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Conference on Human System Interactions, HSI

作者： Ryo Tsugita Nozomi Nishino Daisuke Chugo Satoshi Muramatsu Sho Yokota Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Science and Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

ISBN: (纸本)9781509017300

This paper proposes a method for detecting and tracking pedestrians, which is an important function for preventing the collision of autonomously moving mobile robots with a pedestrian. To observe the pedestrian, we use two types of laser range scanners: one scans a 2D plane (2D scanner) and the other scans a 3D space, such as a 3D scanner. We scan 3D space with a 2D scanner fixed on the turning mechanism, instead of a 3D scanner, because 3D scanners are more expensive than 2D scanners. The 3D space is divided into voxels to determine whether a pedestrian exists. This detection system is robust to occlusion because turning 3D scanner can detect a pedestrian based on the shape of the data points. However, the scanning span of the turning 3D scanner depends on the period of the turning mechanism; thus, we combine the detected pedestrian's position with the data scanned by the normal 2D scanner because it is possible for a 2D scanner to track objects moving in real time according to the positional transition of the data points. To investigate the efficiency of the proposed method for pedestrian detection, which is robust to occlusion and exhibits real-time tracking using reasonable scanning devices, we experiment with our prototype.

关键词： Three-dimensional displays Two dimensional displays Turning Real-time systems Service robots Collision avoidance

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Educational System of Physical Motion Based on 3D Biomechanism Evaluation

Educational System of Physical Motion Based on 3D Biomechani...

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International Conference on industrial technology

作者： Kaoru Mitsuhashi Sho Yokota Hiroshi Hashimoto Sang-Gyu Shin Daisuke Chugo School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Graduate school of Science and Technology Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan

ISBN: (纸本)9781467380768

This paper presents an educational support system of physical motion with body motion based on three-dimensional biomechanism evaluation. The difficult point of the physical motion with body motion is that human cannot attain the perfect copy or imitation of the reference skill motion because each skeleton size, functions and numbers of motor of human are different, we call it the imperfect imitation problem. The proposed system uses a human motion capture which observes and records the movement of human in real time, and extract a 3D (three dimensional) skeleton model from the observed movement data. So, our system is to support the judgment of the expert instructors. In our experiment to evaluate the effectiveness of the proposed system, some education of sports, such as crawl motion in swimming, darts throw motion, Karate defend motion are adopted. And, we certainly will show the useful results.

关键词： teacher and learner 3D skeleton model 3D viewer advice nonstructure web database comment table

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A driving assistance for a powered wheelchair with a walking partner

A driving assistance for a powered wheelchair with a walking...

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IEEE International Conference on industrial technology (ICIT)

作者： Tsukasa Kobayashi Daisuke Chugo Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Information Science and Technology Tokai University Hiratsuka Kanagawa Japan Department of Mechanical Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781467380768

Accompanying a person is one of the core capacities of a personal mobility vehicle and demands a smooth movement function with collision avoidance. In previous studies on a personal mobility vehicle, a vehicle moves in synchrony with a walking partner. However, in some cases, especially where potentially dangerous obstacles appear in the environment, a vehicle should lead its partner. In this case, a vehicle that leads its partner in appropriate environments should also enable smoother and more effective movement with the partner. This, this study aims to develop a motion design that realizes smooth cooperative movement with a human partner for a personal mobility vehicle. Our proposed vehicle not only estimates its partner's intention and moves accordingly but also reveals its own intention to the partner. To realize this objective, we investigate conditions that induce the partner's movements and propose a motion design that follows the partner's intended movement. Our proposed method is installed in our omni-directional prototype vehicle and evaluated its effectiveness in experiments.

关键词： Vehicles Legged locomotion Prototypes Force Wheelchairs Estimation

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Robot navigation according to the characteristics of pedestrian flow

Robot navigation according to the characteristics of pedestr...

