Updated on 2024/07/18

写真a

 
MAE,Yasushi
 
Organization
Faculty of Engineering Science Professor
Title
Professor
External link

Degree

  • - ( Osaka University )

Research Interests

  • Robot vision

  • Intelligent robot

  • ロボットビジョン

  • 知能ロボット

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

  • Informatics / Perceptual information processing

  • Informatics / Intelligent robotics

Education

  • Osaka University   Graduate School, Division of Engineering

    - 1998

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  • Osaka University

    - 1998

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    Country: Japan

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  • Osaka University   Faculty of Engineering

    - 1993

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  • Osaka University   School of Engineering

    - 1993

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    Country: Japan

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Professional Memberships

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Papers

  • Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map

    Neng Chen, Shinichiro Suga, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, Seiji Aoyagi

    Journal of Robotics and Mechatronics   35 ( 6 )   1604 - 1614   2023.12

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    Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press Ltd.  

    Many teams participating in robotic competitions achieve localization using a 2D map plotted using adaptive Monte Carlo localization, a robot operating system (ROS) open-source software program. However, outdoor environments often include nonlevel terrain such as slopes. In the indoor environment of multilevel structures, the data representing different levels overlap on the map. These factors can lead to localization failures. To resolve this problem, we develop a software by combining HDL localization, which is an ROS open-source software, with our own program, and use it to achieve localization based on a 3D map. Furthermore, the authors observe the erroneous recognition of a slope as a forward obstacle during a competition event. To resolve this, we propose a method to correct erroneous recognition of obstacles using a 2D laser range finder and 3D map and confirm its validity in an experiment carried out on a slope on a university campus.

    DOI: 10.20965/jrm.2023.p1604

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  • Automated Microhand System for Measuring Cell Stiffness By Using Two Plate End-Effectors

    Masahiro Kawakami, Masaru Kojima, Yuma Masuda, Yasushi Mae, Takato Horii, Takayuki Nagai, Masaki Nakahata, Shinji Sakai, Tatsuo Arai

    IEEE Robotics and Automation Letters   7 ( 2 )   2385 - 2390   2022.4

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    Publishing type:Research paper (scientific journal)  

    With the advancements in the field of life sciences, there is an increasing demand for measuring cell characteristics. In this context, we developed a small microhand system that uses two end-effectors, such as chopsticks, to grasp and carry micro-objects. In addition, we succeeded in measuring the stiffness of cells by installing a micro force sensor on the end-effector tip for measuring the reaction force during grasping. However, the stiffness measurement of micro-objects requires precise manipulation and places a significant burden on the experimenter. The problem with the previous system was it required a skilled technician to perform accurate measurements, and there was a limit to the number of cells that were measured in a single short experimental time suitable for characterizing cells. To address this problem, we introduced a simultaneous observation system that included microscopes of different magnifications and optical tweezers. Furthermore, to render stiffness measurement easier, we automated each measurement process. Through evaluation experiments, we confirmed that the system can measure the stiffness of cells with the same speed and high accuracy as the previous system.

    DOI: 10.1109/LRA.2022.3143296

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  • Development of a multimodal stimulus measurement system for evaluation of cellular response based on microhand

    KOJIMA Masaru, KOSHIDE Kazuma, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022   2P2-Q10   2022

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In recent years, with the development of the life science field, there has been an increasing demand for the measurement of the properties of cells and tissues. In particular, various techniques have been proposed to measure the response of specific cells to various external stimuli, in order to realize unprecedented analysis. In our laboratory, we are developing a small microhand system that can approach cells with dexterity and speed. Furthermore, we have been developing a new end-effector based on this microhand technology to extend the system to various stimuli such as chemical and temperature stimuli as well as force stimuli. In this paper, we report on the development and evaluation of a micro hand end-effector for multimodal stimulation such as local chemical stimulation as well as force stimulation.

    DOI: 10.1299/jsmermd.2022.2p2-q10

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  • Evaluation of mechanical stimulus loading and response of a large number of cells using microfluidic channels

    KOJIMA Masaru, TOTANI Masahiro, HORADE Mitsuhiro, MAE Yasushi, OGURA Toshihiko, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2022   2P2-Q09   2022

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    In this paper, we proposed and evaluated a simple and effective microfluidic device to load mechanical stimuli to a large number of cells to investigate the correlation between gene expression and cell morphological changes. Firstly, we fabricated a microfluidic device using MEMS technology to apply a mechanical stimulus (compressive force) to cells. In particular, we modified the device to be able to collect a large number of cells for gene expression analysis. In our experiments, we achieved the compression of cells and cell nuclei. Furthermore, the deformation of each cell and cell nucleus could be accurately observed and a large number of cells could be collected for gene expression assays. Gene expression analysis of the recovered cells revealed that the induction of several characteristic genes occurred.

    DOI: 10.1299/jsmermd.2022.2p2-q09

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  • Object segmentation in cluttered environment based on gaze tracing and gaze blinking

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    ROBOMECH Journal   8 ( 1 )   2021.12

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    Publishing type:Research paper (scientific journal)  

    People with disabilities, such as patients with motor paralysis conditions, lack independence and cannot move most parts of their bodies except for their eyes. Supportive robot technology is highly beneficial in supporting these types of patients. We propose a gaze-informed location-based (or gaze-based) object segmentation, which is a core module of successful patient-robot interaction in an object-search task (i.e., a situation when a robot has to search for and deliver a target object to the patient). We have introduced the concepts of gaze tracing (GT) and gaze blinking (GB), which are integrated into our proposed object segmentation technique, to yield the benefit of an accurate visual segmentation of unknown objects in a complex scene. Gaze tracing information can be used as a clue as to where the target object is located in a scene. Then, gaze blinking can be used to confirm the position of the target object. The effectiveness of our proposed method has been demonstrated using a humanoid robot in experiments with different types of highly cluttered scenes. Based on the limited gaze guidance from the user, we achieved an 85% F-score of unknown object segmentation in an unknown environment.

    DOI: 10.1186/s40648-021-00214-4

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  • 人間がロボット視点で移動ロボットを操作する際のアイトラッキングデータの収集 Reviewed

    福田優人, 高橋智一, 鈴木昌人, 前泰志, 新井泰彦, 青柳誠司

    39 ( 8 )   751 - 754   2021.10

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  • Real-Time Prediction of Future 3D Pose of Person Using RGB-D Camera for Personalized Services

    Yasushi Mae, Akihisa Nagata, Kaori Tsunoda, Tomokazu Takahashi, Masato Suzuki, Yasuhiko Arai, Seiji Aoyagi

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   12836   853 - 861   2021

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Springer Science and Business Media Deutschland GmbH  

    This paper describes a method for prediction of 3D human pose using an RGB-D camera in real-time for personalized robot services. In input frame from RGB-D camera, 2D pose as a skeleton represented by 2D keypoints on an RGB image is estimated by OpenPose: an image-based human pose estimation technique. 3D pose represented by a set of 3D keypoints is estimated from the depth at the keypoints of 2D keypoints. Daily actions of a person, which are represented by a sequence of 3D keypoints, are measured by an RGB-D camera fixed to a daily environment. After the sequences of measured 3D keypoints are learned by a motion predictor of RNN, the future 3D keypoints are predicted by the RNN from the sequential input of 3D keypoints, which are measured in real-time by RGB-D camera. Experimental results show the predicted 3D pose and errors for standing from and siting on a chair in a room of daily environment.

