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SICE Annual Conference

作者： Eriko Yokomatsu Shin-ichi Ito Yasue Mitsukura Jianting Cao Minoru Fukumi Graduate School of Bio-Applications and System Engineering Tokyo University of Agriculture슠and슠Technology Tokyo Japan Department of Human-Robotics Saitama Institute of Technology Saitama Japan Department of Information Science and Intelligent Systems University of Tokushima Tokushima Japan

Recently in the world, there are a lot of reports concerning the relation between the EEG and the preference in the analysis of the biosignal. In this paper, personal preference using olfactory stimulus and the EEG are taken out. We measure the EEG when smelling favorite odor and dislikeable odor. Then, the feature data of the EEG are extracted by the proposed method. Furthermore, in order to show the effectiveness, we demonstrate simulation examples. From the simulation result, it was confirmed that the proposed method works well.

关键词： Electroencephalography Data mining Olfactory Brain modeling Fluid flow measurement Agricultural engineering Design engineering systems engineering and theory Agriculture information science

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TRACKING DOMAINS FOR UNSTABLE PLANTS WITH SATURATING-LIKE ACTUATORS

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Asian Journal of Control 2008年第4期1卷

作者： V.A. Yakubovich S. Nakaura K. Furuta Vladimir A. Yakubovich is a corresponding member of Russian Academy of Science. Vladimir A. Yakubovich was born in Novosibirsk Russia in 1926. he entered Moscow University in 1946 and graduated in 1949. he received the Candidate of Science degree (Ph.D.) in 1953 and the Doctor of Science degree in 1959 from Leningrad University. In 1959 he joined the Leningrad University and he has remained since then. He is the author of more than 270 papers and a coauthor of seven books in different areas of applied mathematics and control theory. he has worked in parametric resonance theory in the theory of stability of nonlinear systems and in optimization theory. Dr. Yakubovich has served on many scientific committees and editorial boards. he is a member of several scientific socienties in Russia. He was awarded the Norbert Wiener Prize (1991) a prize from the international editorial company “Nauka” for best publication in its journals (1995) and the IEEE Control Systems Award (1996). Since 1991 he has been a corresponding member of the Russian Academy of Sciences. Dept. of Control Engineering Tokyo Institute of Technology Japan. Shigeki Nakaura received his B.S. and M.S. degrees in Control Engineering from the Tokyo Institute of Technology in 1995 and 1997 respectively. He is currently a PhD student of the Tokyo Institute of Technology. His research interests include robotics and intelligent machining. He is a member of SICE JSPE and IEEE. Katsuhisa Furuta was born in Tokyo Japan in 1940. He received his B.S. M.S. and Ph.D. degrees in Engineering from the Tokyo Institute of Technology in 1962 1964 and 1967 respectively. he was a post doctoral fellow at Laval University (Quebec Canada) from July 1967 to August 1969. Since then he has been a member of the teaching staff of the Tokyo Institute of Technology Department of Control Engineering where he is currently a Professor Graduate School of Information Science and Engineering. He was a Russell Severance Springer Professor University of California at

In many mechanical systems, the tracking control is one of the most important issues. Therefore for the unstable system subject to actuator saturation, the domain of the initial states corresponding to an arbitrary reference signal, within which tracking condition can be achieved, is interesting to be considered. In this paper, an approximate tracking domain is derived analytically. First in Theorem 1, for simple case, it is constructed by using the partial Lyapunov function and the absolute stability theory. In the following Theorems 2 and 3, a new idea is used to obtain larger domains. Finally in the last section, a simple numerical example is given.

关键词： Actuator constraint tracking control nonlinear analysis absolute stability

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intelligent BioRobot platform for integrated clinical test

Intelligent BioRobot platform for integrated clinical test

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2006 SICE-ICASE International Joint Conference

作者： Byung, June Choi Kyuho, Noh Jung, Woo Kim Sung, Moon Jin Ja, Choon Koo Sung, Moo Ryew Jinhyun, Kim Woong, Hee Son Ahn, Ki Tak Wankyun, Chung Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of System Development KnR System Inc. Youngin Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan Korea Republic of Pohang Institute of Intelligent Robotics Pohang Korea Republic of Department of Mechanical Engineering Pohang University of Science and Technology Pohang Korea Republic of

ISBN: (纸本)8995003855

Recently, automation in clinical test is raised as a fusion of bio and robotic technology. Particularly, automation in clinical test becomes a new application area of the robotic technology. In this paper, we present a robot platform for clinical test suitable for small or medium size of hospitals. The platform is designed to minimize the consumption of reagents, and easily integrate various testing equipments since it is functionally modularized. The platform is aimed for accommodating almost 70 kinds of clinical tests, which are the most frequently conducted in the hospitals. The platform consists of several major function blocks such as manipulation, transportation and detection, incubation, reservation, and each of them is designed as a module of the system. Basic ideas of the design are described and each functional block is explained in details. © 2006 ICASE.