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Annual Conference of industrial Electronics Society

作者： Nozomi Nishino Ryo Tsugita Daisuke Chugo Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Information Science and Technology Tokai University Hiratsuka Kanagawa Japan School of Science and Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

In recent years, service robots have tended to have the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance and arrive at the goal point. The potential method is one of the path planning methods for obstacle avoidance. Because pedestrian is moving obstacle, he/she may go outside of artificial potential in a similar method suggested by a previous study. However, if the robot avoids collision too securely, robot's performance is limited so a trade-off problem arises between collision avoidance and robot's performance. A potential method requires a function that allows a robot to plan an effective path without collision with pedestrian by predicting a pedestrian's next position during robot operation. In this study, we develop a robot navigation method according to the characteristics of pedestrian flow. We spread a repulsive potential that adapts the pedestrian potential equation based on the route estimation model. In the proposed method, the repulsive potential changes depending on the position or the velocity of the pedestrian. The robot plans a path without including unnecessary potential, according to the pedestrian's route estimation range. Compared with the previous potential method, wherein the potential field is distributed equally around a pedestrian the same way as a static obstacle, the proposed method enables the robot to plan an effective path with pedestrian characteristics. The proposed method's effectiveness is demonstrated through experiments.

关键词： Mathematical model Collision avoidance Estimation Navigation Legged locomotion Service robots

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Situation-based servo braking assistance for a manual wheelchair

Situation-based servo braking assistance for a manual wheelc...

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IEEE Symposium on Computational Intelligence and Bioinformatics and Computational Biology (CIBCB)

作者： Daisuke Chugo Noburiho Goto Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan School of Information Science and Technology Tokai University Hiratsuka Kanagawa Japan Faculty of Science and Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

ISBN: (纸本)9781509000128

This paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively works to complement their intentional force by negating the wheel traction that is generated by the road's inclination using only the servo brakes on each wheel. Nevertheless, in some cases, our system fails to assist the driving motion of its user because the user drives the wheelchair in several ways that depend upon the environmental condition, for example, during uphill or downhill driving. The required assistance is not constant according to the situation, and it is difficult to assist with one wheel-control algorithm. Therefore, in this study, we first investigate the required assistance condition according to the driving situation by conducting a preliminary experiment with wheelchair users. Considering the results of this investigation, we then propose a novel user interface that intuitively shows the system information and a wheel-control algorithm that selects a suitable wheel controller according to the driving situation.

关键词： Wheelchairs Brakes Wheels Roads Servomotors Manuals Force

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Approaches to infringement risk evaluation of patent products for design-around

Approaches to infringement risk evaluation of patent product...

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design Engineering in the Context of Asia - Asian design Engineering Workshop, A-DEWS 2015

作者： Chang, Hsiang-Tang Hsieh, Yi-Ching Yang, Yuan-Po Department of Innovation Design Engineering National Kaohsiung First University of Science and Technology Kaohsiung City Taiwan Graduate Program of Industrial Design National Kaohsiung First University of Science and Technology Kaohsiung City Taiwan

In this article, the authors proposed several approaches to infringement risk evaluation for patent products: (1) An approach integrating patent examination citation rate with Axiomatic design's matrix to evaluate difficulty of each patent technology and the corresponding effect for design-around (i.e. design without patent infringement);(2) An approach judging priority for design-around by combining patent-technology-field analysis and element-joint-type evaluation;and (3) A developing approach observing evolution of patent technology and discovering safe region for design-around inspired by the innovation strategy WOIS.