    DOI: 10.1007/978-3-030-84522-3_69

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  • Proposal of Robot Software Platform with High Sustainability Reviewed

    Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, Seiji Aoyagi

    32 ( 6 )   1219 - 1228   2020.12

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  • Garbage Detection Using YOLOv3 in Nakanoshima Challenge Reviewed

    Jingwei Xue, Zehao Li, Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, Seiji Aoyagi

    32 ( 6 )   1219 - 1228   2020.12

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  • High-Speed Manipulation of Microobjects Using an Automated Two-Fingered Microhand for 3D Microassembly Reviewed

    Eunhye Kim, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    micromachines   Vol.11   2020.1

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  • Evaluation of Local Environment Chemical Stimulation System for Cellular Analysis

    Masaru Kojima, Keita Sera, Yasushi Mae, Tatsuo Arai

    2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018   93 - 96   2019.1

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    Publishing type:Research paper (international conference proceedings)  

    © 2018 IEEE. For analyzing detailed and localized biological phenomenon, a local environmental control technique is important. In here, we developed a local environmental chemical stimulation system. By using micro pipettes, this system could control the local reagent concentration dynamically, freely and automatically. In this system, to reduce the diffusion of chemical solution, spout pipette and suction pipette were used. Furthermore, as an evaluation of this system, peeling off of certain area of confluent cells was demonstrated.

    DOI: 10.1109/CBS.2018.8612245

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  • Multifunctional Noncontact Micromanipulation Using Whirling Flow Generated by Vibrating a Single Piezo Actuator Reviewed

    Xiaoming Liu, Yuqing Lin, Masaru Kojima, Yasushi Mae, Toshio Fukuda, Qiang Huang, Tatsuo Arai

    small   Vol.15, issue 5   2019.1

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  • Energy-efficient narrow wall climbing of six-legged robot Reviewed

    zuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    ROBOMECH Journal   5 ( 26 )   1 - 10   2018.9

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  • Hydrodynamic tweezers: Trapping and transportation in microscale using vortex induced by oscillation of a single piezoelectric actuator Reviewed

    Xiaoming Liu, Qing Shi, Yuqing Lin, Masaru Kojima, Yasushi Mae, Qiang Huang, Toshio Fukuda, Tatsuo Arai

    Sensors (Switzerland)   18 ( 7 )   2018.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:MDPI AG  

    The demand for a harmless noncontact trapping and transportation method in manipulation and measurement of biological micro objects waits to be met. In this paper, a novel micromanipulation method named “Hydrodynamic Tweezers” using the vortex induced by oscillating a single piezoelectric actuator is introduced. The piezoelectric actuator is set between a micropipette and a copper beam. Oscillating the actuator at a certain frequency causes the resonance of the copper beam and extend 1D straight oscillation of the piezoelectric actuator to 2D circular oscillation of the micropipette, which induces a micro vortex after putting the micropipette into fluid. The induced vortex featuring low pressure in its core area can trap the object nearby. A robotic micromanipulator is utilized to transport the trapped objects together with the micropipette. Experiments of trapping and transportation microbeads are carried out to characterize the key parameters. The results show that the trapping force can be controlled by adjusting peak-peak voltage of the sinusoidal voltage input into the piezoelectric actuator.

    DOI: 10.3390/s18072002

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  • Transfer Motion on Planar Structure of Limb-mechanism Robot Equipped with Electromagnets Reviewed

    Genki Sato, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    International Symposium on Flexible Automation   2018.7

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    Language:English   Publishing type:Research paper (international conference proceedings)  

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  • Transfer Motion on Planar Structure of Limb-mechanism Robot Equipped with Electromagnets Reviewed

    Genki Sato, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    International Symposium on Flexible Automation   2018.7

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  • Real-Time 3D Measurement System for Micro-manipulation Reviewed

    Kenichi Ohara, Shota Takagi, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   Vol.6, No.4, pp.183-189   2018.5

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  • Vortex-Driven Rotation for Three-Dimensional Imaging under Microscopy Reviewed

    Xiaoming Liu, Qing Shi, Yuqing Lin, Masaru Kojima, Yasushi Mae, Qiang Huang, Toshio Fukuda, Tatsuo Arai

    IEEE Transactions on Nanotechnology   17 ( 4 )   688 - 691   2018.3

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    Language:English   Publishing type:Research paper (scientific journal)  

    The noninvasive rotary motion of bio-objects for three-dimensional (3-D) observation and posture adjustment has been a great challenge in microrobotics. This letter reports a harmless noncontact 360° rotation method with a controllable velocity, which applied the vortex induced by vibrating the micropipette in an open fluidic environment. The micropipette was driven by a piezo actuator, which was mounted on a copper pillar. By generating a resonance between the copper pillar and the piezo actuator fed with sine wave of a specific frequency, we controlled the micropipette to vibrate circularly. The vibration-induced vortex around the micropipette could trap micro objects close to it, and then drive the trapped objects to rotate with the uneven drag force acting on their surface. Experiments of 360° rotation of the microbeads were carried out to demonstrate this method and analyze the rotation velocity. An application in 3-D imaging under optical inverted microscopy was achieved. The spheroids assembled by single cells were rotated, which enabled us to observe the different aspects of the cell spheroids and reconstruct its 3-D view.

    DOI: 10.1109/TNANO.2018.2811958

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  • High-Speed Active Release End-Effector Motions for Precise Positioning of Adhered Micro-Objects Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    World Journal of Engineering and Technology   2018.2

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    Language:English   Publishing type:Research paper (scientific journal)  

    DOI: 10.4236/wjet.2018.61005

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  • Analysis of rotational flow generated by circular motion of an end effector for 3D micromanipulation Reviewed

    Eunhye Kim, Masaru Kojima, Liu Xiaoming, Takayuki Hattori, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    ROBOMECH Journal   4 ( 1 )   2017.12

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Springer International Publishing  

    This paper presents a non-contact manipulation method using rotational flow generated by high speed motion of a glass needle. In order to generate an applicable motion that can precisely control the speed and position of a target object around an end effector, a manipulator actuated by three piezoelectric actuators is proposed. A compact parallel link produces precise three-dimensional motions. To reach the required end-effector frequency and amplitude, which is necessary for generating the rotational flow that can make rotational movement of microbeads having patterned data, the end effector motion is generated by controlling the three piezoelectric actuators at high speed. In this paper, we focus on rotational flow created by two-dimensional circular motion of the end effector mounted on the parallel link. By changing the amplitude and frequency of the circular motion, the generated swirl flow is analyzed in 3D space using 9.6-μm microbeads. We analyzed the velocity toward to the root of the end effector and angular velocity around the end effector by formulating models. From the analyzed data, we verified that the rotational flow has potential to manipulate micro-objects precisely in 3D space.

