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2007 2nd IEEE Conference on Industrial Electronics and Applications, ICIEA 2007

作者： Fu, Li Xu, Xinhe Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China State Key Laboratory for Intelligence Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)1424407370

This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, i.e., multi-axes mechanics with closed loop chain and reluctant coordinates, we use Routh method to develop dynamic model of BRHL and evaluate the relationship between force and moment, giving an algorithm of Routh equation for forward and reverse solution as well as constrain equations. This methodology establishes the basis for locomotion, control and perception of BRHL. In addition, the model thus developed is proven to be robust and the human motion process is well simulated in ADAMS software. © 2007 IEEE.

关键词： Robotic arms

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Automated robotic deposition system for manufacturing nano devices

Automated robotic deposition system for manufacturing nano d...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： King Wai Chiu Lai Ning Xi Uchechukwu C. Wejinya Yantao Shen Wen J. Li Robotics and Automation Laboratory Electrical and Computer Engineering Michigan State University East Lansing MI USA Centre of Micro and Nano System Chinese University of Hong Kong Hong Kong China

This paper presents a novel automated manufacturing process for mass production of nano devices from advanced material such as carbon nanotubes (CNTs). CNTs have been found to be a promising and advanced material for nanoelectronics due to their size and excellent mechanical and electrical properties. Conventional electronic devices replaced by CNT are possibly to be miniaturized, and CNT based nano devices can provide better performance. Therefore, researchers have focused on developing different methods to manufacture CNT based nano devices in recent years. Since the size of CNTs is in nano scale, traditional robotic manipulation cannot be applied. Electrical assembly of CNT based devices is one of the promising methods to manipulate CNT to desired position. Building nano device by a single CNT is challenging, therefore, most people have concentrated on manipulating bundled CNTs. However, the electrical properties of bundled CNTs are difficult to control. As a result, device cannot benefit from quantum properties of a single CNT. Therefore, an automated process for manufacturing single CNT based nano devices is necessary for this application. A CNT deposition system is developed to manipulate a single CNT across microelectrodes precisely and repeatedly by using dielectrophoresis (DEP). Moreover, certain types of CNTs can be selected by using a micro chamber to filter other unnecessary types of CNTs. The system can potentially be used to fabricate an array of CNT based devices, and a fast and feasible batch nano assembly of consistent nano devices can be achieved.

关键词： robotics and automation Manufacturing automation Manufacturing processes Mass production Organic materials Carbon nanotubes Nanoelectronics Mechanical factors Robots Robotic assembly

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"Development of Multi-Layer Scaffolds Based on Artificial Configuration"

"Development of Multi-Layer Scaffolds Based on Artificial Co...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Hiroyuki Oura Tomoyuki Uchida Seiichi Ikeda Takuma Nakano Fumihito Arai Makoto Negoro Takehisa Matsuda Toshio Fukuda Department of Micro-Nano System Engineering Nagoya Japan Department of Bioengineering and Robotics Sendai Japan Department of Neurosurgery School of Medicine Aichi Japan Genome Biotechnology Laboratory Kanazawa Institute of Technology Japan

In this work, we propose a multi-layered scaffold made of elastic biodegradable polymer PLCL [1] by salt leaching method [2], which has high porosity at inner layer and high stiffness in outer layer. Before implanting to a damaged position of a patient, scaffolds should be coated with human umbilical vein endothelial cells (HUVECs). (Porous structure is also served as a pathway of sufficient nutrients and oxygen). This inner layer has porosity as means to culture HUVECs on itself, and outer layer has stiffness as means to maintain shape of scaffolds against blood flow as that of blood vessels does. These inner and outer layers were reproduced also as means of intimal layer and internal elastic lamina in human blood vessel especially muscular artery respectively. It was also verified that this fabrication method can be applied to fabricate tri-layered tubular artificial blood vessel scaffold by SEM. Mechanical characterization and porosity of bi-layered scaffolds were evaluated by tensile test and image processing respectively. These parameters were confirmed that can be controllable by adjusting concentration of NaCl for inner layer used in salt leaching method. HUVECs were cultured on the porous structure of bi-layered scaffolds, and the scaffold's biocompatibility was confirmed by viability of cells. Results obtained from these experiments shows we can propose artificial blood vessel scaffold, which has optimal porosity and mechanical strength, not to induce blood clot, intimal hypertrophy and so on in patient's body.