关键词： Risk assessment

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Selection of Suitable Maximum-heart-rate Formulas for Use with Karvonen Formula to Calculate Exercise Intensity

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International Journal of Automation and computing 2015年第1期12卷 62-69页

作者： Jinhua She Hitoshi Nakamura Koji Makino Yasuhiro Ohyama Hiroshi Hashimoto Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 KatakuraHachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology 1-10-40 HigashiooiShinagawa-ku Tokyo 140-0011 Japan

The Karvonen formula, which is widely used to estimate exercise intensity, contains maximum heart rate, H Rmax, as a variable. This study employed pedaling experiments to assess which of the proposed formulas for calculating H Rmaxwas the most suitable for use with the Karvonen formula. First, two kinds of experiments involving an ergometer were performed: an all-in-one-day experiment that tested eight pedaling loads in one day, and a one-load-per-day experiment that tested one load per day for eight days.A comparison of the data on 7 subjects showed that the all-in-one-day type of experiment was better for assessing H Rmaxformulas,at least for the load levels tested in our experiments. A statistical analysis of the experimental data on 47 subjects showed two of the H Rmaxformulas to be suitable for use in the Karvonen formula to estimate exercise intensity for males in their 20 s. In addition, the physical characteristics of a person having the greatest impact on exercise intensity were determined.

关键词： Borg CR10 scale Karvonen formula exercise intensity maximum heart rate pedaling statistical analysis

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Robotic driving assistance system for manual wheelchair user on uneven ground

Robotic driving assistance system for manual wheelchair user...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Daisuke Chugo Nobuhiro Goto Sho Yokota Satoshi Muramatsu Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Japan Faculty of Science and Engineering Toyo University Saitama Japan School of Information Science and Technology Tokai University Hiratsuka Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

ISBN: (纸本)9781479918096

This paper proposes a novel driving assistance system for a manual wheelchair. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. Using only servo brakes on each wheel, our proposed system negates the wheel traction that is generated by the road's inclination. Our system measures the road's inclination and estimates the wheel traction generated by gravitational force. Our system then cancels this traction and the user can drive the wheelchair as they would on flat ground. The system is intuitive because the user drives the wheelchair in the usual manner, and our assistance system works passively to complement the user's intentional force. Our system uses only servo brakes that can generate the various required levels of brake traction. Our system does not require actuators, and its mechanism is simple and inexpensive. There is no risk of malfunction of servomotors. We verified the effectiveness of our proposed assistance system by conducting experiments with a prototype.

关键词： Wheelchairs Wheels Brakes Gravity Sensors Servomotors Acceleration

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Education system of skill succession based on 3D evaluation and improvement in time series

Education system of skill succession based on 3D evaluation ...

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IEEE Region 10 Humanitarian technology Conference (R10-HTC)

作者： Kaoru Mitsuhashi Sho Yokota Hiroshi Hashimoto Sang-Gyu Shin Daisuke Chugo School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan Graduate school of Science and Technology Toyo University Kawagoe Saitama Japan School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan

This paper presents an educational support system of skill succession with body motion based on 3D (three-dimensional) biomechanics evaluation. Skill succession using body motion seems different because human cannot attain the perfect copy or imitation of the reference skill motion. We call it the imperfect imitation problem. Then, we propose the 3D skeleton motion viewer and e-learning education system. The learner cannot move the expert motion, however, watching only 3D skeleton motion movie. So, our system supports learner using the judgment of the expert instructors (teacher). In experiment, to evaluate the effectiveness of the proposed system, some education of sports such as swimming, darts game and karate are adopted. The evaluation is a learner's improvement and teacher's satisfaction from the interview.

关键词： Three-dimensional displays Skeleton Motion pictures Education Databases Time series analysis Solid modeling

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Norm selection for evaluation criterion for placement planning of active damping devices in structure

Norm selection for evaluation criterion for placement planni...

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International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Kou Miyamoto Jinhua She Hiroshi Hashimoto Min Wu Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Kanagawa Japan School of Automation China University of Geosciences Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan

Active vibration control has been widely investigated in civil engineering. This study considers the problem of selecting a norm for an evaluation criterion for the planning of the placement of active damping devices (ADDs) in a structure in active vibration control. Using a 4-degree-of-freedom system as an example, we compare the commonly used 2-norm and ∞-norm, and show that the 2-norm is a suitable choice for the performance index of the placement planning of ADDs.

关键词： Earthquakes Planning Damping Vibration control Optimization Performance analysis

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