    DOI: 10.1186/s40648-017-0074-6

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  • Microfluidic Device for Applying a Mechanical Stimulus to a Large Number of Cellular Nuclei Reviewed

    Masahiro Totani, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Toshihiko Ogura, Makoto Kaneko, Tatsuo Arai

    211   2017.12

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/MHS.2017.8305260

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  • Direct teleoperation system of multi-limbed robot for moving on complicated environments. Reviewed

    Yasushi Mae, Toshihiko Inoue, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Tatsuo Arai

    2017 IEEE International Conference on Robotics and Biomimetics(ROBIO)   1171 - 1174   2017.12

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ROBIO.2017.8324576

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    Other Link: https://dblp.uni-trier.de/db/conf/robio/robio2017.html#MaeIKKHA17

  • Direct teleoperation system of multi-limbed robot for moving on complicated environments. Reviewed

    Yasushi Mae, Toshihiko Inoue, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Tatsuo Arai

    2017 IEEE International Conference on Robotics and Biomimetics(ROBIO)   1171 - 1174   2017.12

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/ROBIO.2017.8324576

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    Other Link: https://dblp.uni-trier.de/db/conf/robio/robio2017.html#MaeIKKHA17

  • Improvement of 3D Reconstruction Image by Confocal Microscope with the Cell Rotated Reviewed

    Yuma Takeuchi, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    214   2017.12

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    Language:English   Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/MHS.2017.8305263

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  • パーソナライズドサービスのための環境知能化 Reviewed

    前泰志, Christian Penaloza, 小嶋勝, 新井 健生

    0000 - 0875   2017.10

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  • パーソナライズドサービスのための環境知能化 Reviewed

    前泰志, Christian Penaloza, 小嶋勝, 新井 健生

    0000 - 0875   2017.10

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  • Fluidic channel device for generating tubular structure in situ delivering nutrients Reviewed

    Tanoshi Kihara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems   60 - 63   2017.10

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    DOI: 10.1109/CBS.2017.8266067

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  • Fluidic channel device for generating tubular structure in situ delivering nutrients Reviewed

    Tanoshi Kihara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems   60 - 63   2017.10

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    DOI: 10.1109/CBS.2017.8266067

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  • Development of micro heater array system for cell manipulation Reviewed

    Masaru Kojima, Mitsuhiro Horade, Suguru Takata, Sota Nakadai, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems   68 - 72   2017.10

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/CBS.2017.8266069

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    Other Link: https://dblp.uni-trier.de/db/conf/cbs/cbs2017.html#KojimaHTNMA17

  • Development of micro heater array system for cell manipulation Reviewed

    Masaru Kojima, Mitsuhiro Horade, Suguru Takata, Sota Nakadai, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems   68 - 72   2017.10

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/CBS.2017.8266069

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    Other Link: https://dblp.uni-trier.de/db/conf/cbs/cbs2017.html#KojimaHTNMA17

  • Development of the 3D measurement system in real-time for micro-manipulation Reviewed

    Kenichi Ohara, Masaru Kojima, Shota Takagi, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   2022 - 2027   2017.8

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    Construction of an activated three-dimensional (3D) tissue at outside of the human body is desired, and expectations about the micro-manipulation to construct a 3D organization is growing. Although an object is usually observed using an optical microscope in the micro-manipulation, it is difficult to obtain the depth information of the object only from the visual information obtained via a microscope, so the micro-manipulation requires hard practice. In order to develop a measurement system for depth information aiming at micro-manipulation support, a system that can measure 3D information in real time is indispensable. This paper reports an improvement in the speed of 3D information measurement in a microhabitat, which would eventually lead to the easy micromanipulation and construction of 3D cellular organization.

    DOI: 10.1109/ICMA.2017.8016129

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  • Development of the 3D measurement system in real-time for micro-manipulation Reviewed

    Kenichi Ohara, Masaru Kojima, Shota Takagi, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017   2022 - 2027   2017.8

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    Construction of an activated three-dimensional (3D) tissue at outside of the human body is desired, and expectations about the micro-manipulation to construct a 3D organization is growing. Although an object is usually observed using an optical microscope in the micro-manipulation, it is difficult to obtain the depth information of the object only from the visual information obtained via a microscope, so the micro-manipulation requires hard practice. In order to develop a measurement system for depth information aiming at micro-manipulation support, a system that can measure 3D information in real time is indispensable. This paper reports an improvement in the speed of 3D information measurement in a microhabitat, which would eventually lead to the easy micromanipulation and construction of 3D cellular organization.

    DOI: 10.1109/ICMA.2017.8016129

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  • Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water Reviewed

    Xiaoming Liu, Masaru Kojima, Qing Shi, Huaping Wang, Tao Sun, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    Proceedings - IEEE International Conference on Robotics and Automation   5996 - 6001   2017.7

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method.

    DOI: 10.1109/ICRA.2017.7989708

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  • Releasing of Micro-Objects based on Local Stream Generation by High-Speed Motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   5 ( 4 )   171 - 179   2017.5

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    DOI: 10.1504/IJMA.2016.10005153

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  • Automatic Single-Cell Transfer Module

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Biologically Inspired: Robotics   125 - 145   2017.1

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    Conventional hybrid micro uidic systems have many functions such as separation, sorting, and ltering of biological particles. These hybrid systems are required for delivering particles into micro uidic chips and for their dexterous on-chip manipulation. Successful realization of these functionalities requires visual sensing of particles. However, only a limited number of studies are available on on-chip visual sensing techniques as well as on retrieval of living cells into micro uidic devices and their manipulation thereafter. Automated continuous individual cell transfer is a critical step in single-cell applications using micro uidic devices. Cells must be aspirated gently from a buffer before transferring to an operation zone to avoid arti cially perturbing their biostructures. Vision-based manipulation is a key sensing technique that allows nondestructive cell detection. In this chapter, we present a design for an automated single- cell transfer module that can be integrated with complex micro uidic applications that examine or process one cell at a time such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian broblasts (~15 ìm) or oocytes (~100 ìm) one by one from a container to a polydimethylsiloxane (PDMS) microchannel and then transport them to other modules. The system consists of two main parts: a single-cell suction module and a disposable PDMS-based micro uidic chip controlled by external pumps. The desired number of vacuumed cells can be directed into the micro uidic chip and stored in a docking area. From the batch, they can be moved to the next module by activating pneumatic pressure valves located on two sides of the chip. The entire mechanism is combined with monitoring systems that perform the detection/tracking and control program.

