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2010 IEEE International Conference on Systems, Man and Cybernetics, SMC 2010

作者： Yamada, Kenji Toshiaki, Nagakura Ishihara, Ken Takahashi, Rie Ohno, Yuko Ishii, Atsue Shimizu, Sachiko Takahashi, Hideya Shimizu, Eiji Araki, Tomoyuki Robotics and Design for Innovative Healthcare Grad. School of Med. Osaka University Suita Osaka Japan Robot Development Center Panasonic Corporation Kadoma Osaka Japan Grad. School of Med. Osaka University Suita Osaka Japan Grad. School of Engineering Osaka City University Osaka Japan Department of Engineering Hiroshima Institute of Technology Hiroshima Japan

ISBN: (纸本)9781424465880

Disposable diaper is heavy used in care home or hospital. It's often the case that helper doesn't notice that the patient eliminated. This is very discomfort for patient, and bad for the health. They are problem which should be solved. There are conventional incontinence sensor using gas sensor or capped electrode etc. Most of them are large size. So the patient feels something is wrong when he gets on them. It takes a lot of trouble to use because they are not disposable. These sensors are unfamiliar because of those problems. We developed device which make patient's quality of life better. We are writing to suggest that Ultra Small Disposable Defecation Sensor to solve those problem. This sensor is low cost, very small, and comfortable for patient and helper because of disposable. It enables using RFID. ©2010 IEEE.

关键词： Radio frequency identification (RFID)

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Bio-manipulation with a robotic straw

Bio-manipulation with a robotic straw

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21st Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010

作者： Mochiyama, Hiromi Shirato, Yuki Kobayashi, Hisato Tatsuno, Junya Kawai, Hiroyuki Department of Intelligent Interaction Technologies University of Tsukuba Tennoudai 1-1-1 Tsukuba Ibaraki 305-8573 Japan University of Tsukuba Japan Faculty of Engineering and Design Hosei University Fujimi 2-17-1 Chiyoda-ku Tokyo 102-8160 Japan Department of Mechanical Engineering Kinki University 1 Takeya Umenobe Higashihiroshima City Hiroshima 739-2116 Japan Department of Robotics Kanazawa Institute of Technology 7-1 Ohgigaoka Nonoichi Ishikawa 921-8501 Japan

ISBN: (纸本)9781424479962

In this paper, we demonstrate the usefulness of the micro-manipulation system with a robotic straw proposed by the authors for the microorganism isolation task. Isolating microorganism is one of the fundamental bio-manipulation tasks. This task has been conventionally achieved with a straw connected with a rubber tube. However, some skill is required by an operator for this isolation task, because it is difficult for a naive operator to place the tip of pipette at a desired position under a microscope. We show that the microorganism isolation task is successfully achieved with the proposed system even by a naive operator of the conventional microorganism isolation task without long-term training. ©2010 IEEE.

关键词： Microorganisms

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nDSP: A platform for audiophile software audio processing

nDSP: A platform for audiophile software audio processing

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International Conference on Computational Cybernetics (ICCC)

作者： Adrian-Sebastian Paul Radu-Emil Precup Claudiu Pozna Radu-Codruţ David Department of Automation and Applied Informatics Politehnica University Timisoara Timisoara Romania Faculty of Engineering Széchenyi István University Gyor Hungary Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania

ISBN: (纸本)9781424474325;9781424474332

This paper proposes a platform referred to as nDSP to interconnect different software audio signal processing effects which are modularized. The new platform is focused on having all processing done by the system CPU at higher quality than that achieved using hardware DSPs. The software representation of the module inside the platform is defined such that its state can be externally controlled, therefore the design of self-tuning filters is allowed. The design aims the further use of software audio signal processing in low-cost audiophile loudspeaker systems taking full advantage of the new personal computer hardware products.

关键词： Hardware Central Processing Unit Audio systems Personal communication networks Digital signal processing Loudspeakers Multicore processing Energy efficiency robotics and automation Digital signal processing chips

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Visual Motion Observer-based Pose Control with Panoramic Camera via Passivity Approach

Visual Motion Observer-based Pose Control with Panoramic Cam...

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American Control Conference

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L_(2)-gain performance analysis for the closed-loop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method.

关键词： panoramic cameras Passivity rigid body motion Standing Orders

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Planar molecular dynamics simulation of Au clusters in pushing process

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International Journal of Nanomanufacturing 2010年第3-4期5卷 288-296页

作者： Mahboobi, Seyed Hanif Meghdari, Ali Jalili, Nader Amiri, Farshid Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box: 11365-9567 Tehran Iran Department of Mechanical Engineering Clemson University Clemson SC 29634-0921 United States Behsaz Fanavar Novin Robotics Research Group No. 2 Golestan St. Akbari St. Azadi Ave. Tehran Iran

Based on the fact that the manipulation of fine nanoclusters calls for more precise modelling, the aim of this paper is to conduct an atomistic investigation for interaction analysis of particle-substrate system for pushing and positioning purposes. In the present research, 2D molecular dynamics simulations have been used to investigate such behaviours. Performing the planar simulations can provide a fairly acceptable qualitative tool for our purpose while the computation time is reduced extremely in comparison to 3D simulations. To perform this study, Nose-Hoover dynamics and Sutton-Chen interatomic potential will be used to investigate the behaviour of the aforementioned system. Pushing of Au clusters on Au substrate has been chosen as illustrative examples. Dependency of the aforementioned behaviour on temperature has been investigated. Higher temperature affects the pushing success level considerably. In addition, the simulation was performed for Ag cluster as well to compare the performance to one for Au cluster. Copyright © 2010 Inderscience Enterprises Ltd.

