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Skill-Assist Safety and Intelligence Technology

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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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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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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Development of a new kind of microrobot in pipe

Development of a new kind of microrobot in pipe

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IEEE International Conference on Robotics, Intelligent systems and Signal Processing

作者： S. Guo Y. Sasaki T. Fukuda Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan

In the medical field and in industry application, a new type of microrobot in a pipe that can move smoothly in water or aqueous medium has urgently been demanded. It is our purpose to develop a fin type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety. In this paper, we propose a new prototype model of a microrobot utilizing an electromagnetic actuator as the servo actuator to realize moving motion. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the electromagnetic field. On a prototype microrobot a running experiment was conducted and the operating characteristic was evaluated. It turns out that the developed microrobot can correspond to the dirt adhering to the inner wall, or long distance movement by the experiment result, and speed control can be easily performed by frequency adjustment. The experimental results indicate that speed control can be easily performed by frequency adjustment of the electromagnetic field.

关键词： Frequency Prototypes Actuators Electromagnetic fields Velocity control Industry applications Safety Electromagnetic modeling Servomechanisms Permanent magnets

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A fin type of microrobot in pipe

A fin type of microrobot in pipe

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International Symposium on micromechatronics and Human Science (MHS)

作者： Shuxiang Guo Yasuhiro Sasaki Toshio Fukuda Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan

In the medical field and in industry application, a new type of microrobot in pipe that can move smoothly in water or aqueous medium has urgently been demanded. It is our purpose to develop a fine type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety in body. In this paper, we propose a new prototype model of microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the electromagnetic field. To the microrobot, which built a prototype, the running experiment was conducted and the operating characteristic was evaluated. It turns out that developed microrobot can correspond to the dirt adhering to the inner wall, or long distance movement by the experiment result, and speed control can be easily performed by frequency adjustment. The experimental results indicate that speed control can be easily performed by frequency adjustment of the electromagnetic field.

关键词： Frequency Prototypes Actuators Electromagnetic fields Velocity control Industry applications Safety Electromagnetic modeling Servomechanisms Permanent magnets

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Flexible control of a grasping object with posture error

Flexible control of a grasping object with posture error

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

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 Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Error correction Grasping Fingers Robots systems engineering and theory Numerical simulation Solids Genetic programming Robotics and automation Robust control

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Generation method of regrasping motion using EP-adjusting methods for posture error of grasping object

Generation method of regrasping motion using EP-adjusting me...

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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 Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors when grasping an object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture when grasping an object. This method can avoid the limitation of joint work area and fingertip slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Grasping Fingers Robots Numerical simulation systems engineering and theory Solids Friction AC generators Robotics and automation Optimization methods

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New catheter driving method using linear stepping mechanism for intravascular neurosurgery

New catheter driving method using linear stepping mechanism ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Arai R. Fujimura T. Fukuda M. Negoro Department of Micro System Engineering Graduate School of Engineering University of Nagoya Japan Department of Mechano-Informatics & Systems Engineering Graduate School of Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology Japan Department of Neurosurgery University of Nagoya Japan

Minimum invasive surgery that supports doctors and reduces patient's physical pain has attracted attention. We consider a new intravascular neurosurgery system. There are two problems in intravascular neurosurgery: one is doctor's exposure to x-ray, and another is the lack of skilled doctors. We developed a remote control system by using a master-slave system to solve these problems. In this paper, we describe the development of a new slave device in the master-slave system and construct the new remote control system of catheter operation with safety. To overcome some of the problems encountered on the previous slave device (2000), we develop a new slave device with a disposable structure employing the mechanism of a mechanical pencil for safe operation.

关键词： Catheters Neurosurgery Master-slave Control systems Safety devices systems engineering and theory Minimally invasive surgery Pain Medical control systems informatics

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Fish-like underwater microrobot with multi DOF

Fish-like underwater microrobot with multi DOF

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International Symposium on micromechatronics and Human Science (MHS)

作者： Shuxiang Guo Y. Hasegaw T. Fukuda K. Asaka Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan Osaka National Research Institute AIST 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 the ICPF actuator as a propulsion tail fin and a buoyancy adjuster for a microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a fish is 45 mm in length, 10 mm in width and 4 mm in thickness. There is a pair of fins and a floatage adjuster. The characteristic 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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