    DOI: 10.1201/b11365-7

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  • Three-dimensional automated manipulation by using high-speed micro-hand

    Eunhye Kim, TANAKA Taisei, KOJIMA Masaru, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A1 - F05   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Recently, many experiments about a single cell and multicellular spheroid are carried out in medical and biological fields, and researches on manipulation techniques of single cell and spheroids are actively examined. In such experiments, it is frequently difficult to manually operate, and in order to improve the experimental efficiency, manipulation has been demanded to speed up and stabilize. From such circumstance, cell manipulation support systems using robotics have been actively carried out. We developed a two-fingered micro-hand, which realize support to operation of micro objects and enhance operation efficiency. The system has two problems. First, it is difficult to release an object from end-effecter due to adhering the object and end-effecter. Second, we cannot drive micro-hand at high-speed with keeping grasp an object. Therefore, we propose releasing method of adhered micro object, and realizing automated high-speed manipulation.</p>

    DOI: 10.1299/jsmermd.2017.2A1-F05

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  • Intelligent Environments for Personalized Service

    Mae Yasushi, Penaloza Christian, Kojima Masaru, Arai Tatsuo

    Proceedings of the Japan Joint Automatic Control Conference   60   875 - 876   2017

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    Language:Japanese   Publisher:The Japan Joint Automatic Control Conference  

    DOI: 10.11511/jacc.60.0_875

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  • Acquisition of Object Appearances by Observation of Human-object Interaction and Application to Object Recognition

    MAE Yasushi, KAWASHIMA Hiroki, KOJIMA Masaru, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2P2 - H08   2017

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>The paper describes a method for automatic acquisition of object appearances and grasping regions of everyday objects by observing human-object interaction from first person point of view. Human grasps and manipulates objects in everyday life. Home service robots and robotic environmental systems may extract and obtain object appearances by observing such human activity. However, the resolution of the acquired appearances may be low for object recognition. Our proposed method obtain object appearances and grasping regions by observing human-object interaction using first person point of view with head mount camera. The acquired appearances are integrated by matching feature points and used for object recognition.</p>

    DOI: 10.1299/jsmermd.2017.2P2-H08

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  • Construction and Evaluation of Local Environment Chemical Stimulation System

    KOJIMA Masaru, Sera Kyota, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2017   2A1 - F04   2017

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    <p>Single cell analysis has attracted much attention for revealing detailed and localized biological information. A local environmental control technique is desired when analyzing the detailed and localized properties of cells. In here, we propose a system for local environmental chemical stimulation with micropipettes for stimulating the local chemical concentration automatically and dynamically. The problem of the local chemical environment control is diffusion. The chemical solution is diffused and affects other objects. To address this problem, we use spout pipette and suction pipette for restricting diffusion. Then we used fluorescent substance and evaluate controllability of local chemical concentration quantitatively. Furthermore, we improved our developed system depend on evaluation and achieved high responsiveness of local chemical concentration control.</p>

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  • A Hybrid Flying and Walking Robot For Steel Bridge Inspection Reviewed

    Photchara Ratsamee, Pakpoom Kriengkomol, Tatsuo Arai, Kazuto Kamiyama, Yasushi Mae, Kiyoshi Kiyokawa, Tomohiro Mashita, Yuki Uranishi, Haruo Takemura

    Proceedings of the 2016 IEEE International Symposium on Safety, Security and Rescue Robotics   2016.10

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    DOI: 10.1109/SSRR.2016.7784278

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  • Evaluation of Humanoid Gesture in Presentation Reviewed

    Yasushi Mae, Taiyo Kimoto, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    928 - 929   2016.8

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  • Automated Construction System for Fine Vessel-like Shape Structures Based on Collagen Gel Fiber Reviewed

    Suguru Takata, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2016 International Conference of IEEE Engineering in Medicine and Biology Society   2016.8

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  • Hardness Measurement of Cell Nucleus by Using Two-Fingered Micro-Hand with Micro Force Sensor Reviewed

    Taisei Tanaka, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    Proceedings of 2016 International Conference of IEEE Engineering in Medicine and Biology Society   2016.8

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  • Development of a Novel 2-Dimensional Micro-Heater Array Device with Regional Selective Heating

    Mitsuhiro Horade, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Mechanical Engineering Research   6(1) 66-74 ( 1 )   66 - 74   2016.4

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    DOI: 10.5539/mer.v6n1p66

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  • Development of high speed measurement system for cell-scaffold interaction Reviewed

    Yu Hirano, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015   2016.3

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    Cell-scaffold interaction is important for characterizing cell's mechanism such as differentiation or migration of cells. Therefore analyzing technique of the force exerted by a cell is required. In this research, we aim to realize high speed measurement of cellular traction force by applying the technique of existing vision-based tactile sensor. To achieve the measurement, we need to fabricate cellular scaffold which contain two layers of lattice patterned beads. In this paper, we report about fabrication process of the scaffold and experiment of cell culture on fabricated scaffold.

    DOI: 10.1109/MHS.2015.7438330

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  • Development of multifunctional robot hand for visual inspection equipped with 3D force sensing Reviewed

    Ryo Akiyama, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015   2016.3

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    In this paper, we design a robot hand for visual inspection equipped with 3D force sensing. The designed hand is attached to the tip of legs of multi-legged robot ASTERISK. The reason for the robot hand to be equipped to the tip of ASTERISK is that it could meet following four requirements. Firstly, the hand system can catch a 1cm size object such as bolts and wires. Secondly, a small camera is attached inside the hand for visual inspection. Thirdly, when moving, the hand will close and become regular tip of leg. Lastly, the hand can equip 3D force sensing ability.

    DOI: 10.1109/MHS.2015.7438342

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  • Automatic stage construction for the support of micro object grasping Reviewed

    Kotaro Yamamoto, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015   2016.3

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    Recently, observation and manipulation of cells and cell groups have been carried out by using micro hand. However, the common micro hand is fixed to the working environment. Therefore we cannot manipulate the object from various direction. We propose an automatic stage system which can eliminate the limitation of the manipulation direction of the micro hand.

    DOI: 10.1109/MHS.2015.7438324

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  • Tracking mechanical and morphological dynamics of regenerating Hydra tissue fragments using a two fingered micro-robotic hand Reviewed

    M. Veschgini, F. Gebert, N. Khangai, H. Ito, R. Suzuki, T. W. Holstein, Y. Mae, T. Arai, M. Tanaka

    APPLIED PHYSICS LETTERS   108 ( 10 )   2016.3

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    Regeneration of a tissue fragment of freshwater polyp Hydra is accompanied by significant morphological fluctuations, suggesting the generation of active forces. In this study, we utilized a two fingered micro-robotic hand to gain insights into the mechanics of regenerating tissues. Taking advantage of a high force sensitivity (similar to 1 nN) of our micro-hand, we non-invasively acquired the bulk elastic modulus of tissues by keeping the strain levels low (epsilon &lt; 0.15). Moreover, by keeping the strain at a constant level, we monitored the stress relaxation of the Hydra tissue and determined both viscous modulus and elastic modulus simultaneously, following a simple Maxwell model. We further investigated the correlation between the frequency of force fluctuation and that of morphological fluctuation by monitoring one "tweezed" tissue and the other "intact" tissue at the same time. The obtained results clearly indicated that the magnitude and periodicity of the changes in force and shape are directly correlated, confirming that our two fingered micro-hand can precisely quantify the mechanics of soft, dynamic tissue during the regeneration and development in a non-invasive manner. (C) 2016 AIP Publishing LLC.

