Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285438
Robin Miao Sin Yap, Daiki Kono, Yuriko Saruta, H. Matsui, Ken-ichiro Ogawa, Y. Miyake, Seki Masatoshi, Ken Ichiryu
Ageing population is a global social problem due to increase in life expectancy and improvement in medical care. In this study, we developed a gait rehabilitation system using interactive motor rhythmic stimulation based on mutual entrainment to help elderly in walking. Mutual entrainment is a natural phenomenon that occur as a result of rhythmic interaction between two or more non-linear oscillators. During this process, the oscillator with a high frequency slows down while the oscillator with a low frequency speeds up, until both oscillators generates the same frequency. In this system, the input rhythm of human footstep timing (phase) is synchronized with the output rhythm of the upper and lower limbs' motor timing (phase) of the system. This system is expected to improve upper and lower limb coordination for elderly's gait.
{"title":"Development of a wearable gait assist robot using interactive motor rhythmic stimulation to upper and lower limbs","authors":"Robin Miao Sin Yap, Daiki Kono, Yuriko Saruta, H. Matsui, Ken-ichiro Ogawa, Y. Miyake, Seki Masatoshi, Ken Ichiryu","doi":"10.1109/SICE.2015.7285438","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285438","url":null,"abstract":"Ageing population is a global social problem due to increase in life expectancy and improvement in medical care. In this study, we developed a gait rehabilitation system using interactive motor rhythmic stimulation based on mutual entrainment to help elderly in walking. Mutual entrainment is a natural phenomenon that occur as a result of rhythmic interaction between two or more non-linear oscillators. During this process, the oscillator with a high frequency slows down while the oscillator with a low frequency speeds up, until both oscillators generates the same frequency. In this system, the input rhythm of human footstep timing (phase) is synchronized with the output rhythm of the upper and lower limbs' motor timing (phase) of the system. This system is expected to improve upper and lower limb coordination for elderly's gait.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131168489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285517
Kota Mikuriya, S. Hikasa, Yukito Hamano, Keigo Watanabe, Masaki Ikeda, I. Nagai
Biomimetic robots are possible to be used for investigating aquatic lives without affecting them. We have already developed a Manta robot that has propulsion mechanisms with pectoral fins, which are constructed by mimicking the pectoral fin of the manta ray. However, the swimming speed of the conventional Manta robot does not reach to those of many aquatic lives. In this paper, we improve the propulsion performance of such a Manta robot by considering a 3D shape. The propulsion performance of the Manta robot is improved by adopting a streamline shape, which has a less propulsion resistance as the body shape of the robot.
{"title":"Development of a new manta robot considering the form drag","authors":"Kota Mikuriya, S. Hikasa, Yukito Hamano, Keigo Watanabe, Masaki Ikeda, I. Nagai","doi":"10.1109/SICE.2015.7285517","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285517","url":null,"abstract":"Biomimetic robots are possible to be used for investigating aquatic lives without affecting them. We have already developed a Manta robot that has propulsion mechanisms with pectoral fins, which are constructed by mimicking the pectoral fin of the manta ray. However, the swimming speed of the conventional Manta robot does not reach to those of many aquatic lives. In this paper, we improve the propulsion performance of such a Manta robot by considering a 3D shape. The propulsion performance of the Manta robot is improved by adopting a streamline shape, which has a less propulsion resistance as the body shape of the robot.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127248429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285449
K. Terashima, R. Tasaki, Kazuki Kunihiro, H. Sato
We have developed a robot that accompanies healthcare professionals making rounds in wards at hospitals. This novel robot mainly executes two tasks: carrying armamentarium and recording data on rounds. An omnidirectional mobile mechanism and a human tracking control system to follow a specified medical professional realize smooth transfer movement from a nurses station to wards. Data on rounds is automatically recorded by a CCD camera and a voice recorder. When the robot is connected via a cable to a medical data server, the robot transmits patients' data to the server and receives new patients' information.
{"title":"Mobile medical round robot with specified human tracking control system using environment recognition and inertial navigation","authors":"K. Terashima, R. Tasaki, Kazuki Kunihiro, H. Sato","doi":"10.1109/SICE.2015.7285449","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285449","url":null,"abstract":"We have developed a robot that accompanies healthcare professionals making rounds in wards at hospitals. This novel robot mainly executes two tasks: carrying armamentarium and recording data on rounds. An omnidirectional mobile mechanism and a human tracking control system to follow a specified medical professional realize smooth transfer movement from a nurses station to wards. Data on rounds is automatically recorded by a CCD camera and a voice recorder. When the robot is connected via a cable to a medical data server, the robot transmits patients' data to the server and receives new patients' information.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123485429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285479
T. Nara, S. Ando
Magnetic resonance electrical property tomography (MREPT) has attracted considerable attention for application to the estimation of the electric conductivity and permittivity inside the human body by measuring the transverse magnetic field component of the applied RF field at the Larmor frequency with an MRI scanner. However, conventional methods assume that these electrical properties are homogeneous inside the human body, which leads to a reconstruction error. In this paper, we present a linear, first-order partial differential equation (PDE) for the inverse of the admittivity, while the conventional PDE for the admittivity is nonlinear. This allows well-established methods for solving linear first-order PDEs to be used in MREPT.
