Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677290
T. Tanikawa, K. Kojima, K. Ohba, I. Kajitani, T. Nagami, H. Asoh, Kôichi Hasida, Takuichi Nishimura, Y. Motomura
The Tohoku Earthquake destroyed social functions of the city and social communities of people. And then, we cannot visible sign of recovery yet. The administrations in affected areas are looking for a new urban development consideration of such disasters. However, the concept visions of the reconstruction plan in the affected areas have been proposed, a concrete action plan is not clearly shown for each stages. As a new urban development, a smart community concept has been proposed in the Ministry of Economy, Trade and Industry (METI) before the earthquake. That concept aims an integrated and optimized community society with a variety of social services such as an energy, transportation, and logistics system. Currently, many problems for living in temporary houses have occurred. Particularly, the disuse syndrome in the elderly in temporary housing is serious. The many elderly have lost connection with outside community, because of moving to the temporary housing. And then they become withdrawal condition. Finally, they become bedridden by decline in physical function. These problems are common problem in future aging society in Japan. In this paper, the support model for a living on temporary houses in the disaster area is mentioned. The model become to a test bed model based on smart community toward future aging society.
{"title":"Support model for living on temporary houses in disaster area based on smart community","authors":"T. Tanikawa, K. Kojima, K. Ohba, I. Kajitani, T. Nagami, H. Asoh, Kôichi Hasida, Takuichi Nishimura, Y. Motomura","doi":"10.1109/URAI.2013.6677290","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677290","url":null,"abstract":"The Tohoku Earthquake destroyed social functions of the city and social communities of people. And then, we cannot visible sign of recovery yet. The administrations in affected areas are looking for a new urban development consideration of such disasters. However, the concept visions of the reconstruction plan in the affected areas have been proposed, a concrete action plan is not clearly shown for each stages. As a new urban development, a smart community concept has been proposed in the Ministry of Economy, Trade and Industry (METI) before the earthquake. That concept aims an integrated and optimized community society with a variety of social services such as an energy, transportation, and logistics system. Currently, many problems for living in temporary houses have occurred. Particularly, the disuse syndrome in the elderly in temporary housing is serious. The many elderly have lost connection with outside community, because of moving to the temporary housing. And then they become withdrawal condition. Finally, they become bedridden by decline in physical function. These problems are common problem in future aging society in Japan. In this paper, the support model for a living on temporary houses in the disaster area is mentioned. The model become to a test bed model based on smart community toward future aging society.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127368623","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677323
Shimon Ajisaka, T. Kubota, H. Hashimoto
Recently personal vehicles have received a lot of attention to expand our mobility for low carbon society and diversification of individual mobility. So far several small vehicles have been developed. However a new thesis of designing and controlling personal vehicles is required, because there are some difference between general vehicle-used environment and personal vehicle-used environment like mixed traffic. In such new kinds of environment, vehicles should have close relationship with drivers. To have closer relationship, personal vehicles must be smaller and lighter. In addition, psychological and biological status should be considered to control vehicles, but there is few method to measure and estimate such status. The authors define such personal vehicles as Affinitive Personal Vehicle and try to estimate balance control ability of driver. In this study, the authors focus on vehicle's posture and body sway of a driver to observe driver's status and get some knowledge on balance control ability.
{"title":"Human balance control ability for affinitive personal vehicle","authors":"Shimon Ajisaka, T. Kubota, H. Hashimoto","doi":"10.1109/URAI.2013.6677323","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677323","url":null,"abstract":"Recently personal vehicles have received a lot of attention to expand our mobility for low carbon society and diversification of individual mobility. So far several small vehicles have been developed. However a new thesis of designing and controlling personal vehicles is required, because there are some difference between general vehicle-used environment and personal vehicle-used environment like mixed traffic. In such new kinds of environment, vehicles should have close relationship with drivers. To have closer relationship, personal vehicles must be smaller and lighter. In addition, psychological and biological status should be considered to control vehicles, but there is few method to measure and estimate such status. The authors define such personal vehicles as Affinitive Personal Vehicle and try to estimate balance control ability of driver. In this study, the authors focus on vehicle's posture and body sway of a driver to observe driver's status and get some knowledge on balance control ability.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129043673","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677497
H. Takai, M. Kojima, K. Ohara, M. Horade, T. Tanikawa, Y. Mae, M. Yamato, T. Arai
In the field of tissue engineering, it is called for to automate generation of various-shaped spheroids. We propose a micro fluidic device that generates rotational flow for producing toroidal-like spheroid. This paper reports the concept of construction of toroidal-like spheroid, designs of microchannels, and fundamental verification about generation of rotational flow in the device using simulation and experiment using created microchannels. Concept of construction is non-contact operation in a continuous flow stimulus by using centrifugal force of rotational flow. Designs of the micro fluidic device was optimized to generate micro-rotational flow, and the results of flow simulation models show that rotational flow is generated at the flow velocity more than fixed. We made these designs. The large size channel was made with 3D printer and the small channel was made by poly-dimethysiloxane (PDMS) molding, and generation of rotational flow was observed in an experiment using particles. In both types of channels, particles were rotated similar to the simulations.