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  • Tracking mechanical and morphological dynamics of regenerating Hydra tissue fragments using a two fingered micro-robotic hand Reviewed

    M. Veschgini, F. Gebert, N. Khangai, H. Ito, R. Suzuki, T. W. Holstein, Y. Mae, T. Arai, M. Tanaka

    APPLIED PHYSICS LETTERS   108 ( 10 )   2016.3

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    Regeneration of a tissue fragment of freshwater polyp Hydra is accompanied by significant morphological fluctuations, suggesting the generation of active forces. In this study, we utilized a two fingered micro-robotic hand to gain insights into the mechanics of regenerating tissues. Taking advantage of a high force sensitivity (similar to 1 nN) of our micro-hand, we non-invasively acquired the bulk elastic modulus of tissues by keeping the strain levels low (epsilon &lt; 0.15). Moreover, by keeping the strain at a constant level, we monitored the stress relaxation of the Hydra tissue and determined both viscous modulus and elastic modulus simultaneously, following a simple Maxwell model. We further investigated the correlation between the frequency of force fluctuation and that of morphological fluctuation by monitoring one "tweezed" tissue and the other "intact" tissue at the same time. The obtained results clearly indicated that the magnitude and periodicity of the changes in force and shape are directly correlated, confirming that our two fingered micro-hand can precisely quantify the mechanics of soft, dynamic tissue during the regeneration and development in a non-invasive manner. (C) 2016 AIP Publishing LLC.

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  • Tracking mechanical and morphological dynamics of regenerating Hydra tissue fragments using a two fingered micro-robotic hand Reviewed

    M. Veschgini, F. Gebert, N. Khangai, H. Ito, R. Suzuki, T. W. Holstein, Y. Mae, T. Arai, M. Tanaka

    APPLIED PHYSICS LETTERS   108 ( 10 )   2016.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:AMER INST PHYSICS  

    Regeneration of a tissue fragment of freshwater polyp Hydra is accompanied by significant morphological fluctuations, suggesting the generation of active forces. In this study, we utilized a two fingered micro-robotic hand to gain insights into the mechanics of regenerating tissues. Taking advantage of a high force sensitivity (similar to 1 nN) of our micro-hand, we non-invasively acquired the bulk elastic modulus of tissues by keeping the strain levels low (epsilon &lt; 0.15). Moreover, by keeping the strain at a constant level, we monitored the stress relaxation of the Hydra tissue and determined both viscous modulus and elastic modulus simultaneously, following a simple Maxwell model. We further investigated the correlation between the frequency of force fluctuation and that of morphological fluctuation by monitoring one "tweezed" tissue and the other "intact" tissue at the same time. The obtained results clearly indicated that the magnitude and periodicity of the changes in force and shape are directly correlated, confirming that our two fingered micro-hand can precisely quantify the mechanics of soft, dynamic tissue during the regeneration and development in a non-invasive manner. (C) 2016 AIP Publishing LLC.

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  • Collision avoidance using contact information with multiple objects by multi-leg robot Reviewed

    Tomohito Takubo, Keishi Kominami, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   28 ( 1 )   17 - 30   2016

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    In robotics, a walking through motion is complex because of the presence of multipoint contact objects in the working environment of a robot. To simplify the walking through motion of a robot, a virtual impedance field is implemented to the contact points of the robot and an object so that the robot avoids the object passively. The traveling direction of the robot is altered by a virtual repulsive force obtained from the position of the estimated obstacle and the virtual impedance field. The resulting action depends on the parameter of virtual impedance coefficients. Because a combination of parameters includes many things, reinforcement learning is employed to obtain an optimal motion. The optimization of the multipoint contact walking through motion of a robot is finally achieved by evaluating the walking motion while encountering complex obstacles in a dynamic simulator. The motion is implemented on a hexapod robot, and the results demonstrate the effectiveness of the proposed method.

    DOI: 10.20965/jrm.2016.p0017

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  • Non-contact High-Speed Rotation of Micro Targets by Vibration of Single Piezoelectric Actuator Reviewed

    Xiaoming Liu, Qing Shi, Masaru Kojima, Huaping Wang, Tao Sun, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   1564 - 1569   2016

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    Micromanipulation provides researchers a new way to fabricate complex structures through assembling small components, and it is also a useful tool for single cell manipulation. Many micromanipulation methods have been proposed, but only the few are capable of rotation of the micro targets. In this paper, we present a simple non-contact high-speed rotation method based on the local flow generated by vibrating a single piezoelectric actuator in the fluids. A micro glass pipette is attached to the end of the piezoelectric actuator, and the other end is connected to a copper bar. When we input specific electric wave into the piezoelectric actuator, the tip of the micropipette will move circularly and generate a local swirl flow in the fluids. It can be applied to rotating micro targets with a high-speed. The mechanism of this method are analyzed, and simulation is utilized to analyze the vibration-induced local flow. Control strategies including the on-off control, coarse rotation speed control and fine rotation speed control are also designed. Experiments of rotating microbeads are carried out to prove the effectiveness, operability and efficiency of this method.

    DOI: 10.1109/ROBIO.2016.7866550

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  • Automatic Manipulation of Microspheres with Two-fingered Microhand Reviewed

    Eunhye Kim, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2016

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    In order to assemble biological cells for tissue engineering, fast and reliable manipulation is necessary. In this paper, we present a high-speed and precise manipulation system using two-fingered microhand. This system is a fully automated pick-and-place operation of microspheres that can assemble several objects at high speed. To achieve proposed system, special releasing method and vision-based automatic manipulation are utilized. Finally, we manipulate three microbeads (55 mu m) with a 100% success rate.

    DOI: 10.1109/MHS.2016.7824189

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  • Generation of Swirl Flow for Non-Contact Rotation of Micro Objects by Vibrating Glass Needle Reviewed

    Xiaoming Liu, Masaru Kojima, Qing Shi, Yasushi Mae, Qiang Huang, Tatsuo Arai, Toshio Fukuda

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2016

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    In micromanipulation, a few of methods can be applied in the rotation of micro objects, which is very important for single cell injection, observation of micro objects and assembly of complex structures. In this paper, we present a novel method to realize the non-contact rotation of the micro objects by the swirl flow which is generated through vibrating glass needle in the fluid. Experiments of rotating micro bead have been carried out to demonstrate that the rotation is effective and efficient.

    DOI: 10.1109/MHS.2016.7824197

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  • Automated Construction System for Cellular Tissue Based on Laminar Flow Fibers Reviewed

    Masaru Kojima, Akira Fukushima, Suguru Takata, Mitsuhiro Horade, Kenichi Ohara, Shinji Sakai, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   920 - 925   2016

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    Cell tissue construction is one of the important issues for tissue engineering, which is a key-technology in regenerative medicine. Recently, several studies have reported, the in vitro fabrication of simple cell tissues. However, organs are made of some kinds of cells and they are complex tissues. Therefore, a technology to reproduce the complex structure and biological function of the organ is needed. In this paper, we propose an automated system for the construction of a cell tissue in vitro, based on hydrogel fiber. We fabricate the cell tissues with some kinds of gel fibers, and the tissues with fine arbitrary shape structures. To evaluate the proposed system, a fine lattice structure was constructed as an example of cell tissue form. Furthermore, we designed a gel fiber discharge nozzle using laminar flow, and fabricated the lattice structure using laminar flow fiber. Through the experiments of the lattice shape structure construction, we observed the cell growth in the constructed lattice form, which proves the functionality of the structure. Moreover, we fabricated 3-laminar flow fibers, and we will fabricate more functional cell tissues.