{"title":"Partial differential equations for the inverse of admittivity for magnetic resonance electrical property tomography","authors":"T. Nara, S. Ando","doi":"10.1109/SICE.2015.7285479","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285479","url":null,"abstract":"Magnetic resonance electrical property tomography (MREPT) has attracted considerable attention for application to the estimation of the electric conductivity and permittivity inside the human body by measuring the transverse magnetic field component of the applied RF field at the Larmor frequency with an MRI scanner. However, conventional methods assume that these electrical properties are homogeneous inside the human body, which leads to a reconstruction error. In this paper, we present a linear, first-order partial differential equation (PDE) for the inverse of the admittivity, while the conventional PDE for the admittivity is nonlinear. This allows well-established methods for solving linear first-order PDEs to be used in MREPT.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"30 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116345912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285484
Yohei Fujisawa, Satoshi Suzuki, K. Iizuka, T. Kawamura
Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.
{"title":"Differential flatness-based tracking control for fleet of flying robots","authors":"Yohei Fujisawa, Satoshi Suzuki, K. Iizuka, T. Kawamura","doi":"10.1109/SICE.2015.7285484","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285484","url":null,"abstract":"Fleet of flying robots are expected to be applied to various practical tasks such as surveillance, inspection of infrastructures, and rescue. In this study, we aim at realizing precise formation flight of multiple flying robots. To realize precise formation flight, high tracking performance for given path is required. Therefore, tracking controller should be designed. In this paper, tracking control system based on Differential Flatness is designed for small unmanned helicopter. The numerical simulation is carried out to verify the effectiveness of designed tracking controller.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114300717","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285500
Zhitao Wang, Yo-Seop Hwang, Yun-ki Kim, Donghyuk Lee, Jangmyung Lee
In this paper we proposed a method to implement estimation of mobile robot's position by using SURF (Speeded Up Robust Features) algorithm based on depth image in indoor environment. SURF which is derived from SIFT algorithm has the advantage of fast calculation speed and a strong robustness. The depth image is generated from a 2D LRF (Laser Range Finder) sensor which is controlled to rotate around its y-axis. According to the interest points in each frame of depth image, we find the position relationship between each two frames and make a match between the corresponding interest points. In the experiment, we will show the implementation of position estimation using the method we proposed in this paper. The accuracy and efficiency of the proposed method has also been proved in the experiment.
{"title":"Mobile robot indoor localization using SURF algorithm based on LRF sensor","authors":"Zhitao Wang, Yo-Seop Hwang, Yun-ki Kim, Donghyuk Lee, Jangmyung Lee","doi":"10.1109/SICE.2015.7285500","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285500","url":null,"abstract":"In this paper we proposed a method to implement estimation of mobile robot's position by using SURF (Speeded Up Robust Features) algorithm based on depth image in indoor environment. SURF which is derived from SIFT algorithm has the advantage of fast calculation speed and a strong robustness. The depth image is generated from a 2D LRF (Laser Range Finder) sensor which is controlled to rotate around its y-axis. According to the interest points in each frame of depth image, we find the position relationship between each two frames and make a match between the corresponding interest points. In the experiment, we will show the implementation of position estimation using the method we proposed in this paper. The accuracy and efficiency of the proposed method has also been proved in the experiment.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121084898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285534
Kojiro Katayama, T. Miyoshi, K. Terashima
In recent years, in the manufacturing industry in Japan, an aging of workers is becoming serious problem. Elder workers can not work for a long term, but most of them have skillful ability. For these reasons, the system which can help their physical ability is required. Accordingly, we have proposed a power-assisted system for the overhead travelling crane. In conventional research, we have developed the vertical and horizontal travelling system, but the attitude control system was not completed. In this study, we develop the estimation system of operational force from ground reaction force as the input of the power-assited attitude control system.
{"title":"Estimation of operational force for power-assited system on overhead crane","authors":"Kojiro Katayama, T. Miyoshi, K. Terashima","doi":"10.1109/SICE.2015.7285534","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285534","url":null,"abstract":"In recent years, in the manufacturing industry in Japan, an aging of workers is becoming serious problem. Elder workers can not work for a long term, but most of them have skillful ability. For these reasons, the system which can help their physical ability is required. Accordingly, we have proposed a power-assisted system for the overhead travelling crane. In conventional research, we have developed the vertical and horizontal travelling system, but the attitude control system was not completed. In this study, we develop the estimation system of operational force from ground reaction force as the input of the power-assited attitude control system.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115921048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285549
Jiangyan Zhang, Shunichi Hara, T. Shen, Denggao Huang, H. Xie
In this paper, a nonlinear multi-input MPC strategy for energy management of parallel HEVs is investigated. In order to properly implement the MPC algorithm, the time-varying parameter in the vehicle dynamics is considered by combining an online identification strategy. Simulation testings over an urban driving cycle confirm the significant influence of the variation in the vehicle parameter to the solution of the proposed real-time optimal control problem.