{"title":"Microfluidic device for automated generation of toroidal-like spheroids","authors":"H. Takai, M. Kojima, K. Ohara, M. Horade, T. Tanikawa, Y. Mae, M. Yamato, T. Arai","doi":"10.1109/URAI.2013.6677497","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677497","url":null,"abstract":"In the field of tissue engineering, it is called for to automate generation of various-shaped spheroids. We propose a micro fluidic device that generates rotational flow for producing toroidal-like spheroid. This paper reports the concept of construction of toroidal-like spheroid, designs of microchannels, and fundamental verification about generation of rotational flow in the device using simulation and experiment using created microchannels. Concept of construction is non-contact operation in a continuous flow stimulus by using centrifugal force of rotational flow. Designs of the micro fluidic device was optimized to generate micro-rotational flow, and the results of flow simulation models show that rotational flow is generated at the flow velocity more than fixed. We made these designs. The large size channel was made with 3D printer and the small channel was made by poly-dimethysiloxane (PDMS) molding, and generation of rotational flow was observed in an experiment using particles. In both types of channels, particles were rotated similar to the simulations.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124086429","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677342
Taeyun Kim, Jinwhan Kim
The dead-reckoning of a wheeled vehicle using only an odometer is susceptible to drift errors when no position fixes are provided by external navigation beacon systems. Grid line patterns which can often be found in a structured environment may provide relative pose information of the robot with respect to the grid structure, and this information can be used to correct drift error. Grid line patterns are repetitive in nature, which still leads to the estimation difficulty involving multiple hypotheses. A particle filter was employed and suitable probabilistic sensor models were introduced to handle such multiple hypotheses. Experimental demonstrations were carried out to check the validity of the proposed navigation algorithm.
{"title":"Beaconless navigation for mobile robots using grid line pattern","authors":"Taeyun Kim, Jinwhan Kim","doi":"10.1109/URAI.2013.6677342","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677342","url":null,"abstract":"The dead-reckoning of a wheeled vehicle using only an odometer is susceptible to drift errors when no position fixes are provided by external navigation beacon systems. Grid line patterns which can often be found in a structured environment may provide relative pose information of the robot with respect to the grid structure, and this information can be used to correct drift error. Grid line patterns are repetitive in nature, which still leads to the estimation difficulty involving multiple hypotheses. A particle filter was employed and suitable probabilistic sensor models were introduced to handle such multiple hypotheses. Experimental demonstrations were carried out to check the validity of the proposed navigation algorithm.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117116840","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677371
BeomSu Seo, Sung Hoon Kim, Hoon Choi
In 2012, we had finished very special field robot project for the military purpose; the Dog-Horse robot project. It consists of two large sub-systems: the Dog-Horse robot and the C2V(Command and Control Vehicle). In this paper, we're going to introduce the overall results for the project especially focusing on the C2V's points of view instead of giving technical details.
{"title":"The remote command and control system for outdoor robot","authors":"BeomSu Seo, Sung Hoon Kim, Hoon Choi","doi":"10.1109/URAI.2013.6677371","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677371","url":null,"abstract":"In 2012, we had finished very special field robot project for the military purpose; the Dog-Horse robot project. It consists of two large sub-systems: the Dog-Horse robot and the C2V(Command and Control Vehicle). In this paper, we're going to introduce the overall results for the project especially focusing on the C2V's points of view instead of giving technical details.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"9 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123282438","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677503
Seyoung Cheon, Kwanghyun Ryu, Yonghwan Oh
This paper is aimed to manipulate the objects of different sizes and shapes with a robot arm and hand coordination. The coordinated system, adapted to the external force was introduced. And the control strategy for the object manipulation was presented and discussed. Finally, it was shown that total system included vision took various objects on the table up with the coordinated manipulation strategy.