    DOI: 10.1109/ICMA.2016.7558685

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  • Micro-hand positioning in consideration of the obstacle avoidance and the grasping part by using the automatic stage Reviewed

    Kotaro Yamamoto, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   1893 - 1898   2016

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    Recently, manipulation and observation of the cells are actively conducted in order to analyze the biological phenomena. Since the micro hand is usually fixed to the work environment, grasping target point of the cell on the opposite side of the micro hand by using a micro hand is limited by narrow workspace. If we move the micro hand in vertical direction to grasp the target point of the cell on the opposite side of the micro hand, we cannot focus the micro hand and the object in the microscopic field of view at the same time. In order to overcome the limitations of the limited workspace of micro hand, we assist the target point of the cell grasped by translation and rotation of the automatic stage. In this paper, we propose an automatic stage system for support the operation of the micro hand. Our automatic stage system can detect the object in the microscopic field of view by the template matching using Hu moment invariant and determine the grasping convex part of the object. by convex hull. Additionally this system can do 2d path planning considering convex part of the object to want to grasp and obstacles, and lead the micro hand to the object.

    DOI: 10.1109/ICRA.2016.7487336

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  • A new close-loop control method for an inspection robot equipped with electropermanent-magnets Reviewed

    Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   28 ( 2 )   185 - 193   2016

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    Since the industrial age began, increasing numbers of manufacturing plants have been set up to serve economic growth demand. More bridges were built simultaneously to connect cities and to make transportation more convenient. As these facilities have aged, regular maintenance has increased. The limb mechanism project we started almost 20 years ago was to deliver new types of inspection and maintenance to industrial fields. Our first prototype, a six-limb robot called Asterisk, included such capabilities as walking on ceilings, climbing and descending stairs and ladders, walking tightropes, and transversing rough terrain. Asterisk’s latest version uses electromagnets to work in antigravity environments such as steel structures. Unfortunately, this presented a major danger, requiring that we replace electromagnets with electropermanentmagnets (EPMs). Limitations on EPMs, however, required a new control strategy. We propose and compare three control methods – open-loop control, closed-loop control using torque feedback, and closed-loop control using angle feedback – in the sections that follow. Our objective is to determine the best control for inspection robots having electropermanent magnets but not using additional sensors.

    DOI: 10.20965/jrm.2016.p0185

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  • A micro channel device for biomechanical analysis to apply a mechanical stimulus on large number of cells Reviewed

    Masahiro Totani, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Toshihiko Ogura, Makoto Kaneko, Tatsuo Arai

    2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2016

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    Many researches have reported that the mechanical stimulus is important factor of the histogenesis and cellular differentiation. However, it is not clearly understood for cellular nucleus how to respond to the mechanical stimulus. Our purpose is applying a mechanical stimulus to cells for gene expression assay. On this paper, we report development of a micro-channel device and evaluating the device by observation. This device is designed to have a low-height channel and cells are pressed when passing through that channel. In experiment, we succeed in observing that cells and nucleuses are deformed in the channel. In addition, 2.0x10(4) cells are collected from this device.

    DOI: 10.1109/MHS.2016.7824190

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  • Accurate Releasing of Biological Cells using Two Release Methods Generated by High Speed Motion of an End effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   2572 - 2577   2016

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    The reliable manipulation of micro-objects has been a still difficult work in scientific and technical field due to scale effects. This paper presents two types of release methods, using local stream and inertia force generated by 3D high speed motion of an end effector, for releasing and accurate positioning of biological cells. Two-fingered microhand driven by DC motors for both end effectors and PZT actuators for right end effector is employed. A parallel mechanism controlled by three PZT actuators generates 3D high speed motions to release cells adhered to one of the end effector. The local stream and inertia force created by high speed motion of the right end effector detach the cells adhered to the left end effector and right end effector, respectively. To generate the necessary external forces for separation of the attached cells, the vibration having high frequency and suitable amplitude is applied. For accurate positioning of the object, circular motions are proposed. To verify the advantage of the proposed motion, we compare five motions, three 1D motions and two circular motions. Experiments were conducted employing 16 mu m NIH3T3 cells. From these analyses of experiments, we conclude that the proposed motions can detach micro objects (100%) with high position accuracy (3 +/- 0.7 mu m) on desired position after release.

    DOI: 10.1109/IROS.2016.7759400

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  • Fault-tolerant Adaptive Gait Generation for Multi-limbed Robot Reviewed

    Takeyuki Kawata, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   3381 - 3386   2016

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    The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it. Even in these situations, the proposed method generates a new gait adaptively using the remaining usable limbs depending on the current situation of the multi-limbed robot. This fault-tolerant ability is effective for multi-limbed robots working in dangerous/narrow space. The method is implemented to a model of a multi-limbed robot "ASTERISK'' in a dynamical simulator (ODE). Experimental results show effectiveness of the proposed method.

    DOI: 10.1109/IROS.2016.7759520

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  • New Tripod Walking Method for Legged Inspection Robot Reviewed

    Pakpoom Kriengkomol, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   1078 - 1083   2016

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    Since the beginning of industrial age, more plants were founded in order to serve the demand of the economic growth. Along with more bridges were built to connect different cities together in order for a more convenient transportation. As years passed by, all of those facilities have became old which mean regular maintenance are required. We started the limb mechanism project almost 20 years ago aiming to deliver the new way of inspection and maintenance to the industrial field. The first prototype robot is called ASTERISK, a six limbs robot. ASTERISK's capabilities include walking on ceiling underside, climbing up and down stairs and ladders, tightrope walk, walk on rough terrains. To walk anti-gravity, ASTERISK is equipped with Electromagnets. Unfortunately, due to the number of degree of freedom and the previous walking program, ASTERISK could not walk in tripod mode with the operating Electromagnet. As per a result, ASTERISK could not achieve its full potential walking. The goal of this paper is to upgrade the ability of ASTERISK. It should be able to walk anti-gravity under the ceiling in tripod mode, which is faster and more natural compare to the last version. As per a result, our research will increase one passive degree of freedom, which mean we will not install actuator to increase the degree of freedom. Moreover, we will develop a new tripod walking pattern which could work with an operating Electromagnet. Our hypothesis is that with the ball joints and our new proposed walking method, ASTERIAK will be able to walk anti gravity in tripod mode under the ceiling.

    DOI: 10.1109/ICMA.2016.7558712

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  • Collision avoidance using contact information with multiple objects by multi-leg robot Reviewed

    Tomohito Takubo, Keishi Kominami, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   28 ( 1 )   17 - 30   2016

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Fuji Technology Press  

    In robotics, a walking through motion is complex because of the presence of multipoint contact objects in the working environment of a robot. To simplify the walking through motion of a robot, a virtual impedance field is implemented to the contact points of the robot and an object so that the robot avoids the object passively. The traveling direction of the robot is altered by a virtual repulsive force obtained from the position of the estimated obstacle and the virtual impedance field. The resulting action depends on the parameter of virtual impedance coefficients. Because a combination of parameters includes many things, reinforcement learning is employed to obtain an optimal motion. The optimization of the multipoint contact walking through motion of a robot is finally achieved by evaluating the walking motion while encountering complex obstacles in a dynamic simulator. The motion is implemented on a hexapod robot, and the results demonstrate the effectiveness of the proposed method.

