate School of Life Science and Systems Engineering Kyushu Institute of Technology Kitakyushu Japan Mimasaka University Tsuyama Japan Department of Information Engineering Faculty of Information Engineering Meijo University Nagoya Japan

We improved the structure of a shape-memory polymer (SMP) sheet with an embedded electrical heating wire, thus enhancing the manufacturing reproducibility and durability of flexible and multi-degree-of-freedom pneumatic artificial rubber muscles. We prepared two types of SMP sheets using the previous and improved methods and compared the mechanical properties via bending and tensile tests. The SMP sheets were then attached to a pneumatic artificial rubber muscle, and subjected to a bending angle test and an isometric test to evaluate their bending properties.

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3D point cloud reconstruction based on stereo camera and rtk-gps with high accuracy under sequential correction 9

3D point cloud reconstruction based on stereo camera and rtk...

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9th IEEE Global Conference on Consumer Electronics, GCCE 2020

作者： Liu, Shuyi Zhang, Heming Kawai, Shin Nobuhara, Hajime University of Tsukuba Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology Degree Programs in Systems and Information Engineering Tsukuba 1-1-1 Tennoudai Ibaraki305-8573 Japan

ISBN: (纸本)9781728198026

In the field of three-dimensional (3D) point cloud reconstruction, a commonly used algorithm is called Real-Time-Appearance-Based-Mapping. Although this algorithm performs well in outputting a point cloud with high accuracy in real time, its processing efficiency is expected to decline when Jetson Nano is installed on drones, as additional memory is required to calculate loop closures. To increase the processing speed and accuracy of 3D point cloud reconstruction based on Jetson Nano, we propose a new algorithm for drone flight, that does not rely on overlap. The proposed method combines the point cloud and real-time kinematic Global Positioning System, and its effectiveness is demonstrated by experiments in a real environment. © 2020 IEEE.

关键词： Drones

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Analyzing the Characteristics of Ego-Network Structures of Influential Twitter Users

Analyzing the Characteristics of Ego-Network Structures of I...

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IEEE Annual International Computer Software and Applications Conference (COMPSAC)

作者： Yuto Nakamitsu Sho Tsugawa Keiichiro Tsukamoto Shintaro Igari Graduate School of Science and Technology University of Tsukuba Tsukuba Ibaraki Japan Institute of Systems and Information Engineering University of Tsukuba Tsukuba Ibaraki Japan KADOKAWA Connected Inc. Tokyo Japan

ISBN: (数字)9798350376968

ISBN: (纸本)9798350376975

We investigate the structural characteristics of ego networks of influential Twitter users. While existing studies have elucidated the global characteristics of influencers in a social network, it remains unclear what differences exist in the local structure of social networks between influencers and non-influencers. Using four Twitter datasets, we calculate two types of influence scores for each user, called direct influence and indirect influence. Then, we compare several measures of ego networks between users with high influence scores (influencers) and everyone else (non-influencers). Our results show that influencers with strong direct influence have relatively lower values for their average degree, clustering coefficient, and reciprocity, and higher centralization than non-influencers, which suggests that influencers have different ego-network structures than non-influencers. In contrast, our results also show that ego-network structures of users with strong indirect influence are not very different from those of other users, which suggests that the ego-network structure of a user is not useful for estimating their indirect influence.

关键词： Social networking (online) Density measurement Blogs Software Software measurement

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Inspection of unexpected defective products by semi-supervised learning based on a probability density function in high-yield food production

Inspection of unexpected defective products by semi-supervis...

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2022 IEEE International Conference on Big Data, Big Data 2022

作者： Nakahara, Masahiro Mashiba, Yuichi Miyamoto, Ryusuke Fujita, Yuki Ishida, Hisashi Zempo, Keiichi Ishida Tec Co. Ltd. Yaizu Japan University of Tsukuba Graduate School of Science and Technology Tsukuba Japan Tokyo University of Marine Science and Technology Department of Marine Biosciences Minato-ku Japan Saitama University Information Technology Center Saitama Japan University of Tsukuba Faculty of Engineering Information and Systems Tsukuba Japan Xtrans Tech Inc. Tsukuba Japan

ISBN: (纸本)9781665480451

In this research, we propose a method for evaluating images to be inspected using only good images and assuming defective images are unavailable in anticipation of quality inspection applications in food processing facilities and other factories. We propose a discriminator based on a CNN that can evaluate the degree of deviation from good images by treating only good images as training data and assuming a fitness probability distribution. The results show that the proposed discriminator can detect defective products even without prior training data on defective products. The detection accuracy depends on the inspected object and the threshold that defines the deviation, which is comparable to previous studies that require defective images. With adjustable detection thresholds and automatic categorization of defective products, the proposed method is expected to be flexible enough to incorporate the knowledge of shop-floor workers on the production line. © 2022 IEEE.

关键词： Feature extraction

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Simulating the Gravitational Displacement of a Gigantic Manipulator Posture Using Lumped Stiffness-Matrix Modeling on a Physics Engine

Simulating the Gravitational Displacement of a Gigantic Mani...

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IEEE/SICE International Symposium on System Integration

作者： T. Maruyama S. Ogawa N. Jaklin S. Tolsma T. Tsubouchi Graduate School of Systems and Information Engineering University of Tsukuba Tsukuba-shi Ibaraki Japan Department of ITER Project National Institutes for Quantum Science and Technology Naka-shi Ibaraki-ken Japan Tree C Technology B.V. EDE (Gld.) The Netherlands

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