{"title":"Object manipulation using robot arm-hand system","authors":"Seyoung Cheon, Kwanghyun Ryu, Yonghwan Oh","doi":"10.1109/URAI.2013.6677503","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677503","url":null,"abstract":"This paper is aimed to manipulate the objects of different sizes and shapes with a robot arm and hand coordination. The coordinated system, adapted to the external force was introduced. And the control strategy for the object manipulation was presented and discussed. Finally, it was shown that total system included vision took various objects on the table up with the coordinated manipulation strategy.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"183 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124644868","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677318
K. Tsuruta, T. Ojiro, N. Ushimi, T. Sakaki
To achieve high-speed, high-precision position control for semiconductor product machines and industrial robots, full-closed feedback control is applied. Many control methods have been proposed for such a system. In general, proportional position control and proportional plus integral velocity control or integral plus proportional velocity control (P, PI/I-P), which is a type of proportional plus integral plus deferential control (PID), is applied in many industrial applications. However, in the case of changing mechanical characteristics of the control target, the parameters of P, PI/I-PI control must also change or a disturbance observer is applied, to maintain good motion performance. In this paper, we propose a nonlinear observer to suppress the vibration for a table positioning system. The algorithm of the nonlinear observer is based on sliding mode control with chattering compensation. The effectiveness of the proposed observer is evaluated using a full-closed 2mass system model via point-to-point control in the case of changing load. The simulations and experiments indicate that the proposed observer is effective for vibration suppression in the case of changing load.
{"title":"Vibration suppression compensator using nonlinear observer for table positioning systems","authors":"K. Tsuruta, T. Ojiro, N. Ushimi, T. Sakaki","doi":"10.1109/URAI.2013.6677318","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677318","url":null,"abstract":"To achieve high-speed, high-precision position control for semiconductor product machines and industrial robots, full-closed feedback control is applied. Many control methods have been proposed for such a system. In general, proportional position control and proportional plus integral velocity control or integral plus proportional velocity control (P, PI/I-P), which is a type of proportional plus integral plus deferential control (PID), is applied in many industrial applications. However, in the case of changing mechanical characteristics of the control target, the parameters of P, PI/I-PI control must also change or a disturbance observer is applied, to maintain good motion performance. In this paper, we propose a nonlinear observer to suppress the vibration for a table positioning system. The algorithm of the nonlinear observer is based on sliding mode control with chattering compensation. The effectiveness of the proposed observer is evaluated using a full-closed 2mass system model via point-to-point control in the case of changing load. The simulations and experiments indicate that the proposed observer is effective for vibration suppression in the case of changing load.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116498287","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677424
Hyunhwan Jeong, J. Cheong
In this paper, we present the second version of the KU hybrid hand system. The presented hybrid hand system is designed not only to grasp an object but also to do versatile in-hand motions of the grasped object. We also present the workspace and the grasp motion analysis of the KU hybridd hand for two different modes (anthro-pomorohic & conventional hand mode).
{"title":"Design and analysis of KU hybrid hand — Type II","authors":"Hyunhwan Jeong, J. Cheong","doi":"10.1109/URAI.2013.6677424","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677424","url":null,"abstract":"In this paper, we present the second version of the KU hybrid hand system. The presented hybrid hand system is designed not only to grasp an object but also to do versatile in-hand motions of the grasped object. We also present the workspace and the grasp motion analysis of the KU hybridd hand for two different modes (anthro-pomorohic & conventional hand mode).","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129532677","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677372
Young Gyu Kim, J. Kang, H. Park
In order to implement the telerobotics, mainly using TCP/IP network. In addition, a variety of communication middleware have been developed. Publish/Subscribe paradigm is a useful model for applications that are connected in a distributed environment. There is a communication technology more than one, but in the communication environment in which a variety of devices to interact frequently the same type of data dynamically, data exchange of Publish/Subscribe method of the data-centric for telerobotics is appropriate. In this paper, we propose the Publish/subscribe model based communication for telerobotics.
{"title":"Publish/subscribe model based communication for telerobotics","authors":"Young Gyu Kim, J. Kang, H. Park","doi":"10.1109/URAI.2013.6677372","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677372","url":null,"abstract":"In order to implement the telerobotics, mainly using TCP/IP network. In addition, a variety of communication middleware have been developed. Publish/Subscribe paradigm is a useful model for applications that are connected in a distributed environment. There is a communication technology more than one, but in the communication environment in which a variety of devices to interact frequently the same type of data dynamically, data exchange of Publish/Subscribe method of the data-centric for telerobotics is appropriate. In this paper, we propose the Publish/subscribe model based communication for telerobotics.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127053074","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677445
Kap-Ho Seo, Yongsik Park, Sungjo Yun, Sung-Ho Park, Jungsoo Jun, Kwang-Woo Jeon
Tactile display device that can present tactile information for visually impaired persons has been developed. Users can get certain information by pressure from the pins raised at varying heights on arms. The effectiveness of the developed device will be discussed based on experiments.
{"title":"Tactile display device for visually impaired persons","authors":"Kap-Ho Seo, Yongsik Park, Sungjo Yun, Sung-Ho Park, Jungsoo Jun, Kwang-Woo Jeon","doi":"10.1109/URAI.2013.6677445","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677445","url":null,"abstract":"Tactile display device that can present tactile information for visually impaired persons has been developed. Users can get certain information by pressure from the pins raised at varying heights on arms. The effectiveness of the developed device will be discussed based on experiments.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130922374","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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