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  • Generation of rotational flow for formation of spheroids by using microfluidic and dielectrophoretic hybrid device Reviewed

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   5 ( 4 )   180 - 189   2016

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Inderscience Enterprises Ltd.  

    Toroidal-like sheroids are important in the field of tissue engineering. However, the formation processes of toroidal-like spheroids may not be considered efficient, as most of them are manual. In this paper, we suggest the possibility and effectiveness of applying microfluidics for formation of toroidal-like spheroids. The concept of our method is that cells are compressed by rotational flow in a microchannel and dielectrophoretic force. Some types of microchannels that can generate rotational flow were designed and were analysed with flow analysis software. A superior microchannel was fabricated, and a flow of NIH3T3 cell suspension was supplied to the channel. As the flow rate was changed, the cells were rotated in the microchannel according to our concept, and approximately 30% of them remained in the channel. This result supports our concept: toroidal-like spheroids can be formed under the influence of forces of rotational flow and dielectrophoresis.

    DOI: 10.1504/IJMA.2016.084219

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  • Direct Tele-teaching with Handy Homothetic Robot for Multi-limbed Working Robot Reviewed

    Toshihiko Inoue, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   1882 - 1887   2016

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    The paper proposes a direct motion tele-teaching system for tele-operation of multi-limbed working robots. In this system, we use a small homothetic robot which is easily handled by operator's hands, whose configuration is similar to the tele-operation robot. In the basic flow of the system, firstly an operator makes the motion by manually operating the small robot and the motion data is recorded. Then, the motion will be confirmed via a simulator and the command will finally be applied to the tele-operation robot. The challenging problem is how a single operator could operate multiple limbs of the robot at the same time. Moreover, the tips of supporting limbs must keep contact to the environment during the other body's motion. In order to solve these problems, the system will save the motion data discretely during the operation, and the proposed teaching system discretely synchronizes the small robot and the tele-operation robot. In the experiments, a six-limbed robot "ASTERISK" is used as a tele-operation robot, and a handy homothetic robot is made. We confirm that our proposed system is intuitively used for operating multi-limbed robot using a handy homothetic robot.

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  • Development of Multi-functional Robot Hand for Multi-Legged Robot Reviewed

    Ryo Akiyama, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   220 - 225   2016

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    In recent years, various robots have been researched and developed. As a part of them, robots working in dangerous place for human beings are attracted attention. The dangerous places include the outdoor irregular ground or the narrow place mainly, so the robots need to have high moving ability. In addition, It also requires high operational ability as same as human. To satisfying these necessities, multi-legged robots are suitable. In this paper, we design a robot hand for visual inspection equipped with three dimensional force sensing. The designed hand is attached to the tip of legs of multi-legged robot. Furthermore evaluation of a prototype is reported. The reason for the robot hand to be equipped to the tip of multi-legged robot is that it could meet following four requirements. Firstly, the hand system can catch a small object such as bolts and wires. Secondly, a small camera is attached inside the hand for visual inspection. Thirdly, the hand is functioned as a leg point of ASTERISK. Lastly, the hand can equip three dimensional force sensing ability. The developed hand is confirmed to meets these four requirements through the experiments.

    DOI: 10.1109/ROBIO.2016.7866325

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  • Extraction of Grasping Region of Object for Automatic Modeling by Observing Human-object Interaction Reviewed

    Hiroki Kawashima, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    Proceedings of the 6th International Conference on Advanced Mechatronics   2015.12

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  • Object Search Framework based on Gaze Interaction Reviewed

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Kiyoshi Kiyokawa, Tomohiro Mashita, Yoshihiro Kuroda, Haruo Takemura, Tatsuo Arai

    Proceedings of the 2015IEEE Conference on Robotics and Biomimetics   2015.12

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    DOI: 10.1109/ROBIO.2015.7419066

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  • Hammering Sound Analysis for Infrastructure Inspection by Leg Robot Reviewed

    2015.12

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    DOI: 10.1109/ROBIO.2015.7418883

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  • Social interactive robot navigation based on human intention analysis from face orientation and human path prediction Reviewed

    Photchara Ratsamee, Yasushi Mae, Kazuto Kamiyama, Mitsuhiro Horade, Masaru Kojima, Tatsuo Arai

    ROBOMECH Journal2015   2015.12

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  • Development of an optimum end-effector with a nano-scale uneven surface for non-adhesion cell manipulation using a micro-manipulator Reviewed

    M. Horade, M. Kojima, K. Kamiyama, T. Kurata, Y. Mae, T. Arai

    JOURNAL OF MICROMECHANICS AND MICROENGINEERING   25 ( 11 )   2015.11

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    In order to realize effective micro-manipulation using a micro-manipulator system, an optimum end-effector is proposed. Cell-manipulation experiments using mouse fibroblast cells are conducted, and the usability of the proposed end-effector is confirmed. A key advantage of the micro-manipulator is high-accuracy, high-speed 3D micro-and nano-scale positioning. Micro-manipulation has often been used in research involving biological cells. However, there are two important concerns with the micro-manipulator system: gripping efficiency and the release of gripped objects. When it is not possible to grip a micro-object, such as a cell, near its center, the object may be dropped during manipulation. Since the acquisition of exact position information for a micro-object in the vertical direction is difficult using a microscope, the gripping efficiency of the end-effector should be improved. Therefore, technical skill or operational support is required. Since, on the micro-scale, surface forces such as the adsorption force are greater than body forces, such as the gravitational force, the adhesion force between the end-effector and the object is strong. Therefore, manipulation techniques without adhesion are required for placed an object at an arbitrary position. In the present study, we consider direct physical contact between the end-effector and objects. First, the design and materials of the end-effector for micro-scale manipulation were optimized, and an end-effector with an optimum shape to increase the grip force was fabricated. Second, the surface of the end-effector tip was made uneven, and the adhesion force from increasing on the micro-scale was prevented. When an end-effector with an uneven surface was used, release without adhesion was successful 85.0% of the time. On the other hand, when an end-effector without an uneven surface was used, release without adhesion was successful 6.25% of the time. Therefore, the superiority of a structure with an uneven surface was demonstrated, and high-accuracy cell manipulation without sliding during handling and without adhesion was performed successfully.

