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IEEE International Conference on Robotics and Automation (ICRA)

作者： Takeshi Takaki Toru Omata Department of Mechano-Micro Engineering Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Japan Department of Artificial Complex Systems Engineering Graduate School of Engineering Hiroshima University Japan

This paper presents a lightweight 328 g anthropomorphic robot hand that can exert a large grasp force. We propose a combination mechanism of a flexion-drive and a force-magnification-drive for a cable driven multifingered robot hand. The flexion-drive consisting of a feed screw enables quick motion of its fingers and the force-magnification-drive consisting of an eccentric cam, a bearing and a pulley enables a firm grasp. This paper also proposes a three-dimensional linkage for the thumb. This linkage consists of four links and is driven by a feed screw. It can oppose to a large force exerted by the other fingers with the force-magnification-drive. These mechanisms are compact enough to be installed in the developed lightweight hand. We experimentally verify that the maximum fingertip force of the hand exceeds 20 N and that the thumb can hold a large force of 100 N. The time to fully close the hand by using the flexion-drives is 0.47 s. After the fingers make contact with an object, the time to achieve a firm grasp by using the grasp-magnification-drive is approximately 1 s.

关键词： Anthropomorphism Robots Fingers Prosthetic hand Couplings Thumb Robotics and automation Feeds Fasteners Grasping

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Skill-Assist Safety and Intelligence Technology

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International Journal of Automation Technology 2009年第6期3卷 643-652页

作者： Lee, Suwoong Yamada, Yoji Department of Bio-System Engineering Graduate School of Science and Engineering Yamagata University 419 Building No.8 4-3-16 Jonan Yamagata Yonezawa992-8510 Japan Mechano-Informatics and Systems Department of Mechanical Science and Engineering Graduate School of Engineering Nagoya University 303 Building No.2 North Furo-cho Chikusa-ku Nagoya464-8603 Japan

Skill-Assist for automobile manufacturing enables op-erators to move heavy component modules to tar-get sites, playing a valuable role on production lines. Skill-Assist has high-powered actuators and operates in physical contact with users, so safety is a top pri-ority. This paper describes safety technology developed for and implemented in Skill-Assist at the National Institute of Advanced Industrial Science and Technology, Japan (Skill-Assist@AIST). Risk was as-sessed for main causes of potentially hazardous events, which were projected to result from abnormal command signals generated by the controller, human er-ror, and unauthorized access. In this paper, we focus on safety measures against abnormal command signals and human error, and introduce current safety technology for Skill-Assist@AIST. Highly reliable control includes a dual-channel controller and fail-safe fault-detection hardware (FSFDH) for ensuring functional safety through command signal monitoring. A reaching-gesture recognition (RGR) algorithm based on laser range sensor data and a hidden Markov model (HMM) predictively detect operator error that outlies predefined safe reaching. © Fuji Technology Press Ltd.

关键词： Accident prevention

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Effects of Fischer-Tropsch Diesel (FTD) fuel on soot formation processes in a diesel spray flame

Effects of Fischer-Tropsch Diesel (FTD) fuel on soot formati...

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7th International Conference on Modeling and Diagnostics for Advanced Engine systems, COMODIA 2008

作者： Aizawa, Tetsuya Kosaka, Hidenori Department of Mechanical Engineering Informatics Meiji University 1-1-1 Higashi-mita Tama-ku Kawasaki-shi Kanagawa 214-8571 Japan Department of Mechano-Aerospace Systems Engineering Tokyo Institute of Technology 2-12-1 Ohokayama Meguro-ku Tokyo 152-8552 Japan