关键词： intelligent robots

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In-situ formation of a gel microbead for laser micromanipulation of microorganisms, DNA and virus

In-situ formation of a gel microbead for laser micromanipula...

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2006 IEEE International Symposium on Micro-Nano Mechanical and Human science, MHS

作者： Ichikawa, Akihiko Honda, Ayae Ejima, Miho Tanikawa, Tamio Arai, Fumihito Fukuda, Toshio Ubiquitous Functions Research Group Intelligent Systems Research Institute Advanced Industrial Science and Technology Umezono 1-1-1 Tukuba-city Ibaraki-state 305-8568 Japan Frontier Biosci. Dept. Engineering Hosei University Graduate School of Engineering Dept. Bioengineering Robotics Tohoku University Micro-Nano System Engineering Dept. Engineering Nagoya University

ISBN: (纸本)1424407176

We propose in situ formation of gel microbeads made of a thermoreversible hydrogel for indirect laser micromanipulation of microorganisms, DNA and viruses. Irradiation,using a 1064 nm laser, of an aqueous solution mixed with pol-(N-isopropylacrylamide) through a high magnification lens resulted in the formation of a gel microbead at the laser focus due to heating The gel microbead was trapped by the laser and was used for indirect laser micromanipulation of microscale and nanoscale samples. Laser tweezers can typically handle a microscale object with size ranging from several tens of nm to several hundreds of pjm in a stable manner. However, a nanoscale object with a size of a few nm cannot be stably manipulated, and laser beam heating is a major problem. This paper shows a method of indirect manipulation of microorganisms, DNA and viruses using a gel microbead made from the poly-(N-isopropylacrylamide) aqueous solution. We succeeded in reducing the laser power for gel microbead formation, and in using the laser-trapped gel microbead for the manipulation of microorganisms, DNA and viruses.

关键词： Viruses

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On dynamic generation of business protocol in autonomous Web services

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systems and Computers in Japan 2006年第2期37卷 37-45页

作者： Oya, Makoto Kinoshita, Masahiro Kakazu, Yukinori Graduate School of Information Science and Technology Hokkaido University Sapporo 060-0814 Japan Department of Information Design Faculty of Engineering Hokkaido Institute of Technology Sapporo 006-8585 Japan Department of Information Science Shonan Institute of Technology Fujisawa 251-8511 Japan Open System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Information Processing Society of Japan IEICE Japan Society of Precision Engineering ACM Department of Information Design Hokkaido Institute of Technology Japan Society of Mechanical Engineers Complex System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Robotics Society of Japan

One of the issues of autonomous Web services is that precise business protocols across systems are not always predefined. A likely solution to this problem is to dynamically generate business protocols by matching external interface definitions and relating information exposed by each system. The current Web services have a feature called a portType that describes an external interface of a system. This paper proposes to add a new concept called "behavior pattern" to the portType, then provides an algorithm to dynamically generate business protocols. The algorithm compares the portTypes of the concerned system and the opposite system, verifies the possibility of their interaction, and automatically reduces the behavior patterns within executable range. The paper also evaluates this algorithm by applying it to some use cases and shows that the method provides useful early results for realization of autonomous Web services. © 2006 Wiley Periodicals, Inc.

关键词： World Wide Web

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Robovie-IV: A Communication Robot Interacting with People Daily in an Office

Robovie-IV: A Communication Robot Interacting with People Da...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Noriaki Mitsunaga Takahiro Miyashita Hiroshi Ishiguro Kiyoshi Kogure Norihiro Hagita Intelligent Robotics and Communication Laboratories Japan Graduate School of Engineering Osaka University Suita City Japan Intelligent Robotics and Communication Laboratories. ishiguro@ams.eng.osaka-u.ac.jp Media Information Science Laboratories Advanced Telecommunications Research Institute International Japan Media Information Science Laboratories Advanced Telecommunication Research Institute International Keihanna Science City Japan

We believe that robots would take an active part in our daily lives in the near future. Once this time arrives, robots will be expected to have the social skills necessary for interacting with people in addition to the ability to carry out their own tasks. We call an interaction that increases familiarity and makes communication smoother a "social interaction." We have recently developed a human-size humanoid, called "Robovie-IV," which will have the ability to interact with people in their daily lives. This paper discusses the design requirements for human-robot interaction by a communication robot, then introduces an overview of Robovie-IVs hardware and software architectures. There are also preliminary results of a daily experiment that we are currently conducting with Robovie-IV in our office

关键词： Human robot interaction intelligent robots Laboratories Cities and towns Hardware Software architecture Internet Speech recognition information science Displays

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intelligent BioRobot Platform for Integrated Clinical Test