关键词： Molecular dynamics

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Bio-manipulation with a robotic straw

Bio-manipulation with a robotic straw

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Hiromi Mochiyama Yuki Shirato Hisato Kobayashi Junya Tatsuno Hiroyuki Kawai Department of Intelligent Interaction Technologies University of Tsukuba Tsukuba Ibaraki Japan University of Tsukuba Japan Faculty of Engineering and Design Hosei University Chiyoda Tokyo Japan Department of Mechanical Engineering Kinki University Higashihiroshima Hiroshima Japan Department of Robotics Kanazawa Institute of Technology Nonoichi Ishikawa Japan

关键词： Robots Rubber Training Electron tubes Biology

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A novel approach to the Model Reference Adaptive Control of MIMO systems

A novel approach to the Model Reference Adaptive Control of ...

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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： J.K. Tar I.J. Rudas J.F. Bitó K.R. Kozłowski C. Pozna John von Neumann Faculty of Informatics buda University Budapest Hungary Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland Design and Robotics Department University Transilvania of Brasov Brasov Romania

The “Model Reference Adaptive Control (MRAC)” is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the “reference model” that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2 nd (“direct”) method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of “Robust Fixed Point Transformations (RFPT)” in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of “deformation” of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can “fob” the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a “cart - beam - hamper” system is considered. The conclusions of the paper are illustrated by simulation results.

关键词： Adaptive control MIMO Lyapunov method Motion control Programmable control Intelligent robots Systems engineering and theory Control systems Control system synthesis Asymptotic stability

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Implementation of a circular light field camera array for 3D display based on the reconstruction of parallax rays

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ICIC Express Letters 2010年第6 B期4卷 2311-2315页

作者： Takahashi, Hideya Hirooka, Kenta Yamada, Kenji Aida, Tahito Department of Electrical Engineering Graduate School of Engineering Osaka City University 3-3-138 Sugimoto Sumiyoshi-ku Osaka 558-8585 Japan Robotics and Design for Innovative Healthcare Graduate School of Medicine Osaka University 2-2 Yamadaoka Suita Osaka 565-0871 Japan

We have previously proposed the three-dimensional (3D) camera array system for 3D display based on the reconstruction of parallax rays. In order to display a 3D image of a real object which can be observed from surrounding multiple viewing points on our 3D display, it captures light ray data needed for reconstructing 3D images by using parallax rays reconstruction method from multiple images captured from multiple viewpoints around a real object. To reduce the number of component cameras of the circular camera system, we have also proposed an interpolation algorithm. This paper describes the implementation of an experimental 3D camera system which consists of multiple PC cameras. Each captured image was calibrated to the image captured at the correct camera position by image processing method. After that, we applied the interpolation algorithm, and light ray data of the target object were obtained. © 2010 ISSN 1881-803X.

关键词： Three dimensional displays

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Changes of utterances in the skill acquisition of collaborative conveyer task

Changes of utterances in the skill acquisition of collaborat...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Shuichi Nakata Satoshi Suzuki Harumi Kobayashi Hiroshi Igarashi Department of Social-Informatics Graduate School of Science and Engineering Tokyo Denki University Saitama Japan Department of Information-Design School of Science and Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics School of Science and Technology of Future life Tokyo Denki University Tokyo Japan Department of Electrical and Electronic Engineering School of Engineering Tokyo Denki University Tokyo Japan

ISBN: (纸本)9781424448920;9781424448937

Importance of developing human adaptive robots or systems is increasing these days. To accomplish it, we have to clarify features of human-human communication. In this study, we analyzed human speech while completing computerized collaborate task to clarify how humans speak in collaborative work. We extracted questioning speeches from conversations using CLAN, and classified them into four categories according to their content. We investigated whether the number and ratio of each type of questions changed over ten trials. The results indicate that leader role person is sensitive to task planning.

关键词： Collaboration Collaborative work Speech analysis Humans Educational robots Adaptive systems Mechatronics Space vehicles Eyes Headphones

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Takagi-Sugeno fuzzy controller for a magnetic levitation system laboratory equipment

Takagi-Sugeno fuzzy controller for a magnetic levitation sys...

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International Conference on Computational Cybernetics (ICCC)

作者： Claudia-Adina Dragos Stefan Preitl Radu-Emil Precup Raul-Gherasim Bulzan Claudiu Pozna Jozsef K. Tar Politehnica University Timisoara Timisoara Romania Faculty of Engineering Széchenyi István University Gyor Hungary Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Institute of Intelligent Engineering Systems Obuda University Budapest Hungary

ISBN: (纸本)9781424474325;9781424474332

This paper presents the design and the implementation of two control solutions applied to a magnetic levitation system laboratory equipment. The first solution deals with a state feedback control structure to stabilize the controlled plant which is the inner control loop for the cascade control system structure proposed as the second solution. The second solution is based on a Takagi-Sugeno fuzzy controller in the outer control loop to ensure the zero steady-state control errors. Simulation and real time experimental results are included to illustrate the performance of the control systems and to validate the two control solutions in regulation and tracking.

关键词： Takagi-Sugeno model Fuzzy control Fuzzy systems Control systems Magnetic levitation Laboratories State feedback Steady-state Error correction Real time systems

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