In order to examine the mechanism on which diesel soot emission is reduced by using Fischer-Tropsch Diesel (FTD) fuel compared to the case of conventional diesel fuel (JIS#2) under EGR conditions, the soot formation processes in a diesel spray flame of two different fuels (FTD and JIS#2) under different ambient oxygen concentrations (21 to 10%) were investigated via Excitation-Emission Matrix (EEM) analysis of polycyclic aromatic hydrocarbons (PAHs) and high-speed laser shadowgraphy of soot particles. The experiments were conducted using an optically accessible constant volume combustion vessel under a diesel-like condition (Ta=940K and Pa=2.5MPa). In the FTD-fuelled diesel spray flame, the timing and region for the first appearance of PAH LIF and soot particles in the flame were delayed and shifted downstream compared to the case of JIS#2. In the JIS#2 case, the LIF appeared first in the shorter wavelength region (350 to 400nm) and then shifted to longer wavelength region (above 400nm), while in the FTD-fuel case, the LIF was observed not in the shorter wavelength but only in the longer wavelength region. The production of soot in the flame was increased by lowering the ambient oxygen concentration from 21 to 15% in either fuel cases, while the timing and region for the first appearance of soot and PAHs in the flame were delayed and shifted downstream. By lowering the oxygen concentration further down to 10%, the timing and region for the first appearance of PAHs and soot were further delayed and shifted downstream and the production of soot was decreased. Copyright © 2008 by the Japan Society of Mechanical Engineers.

关键词： Polycyclic aromatic hydrocarbons

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DNA binding and bending protein-based DNA actuator and its practical realization

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Nanobiotechnology 2008年第1-4期4卷 43-49页

作者： Endo, Tatsuro Yoda, Hiroki Yanagida, Yasuko Hatsuzawa, Takeshi Department of Mechano-Micro Engineering Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Midori-ku Yokohama 226-8502 4259 Nagatsuta-cho Japan Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Midori-ku Yokohama 226-8502 4259 Nagatsuta-cho Japan Precision and Intelligence Laboratories Tokyo Institute of Technology Midori-ku Yokohama 226-8502 4259 Nagatsuta-cho Japan

In the life forms, the biomolecules such as DNA and protein are interacting with each other to maintain their life activity. Simultaneously, these biomolecules form DNA-protein complexes;as a result, the life forms can adjust to the external environment and continue its life activities. Therefore, using these characteristics of the DNA recognition ability of proteins, the novel molecular devices can be established. Here, we show the application of DNA binding and bending protein for design of the DNA actuator and its practical realization. The single polypeptide chain integrated host factor 2 (scIHF2), which is a DNA binding and bending protein, was used to bind to and/or bend the specific domains of DNA. Using this protein and designing the sequences of DNA, mechanical-functionalized DNA-based biomolecular device could be fabricated. Using these mechanisms, DNA binding and bending proteins have great potentials for establishing the DNA actuator for nanobiotechnology and nanotechnology applications. © 2009 Humana Press Inc.

关键词： Atomic force microscopy DNA actuator DNA binding and bending proteins Single polypeptide chain integrated host factor 2 (scIHF2)

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Evaluation of driver distractions by model-based approach-effect of visual distractions

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Review of Automotive engineering 2006年第1期27卷 109-115页

作者： Shibata, Naoki Obinata, Goro Kajiwara, Yasuhiro Department of Mechano-Informatics and Systems Graduate School of Engineering Nagoya University Furo-cho Chikusa Nagoya Aichi Japan Denso Co. Ltd. Showa-cho 1-1 Kariya Aichi Japan

Drivers become distracted when they pay attention to provided in-vehicle information while driving cars. This paper proposes a model-based approach to evaluate such driver distractions caused by subtasks. First, our method identifies steering by the driver and pursuit eye movement characteristics as a driver model from experiment data without any subtasks. After that, the output measured with subtasks is compared with the model output, and makes it possible to detect the influence of distractions on human driver characteristics. This study involved experiments on tracking tasks accompanying some visual subtasks and experimentally confirmed the possibility of quantitatively evaluating driver distractions using the proposed method. © 2006 Society of Automotive Engineers of Japan, Inc. All rights reserved.

关键词： Ground vehicles

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Flying characteristics of head sliders on patterned disk surfaces

Flying characteristics of head sliders on patterned disk sur...