关键词： Blood vessels Biomedical imaging Leaching Humans Biodegradable materials Polymers Veins Shape Blood flow Arteries

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Suborbital flight test of a prototype terrain-relative navigation system

Suborbital flight test of a prototype terrain-relative navig...

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2007 AIAA InfoTech at Aerospace Conference

作者： Seybold, Calina Chen, George Bellutta, Paolo Johnson, Andrew Matthies, Larry Thurman, Sam Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States System Engineering Section M/S 233-201 4800 Oak Grove Drive United States AIAA United States EDL Systems and Advanced Technologies Group System Engineering Section M/S 301-490 Mobility and Robotic Systems Section M/S 198-235 United States Computer Vision Group Mobility and Robotics Systems Section M/S 198-235 United States Autonomous Systems Division M/S 198-105

ISBN: (纸本)1563478935

In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance system (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.

关键词： Flight control systems

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Introduction of mission unit on information collection by on-rubble mobile platforms of development of rescue robot systems (DDT) project in Japan

Introduction of mission unit on information collection by on...

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2006 SICE-ICASE International Joint Conference

作者： Matsuno, Fumitoshi Hirose, Shigeo Akiyama, Iwaki Inoh, Takao Guarnieri, Michele Shiroma, Naoji Kamegawa, Tetsushi Qhno, Kazunori Sato, Noritaka Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Qkayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

ISBN: (纸本)8995003855

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji Earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster ate. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 yeras project) launched by Ministry of Education, Culture, Sports, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin Earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms. © 2006 ICASE.

关键词： Project management

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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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Introduction of Mission Unit on Information Collection by On-Rubble Mobile Platforms of Development of Rescue Robot systems (DDT) Project in Japan

Introduction of Mission Unit on Information Collection by On...

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SICE Annual Conference

作者： Fumitoshi Matsuno Shigeo Hirose Iwaki Akiyama Takao Inoh Michele Guarnieri Naoji Shiroma Tetsushi Kamegawa Kazunori Ohno Noritaka Sato Kawasaki Laboratory International Rescue System Institute Kawasaki Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Tokyo Japan Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan Department of Electrical and Electronic Engineering Shonan Institute of Technology Japan. Tel : +81-466-30-0190 E-mail: akiyama@*** Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan. Tel : +81-03-5734-3177 E-mail: guarnieri@robotics.mes.titech.ac.jp Department of Intelligent Systems Engineering Ibaraki University Hitachi Japan Department of System Engineering Okayama University Okayama Japan Department of Bioengineering and Robotics Tohoku University Sendai Japan

Intelligent rescue systems with high information and robot technology have been expected to mitigate disaster damages, especially in Japan after the 1995 Hanshin-Awaji earthquake. In development of robots for search and rescue tasks it is important to develop a robot which can actually work in a real disaster site. Several robots were used for the search and detection operation in the collapsed World Trade Center building in September 2001. From 2002 "Special Project for Earthquake Disaster Mitigation in Urban Areas" (5 years project) launched by Ministry of Education, Culture, Spots, Science and Technology, Japan. It aims at significant mitigation the earthquake disaster damage on the scale of the Great Hanshin earthquake, in densely populated areas in big city regions such as Tokyo metropolitan area and Keihanshin area. In this paper, we introduce the activities of the mission unit on the information collection by on-rubble mobile platforms