Intelligent BioRobot Platform for Integrated Clinical Test

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SICE Annual Conference

作者： Byung June Choi Kyuho Noh Jung Woo Kim Sung Moon Jin Ja Choon Koo Sung Moo Ryew Jinhyun Kim Woong Hee Son Ki Tak Ahn Wankyun Chung Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Division of System Development KnR System Inc. Youngin Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan Korea Pohang Institute of Intelligent Robotics Pohang Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang Korea

关键词： Laboratories robotics and automation Manufacturing automation Hospitals Automatic testing intelligent robots system testing Service robots Mechanical engineering Investments

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A parallel cost-based abductive reasoning system on workstation cluster

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systems and Computers in Japan 2006年第3期37卷 80-89页

作者： Kato, Shohei Nakamura, Tomonori Itoh, Hidenori Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Nagoya 466-8555 Japan Department of Intelligent and Computer Science Nagoya Institute of Technology Nagoya 466-8555 Japan Matsushita Electric Industrial Corp. Department of Computer Science and Engineering Nagoya Institute of Technology Information Processing Society of Japan Japanese Society for Artificial Intelligence Robotics Society of Japan Development of Home Networks Platform Development Center Department of Computer Science and Engineering Society for Science on Form Japan

This paper proposes a method for dynamic load balancing which works efficiently in the workstation cluster environment. A parallel abductive reasoning system based on the proposed method is also proposed. In the workstation cluster environment, parallel processing is performed using workstations with various processing abilities and loads. Thus, dynamic load balancing must consider the performance and loading conditions of the workstations. This paper proposes a method of estimating the processing ability of the workstation during operation, and also a dynamic load balancing algorithm to balance the estimated conditions. Using the proposed method, a parallel abductive reasoning system which can derive the most preferable explanation for a given observation is implemented. The results of experiments on the system are also reported. © 2006 Wiley Periodicals, Inc.

关键词： information retrieval systems

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A Study on Hybrid Energy Storage system for 42V Automotive Power-net

A Study on Hybrid Energy Storage System for 42V Automotive P...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Baek-Haeng Lee Dong-Hyun Shin Byeong-Woo Kim Hee-Jun Kim Byoung-Kuk Lee Chung-Yuen Won Jin Hur Electronics System R&D Center Korea Automotive Technology Institute Chonan ChungNam South Korea Department of Computer Science & Engineering Hanyang University Chonan ChungNam South Korea School of Information and Communication Engineering Sungkyunkwan University Chonan ChungNam South Korea Intelligent Mechatronics Research Center Korea Electronic Technology Institute Chonan ChungNam South Korea

There are lots of attempts in automotive field to supersede mechanical parts with electrical ones owing to increasing needs of drivers' safety, comfort and convenience as well as recent tightened environmental regulation. In addition, continuous improvements of semiconductor technology make it speed up to use electric components instead of conventional mechanical and hydraulic ones. In accordance with these tendencies, the demand of electric power and energy used in vehicle has been increasing steadily, and it will cause overburden of conventional 14 V power generation and distribution system. A research on higher voltage system started in early 1990s and 42 V power system has been introduced for a future automotive power-net. In this paper, technical trend in energy storage system which implies one of the key technologies to implement 42 V power-net is reviewed, and development results of the improved energy storage system consisted of ultracapacitor, battery and management controllers are presented

关键词： Energy storage Automotive engineering Electrical safety Continuous improvement Vehicles Power generation Voltage Power systems Supercapacitors Batteries

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CPG-based manipulation: Adaptive switchings of grasping fingers by joint angle feedback

CPG-based manipulation: Adaptive switchings of grasping fing...

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2005 IEEE International Conference on robotics and Automation

作者： Kurita, Yuichi Nagata, Kazuyuki Ueda, Jun Matsumoto, Yoshio Ogasawara, Tsukasa Graduate School of Engineering Hiroshima University 1-4-1 Kagamiyama Higashi Hiroshima 739-8527 Japan Intelligent System Research Institute National Institute of Science and Technology AIST Tsukuba Central 1 Tsukuba Ibaraki 305-8561 Japan Graduate School of Information Science Nara Institute of Science and Technology 8916-5 Takayama Ikoma Nara 630-0192 Japan

ISBN: (纸本)078038914X

In this paper, the CPG-based control method for the rotating manipulation that can adaptively change the issuing cycle of motion-triggers is proposed. The CPG model consists of the mutual inhibition network and the rotating manipulation is performed by the motion-triggers that are issued from the CPG model. The smooth change of the desired velocity can be given by the output of neurons that keep smooth increase and decrease. Experimental results using 4-fingered hand system suggest that the issuing cycle of the motion-triggers can be adaptively changed by the feedback of joint angle according to an object size. ©2005 IEEE.

关键词： Motion control

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