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2005 World Tribology Congress III

作者： Hayashi, Takefumi Yoshida, Hideyo Mitsuya, Yasunaga Faculty of Informatics Kansai University Ryozenji-cho Takatsuki-shi Osaka 569-1095 Japan Department of Micro/Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan

ISBN: (纸本)0791842010

To quantitatively predict the static and dynamic characteristics of a head slider while flying over a patterned disk, the mixedly averaging method has been successfully applied to the molecular gas lubrication problem incurred by groove-shaped textures formed over the lubricating surface. First, formulation of ADI method by using mixedly averaged film thickness is derived and implemented into an interactive numerical simulation system. Then, spacing variations of typical sliders on a patterned disk surface are demonstrated. Copyright © 2005 by ASME.

关键词： Hard disk storage

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System-Level Modeling and Simulation of MEMS-based Sensors

System-Level Modeling and Simulation of MEMS-based Sensors

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IEEE International Conference on Multi Topic

作者： Mohammad Shafique Aric Menon Kashif Virk Jan Madsen Micro/Nano Tribology & Modeling Group Micro-Electro-Mechanical Systems (MEMS) Section Department of Micro & Nano Technology Technical University of Denmark Kongens Lyngby Denmark System on Chip Group Computer Science & Engineering Section Department of Informatics & Mathematical Modeling Technical University of Denmark Kongens Lyngby Denmark

The growing complexity of MEMS devices and their increased used in embedded systems (e.g., wireless integrated sensor networks) demands a disciplined approach for MEMS design as well as the development of techniques for system-level modeling of these devices so that a seamless integration with the existing embedded system design methodologies is possible. In this paper, we present a MEMS design methodology that uses VHDL-AMS based system-level model of a MEMS device as a starting point and combines the top-down and bottom-up design approaches for design, verification, and optimization. The capabilities of our proposed design methodology are illustrated through the design of a microaccelerometer

关键词： Sensor systems Design methodology micromechanical devices microelectromechanical devices Design optimization Mathematical model Reduced order systems Embedded system Wireless sensor networks Computational modeling

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Intelligent Robotic systems: Safety, Security, Health, and Dependability

Intelligent Robotic Systems: Safety, Security, Health, and D...

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International Conference on Hybrid Intelligent systems (HIS)

作者： T. Fukuda Department of Micro System Engineering and Department of Mechano-Informatics and Systems University of Nagoya Japan

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Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3139卷 V-VI页

作者： Iida, Fumiya Pfeifer, Rolf Steels, Luc Kuniyoshi, Yasuo University of Zurich Artificial Intelligence Laboratory Department of Informatics Andreasstr. 15 Zurich Switzerland Vrije Universiteit Brussel Artificial Intelligence Laboratory and Sony Computer Science Laboratory Department of Informatics Pleinlaan 2 Brussels Belgium University of Tokyo School of Information Science and Technology Dept. of Mechano-Informatics Laboratory for Intelligent Systems and Informatics Engineering Bldg. 8 7-3-1 Hongo Bunkyo-kuTokyo Japan

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Simplified generation algorithm of regrasping motion - performance comparison online-searching approach with EP-based approach

Simplified generation algorithm of regrasping motion - perfo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Y. Hasegawa M. Higashiura T. Fukuda Department of Micro System Engineering University of Nagoya Japan Department of Mechano-Informatics System Engineering University of Nagoya Japan

This paper proposes a simplified generation method of regrasping motion. The regrasping motion is designed by evolutional programming (EP) in our conventional study and the obtained regrasping behavior should be adjusted according to some conditions; initial posture and dimensions of a grasping object. However, the designing process of the regrasping motion is off-line because it takes several minutes to find the optimal regrasping strategy by EP. In this paper, we therefore simplified the searching process for regrasping motion in order to apply it in the realtime process. Besides, this simplified generation method is enable to achieve a regrasping motion from arbitrary initial posture because there is no strategy that is previously designed. We show its effectiveness of the simplified generation method with numerical simulations, comparing the performance of the EP-based approach.

关键词： Grasping Robots Fingers systems engineering and theory Process design Robotics and automation Optimization methods Solids Genetics Robust control

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