{"title":"Nonlinear MPC-based energy management strategy for HEVs with consideration of vehicle parameter variation","authors":"Jiangyan Zhang, Shunichi Hara, T. Shen, Denggao Huang, H. Xie","doi":"10.1109/SICE.2015.7285549","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285549","url":null,"abstract":"In this paper, a nonlinear multi-input MPC strategy for energy management of parallel HEVs is investigated. In order to properly implement the MPC algorithm, the time-varying parameter in the vehicle dynamics is considered by combining an online identification strategy. Simulation testings over an urban driving cycle confirm the significant influence of the variation in the vehicle parameter to the solution of the proposed real-time optimal control problem.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121239584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285370
T. Tsukamoto, I. Tanev, K. Shimohara
We propose a learning support system of body movements which functions by means of overlapping a virtual entity over the learner's body. Learning experience could be classified into two main types: direct experience and indirect one respectively. Direct experience is the experience which has a direct relationship with the explicitly given target behavior. On the other hand, the indirect experience does not require such a relationship with the target behavior. Complementing both types of experience could enhance learning, by combining the respective advantages of each of the learning types. The learner's target behavior in our work is the action based on imitation, via repeating the three phases of “understanding”, “practicing” and “confirming.” We intend to achieve fusing both types of experience by eliminating the gap between these steps. The proposed system generates a virtual avatar of the teacher which features spatial coordinates of the articulating points obtained via Microsoft Kinect, overlaid on the image of the learner. In our system, we achieved “fusion of understanding and practice”, “fusion of practice and confirming” and “higher order of understanding and confirming”.
{"title":"Overlap of virtual entity on learner's body for fusing experience in learning body movements","authors":"T. Tsukamoto, I. Tanev, K. Shimohara","doi":"10.1109/SICE.2015.7285370","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285370","url":null,"abstract":"We propose a learning support system of body movements which functions by means of overlapping a virtual entity over the learner's body. Learning experience could be classified into two main types: direct experience and indirect one respectively. Direct experience is the experience which has a direct relationship with the explicitly given target behavior. On the other hand, the indirect experience does not require such a relationship with the target behavior. Complementing both types of experience could enhance learning, by combining the respective advantages of each of the learning types. The learner's target behavior in our work is the action based on imitation, via repeating the three phases of “understanding”, “practicing” and “confirming.” We intend to achieve fusing both types of experience by eliminating the gap between these steps. The proposed system generates a virtual avatar of the teacher which features spatial coordinates of the articulating points obtained via Microsoft Kinect, overlaid on the image of the learner. In our system, we achieved “fusion of understanding and practice”, “fusion of practice and confirming” and “higher order of understanding and confirming”.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129761544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-28DOI: 10.1109/SICE.2015.7285495
Kosuke Kitahara, T. Kondo
For the sake of brain-computer interfaces (BCIs) neurorehabilitation, an EEG feature, event-related (de)-synchronization (ERD/S) caused by motor imagery (MI) is widely used. However, its availability and reliability are limited. Thus, a neurofeedback training is required for the use of the BCI system. To find an effective training condition of the MI-based BCI neurorehabilitation system for lower extremity, in this study, we investigated two types of MIs: foot dorsiflexion and leg extension. As the result, a clear trend toward significant difference (p = 0.057) was found between foot and leg motor imageries. It suggests that foot-MI might cause larger beta ERD than leg-MI.
{"title":"The effects of foot and leg motor imageries on sensorimotor rhythms in EEG","authors":"Kosuke Kitahara, T. Kondo","doi":"10.1109/SICE.2015.7285495","DOIUrl":"https://doi.org/10.1109/SICE.2015.7285495","url":null,"abstract":"For the sake of brain-computer interfaces (BCIs) neurorehabilitation, an EEG feature, event-related (de)-synchronization (ERD/S) caused by motor imagery (MI) is widely used. However, its availability and reliability are limited. Thus, a neurofeedback training is required for the use of the BCI system. To find an effective training condition of the MI-based BCI neurorehabilitation system for lower extremity, in this study, we investigated two types of MIs: foot dorsiflexion and leg extension. As the result, a clear trend toward significant difference (p = 0.057) was found between foot and leg motor imageries. It suggests that foot-MI might cause larger beta ERD than leg-MI.","PeriodicalId":405766,"journal":{"name":"Annual Conference of the Society of Instrument and Control Engineers of Japan","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128671737","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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