关键词： Mobile robots Intelligent robots Earthquakes systems engineering and theory Intelligent systems Urban areas Robot sensing systems Humans system testing Laboratories

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Deformable caging formation control for cooperative object transporation by multiple mobile robots

Deformable caging formation control for cooperative object t...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Zhidong Wang Y. Hirata K. Kosuge System Robotics Laboratory Graduate School of Engineering University of Tohoku Sendai Japan

This paper addresses the problem of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure used, object closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once object closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, the object closure margin used to decide the caging formation is addressed and a decentralized control algorithm to perform a large object handling by controlling the density of robots in the caging formation is proposed

关键词： Mobile robots Robot kinematics Robot control Force control Orbital robotics Transportation Humanoid robots Control systems system testing Drag

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Optimizationof CPG-network for decentralized control of a snake-like robot

Optimizationof CPG-network for decentralized control of a sn...

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IEEE International Conference on robotics and Biomimetics

作者： K. Inoue Shugen Ma Chenghua Jin Department of System Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

Periodic locomotion of animal bodies with large degree of freedom is known to be realized by decentralized control using network of central pattern generators (CPGs) that are distributed in spinal cord (in vertebrates) or nerve cords (in invertebrates). In this paper, optimization of a decentralized controller for a snake-like robot based on CPG-network is presented. The controller is composed of CPGs on every robot joints and connections between them. Oscillations of CPGs are coordinated by propagating them each other. For several types of network structure, genetic algorithm (GA) is used to optimize neural parameters, i.e. CPG parameters and synaptic weights. As a result, we derived a CPG-network that is optimal in terms of moving speed

关键词： Distributed control Robot kinematics Legged locomotion Mobile robots robotics and automation Animals Spinal cord Genetic algorithms Signal generators systems engineering and theory

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A detection method of moving ships by image processing as a support system of AIS

A detection method of moving ships by image processing as a ...

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Institute of Navigation, 2005 National Technical Meeting, NTM 2005

作者： Shimpo, M. Hirasawa, M. Nakajima, A. Shoji, R. Oshima, M. Tokyo University of Marine Science and Technology Information Systems Planning and Development Department Mitsubishi Electric Corporation Japan Institute of Navigation Robotics Society of Japan Institute of Electronics Information and Communication Engineers Japan Institute of Navigation Image Processing Radar Network System Faculty of Marine Technology Tokyo University of Marine Science and Technology Electro Technical Laboratory Ibaraki Japan Tokyo University of Mercantile Marine Tokyo Japan Institute of Electronics Information and Communication Engineers Information Processing Society of Japan Japanese Society for Artificial Intelligence Marine Engineering Society in Japan Law and Computers Association of Japan

This paper proposes a detection method of moving ships from the navigational image sequence that was taken with cameras installed on the bridge of the ship. The image is influenced by roll and pitch of the ship. Therefore, usual technique of image processing cannot be used such as Finite Difference method. Moreover, as many sea waves appear in the images, the image cannot be dealt without rejecting sea waves. The technique in this paper proposes how to get rid of the influence of roll, pitch and sea waves. After that, we detect the ships. An interval between each of the frames is one-thirty second in this experiment. The size of the images is 640 pixels in width and 480 pixels in height. At first, the frames are segmented into about 5000 regions using brightness value of the image. About 100 regions were estimated with the ship. Each region was matched with another two frames, which passed 0.33 second and 0.66 second. 0.33 second corresponds to 10 frames. The movement of the ship is less than 50 pixels in this interval. The SSDA method is used for matching processing to be more efficiently. Both the coordinate points of an original region and the matched one are recorded on the table. It is used to calculate the deflection, the speed and the direction of the moving vector of each region. The ships can be detected with these parameters. The detected ships can be displayed clearly as a result of processing. We have taken a lot of video images in Tokyo Bay and Tokyo Port. It becomes possible to show that the ships can be detected from the video images.

关键词： Navigation systems

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