    DOI: 10.1088/0960-1317/25/11/115002

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  • Automated Construction System for Cellular Tissue Based on Laminar Flow Fibers Reviewed

    Masaru Kojima, Mitsuhiro Horade, Akira Fukushima, Kenichi Ohara, Sinji Sakai, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2015 International Symposium on Micro-NanoMechatronics and Human Science(MHS2015)   2015.11

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    DOI: 10.1109/MHS.2015.7438335

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  • Keyframe Selection Framework Based on Visual and Excitement Features for Lifelog Image Sequences Reviewed

    Photchara Ratsamee, Yasushi Mae, Amornched Jinda-apiraksa, Mitsuhiro Horade, Kazuto Kamiyama, Masaru Kojima, Tatsuo Arai

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   7 ( 5 )   859 - 874   2015.11

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    Keyframe selection is the process of finding a set of representative frames from an image sequence. We aim to achieve an automatic keyframe selection. The main problem is that the accuracy of keyframe selection is highly subjective to each particular user. To deal with this problem, we propose a VIEMO keyframe selection framework based on visual and excitement features that consists of two integrated modules, namely; event segmentation and keyframe selection. Firstly, scene change detection algorithm was applied for an event segmentation. Later, visual features which are contrast, color variance, sharpness, noise and saliency along with excitement features from a biosensor are used to filter keyframe that closely matches with user selection keyframe. Two different fusion scheme which are flat and hierarchical fusion were also investigated. To evaluate the quality of keyframe from the proposed method, we present an evaluation techniques which grades the quality of the keyframe automatically. Even when the keyframe does not exactly match with the keyframe selected by the user, the degree of acceptance calculated from visual similarity is provided. Experimental results showed that keyframe selection using only visual features yielded an acceptance rate of 74.16 %. Our proposed method achieves a higher acceptance rate of 83.71 %. Moreover, the acceptance rate was improved by the average of 9.55% in all participants. Therefore, our framework provides a potential solution to this subjective issue for keyframe selection in lifelog image sequences selection.

    DOI: 10.1007/s12369-015-0306-y

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  • Piezo-actuated parallel mechanism for biological cell release at high speed Reviewed

    Ebubekir Avci, Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    BIOMEDICAL MICRODEVICES   17 ( 5 )   2015.10

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    In this paper, a dynamic releasing approach is proposed for high-speed biological cell manipulation. A compact parallel mechanism for grasping and releasing microobjects is used to generate controllable vibration to overcome the strong adhesion forces between the end effector and the manipulated object. To reach the required acceleration of the end effector, which is necessary for the detachment of the target object by overcoming adhesion forces, vibration in the end effector is generated by applying sinusoidal voltage to the PZT actuator of the parallel mechanism. For the necessary acceleration, we focus on the possible range of the frequency of the PZT-actuator-induced vibration, while minimizing the amplitude of the vibration (14 nm) to achieve precise positioning. The effect of the air and liquid environments on the required vibration frequency for successful release is investigated. For the first time, release results of microbeads and biological cells are compared. Release of the biological cells with 100 % success rate suggests that the proposed active release method is an appropriate solution for adhered biological cells during the release task.

    DOI: 10.1007/s10544-015-0001-7

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  • DEVELOPMENT OF GRIPPER ON-BOARD MICRO-HEATER AND FORCE SENSOR FOR HIGH-ACCURACY MICRO-MANIPULATION Reviewed

    Mitsuhiro Horade, Tomoyuki Kurata, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

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  • 3D MCIRO-STRUCTURE ASSEMBLING METHOD BY MICRO-HEATER ARRAY DEVICE Reviewed

    Suguru Takata, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

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  • DEVELOPMENT OF NOVEL MICRO FLUIDIC SYSTEM WITHOUT CHANNELS AND WELLS FOR TRAPPING-AND-RELEASING OF MICRO-OBJECTS Reviewed

    Mitsuhiro Horade, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

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  • STUDY ON CELL MANIPULATION METHOD WITH HIGH-ACCURACY THREE-DIMENTIONAL POSIIONING USING A MANIPULATOR Reviewed

    Mitsuhiro Horade, Tomoyuki Kurata, Masaru Kojima, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 19th International Conference on Miniaturized Systems for Chemistry and Life Sciences   2015.10

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  • Releasing and Accurate Placing of Adhered Micro-Objects using High Speed motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)   2015.10

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    DOI: 10.1109/IROS.2015.7353642

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  • ハイドロゲルファイバを用いた組織様構造の構築 Reviewed

    小嶋勝, 阪大, 福島英, 阪大, 洞出光洋, 大原賢一, 神山和人, 前泰志, 阪大, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

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  • Infrastructure Inspection by Multi-legged Robot equipped with Electromagnet Reviewed

    Kazuto Kamiyama, Pakpoom KRIENGKOMOL, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    JSME annual meeting   2015.9

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  • 微小物把持支援のための自動ステージの構築 Reviewed

    山本幸太朗, 小嶋勝, 洞出光洋, 神山和人, 前泰志, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

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  • 2本指マイクロハンド操作のための視触覚融合インタフェース Reviewed

    神山和人, 小嶋勝, 洞出光洋, 前, 泰志, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

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  • 表面凹凸処理により接触面積を低減した細胞付着防止マニピュレータ Reviewed

    洞出光洋, 小嶋勝, 神山和人, 蔵田智之, 前泰志, 新井健生

    第33回日本ロボット学会学術講演会講演予稿集   2015.9

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  • Development of the Measurement System for Cell-scaffold Interaction Reviewed

    Yu HIRANO, Osaka University, Masaru KOJIMA, Mitsuhiro HORADE, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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    DOI: 10.1109/MHS.2015.7438330

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  • Automated Construction System for Cellular Tissue Based on Hydro Gel Fibers Reviewed

    Akira FUKUSHIMA, Osaka University, Masaru KOJIMA, Osaka UniversityMitsuhiro HORADE, Osaka University, Kazuto KAMIYAMA, Osaka UniversityKenichi OHARA, Meijo UniversityShinji SAKAI, Osaka UniversityYasushi MAE, Osaka UniversityTatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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    DOI: 10.1109/MHS.2015.7438335

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  • Development of intelligent robot hand for limb mechanism robot for visual inspection, grasping and 3D force sensing Reviewed

    Ryo Akiyama, Osaka University, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Indication of Object in Scene by Gaze Reviewed

    Yasushi MAE, Osaka University, Photchara RATSAMEE, Osaka University, Kazuto KAMIYAMA, Osaka University, Mitsuhiro HORADE, Osaka University, Masaru KOJIMA, Osaka UniversityTatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Development and Application of Real Time Local Chemical Stimulation System Reviewed

    Masaru KOJIMA, Osaka University, Takahiro MOTOYOSHI, Osaka University, Mitsuhiro HORADE, Osaka UniversityKazuto KAMIYAMA, Osaka UniversityKenichi Ohara, Meijo UniversityYasushi MAE, Osaka UniversityTatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Development of the 2D Patterning Method for Micro Objects with Arbitrary ShapeUtilizing Micro-heater Array Device Reviewed

    Mitsuhiro HORADE, Osaka University, Masaru KOJIMA, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI, aka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Study on Assembling Method for 3D Cellular System Utilizing 2D Cell Sheet with Arbitary Shape Reviewed

    Suguru TAKATA, Osaka University, Masaru KOJIMA, Mitsuhiro HORADE, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Analysis of Local Stream Induced by Vibration of End Effector Reviewed

    Takayuki HATTORI, Osaka University, Kazuto KAMIYAMA, Masaru KOJIMA, Mitsuhiro HORADE, Yasushi MAE, Tatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Power Efficient 3D Locomotion of Legged Robot in Narrow Space Reviewed

    Takeshi TODA, Kenichi OHARA, Kazuto KAMIYAMA, Masaru KOJIMA, Mitsuhiro HORADE, Yasushi MAE, Tatsuo ARAI, Osaka University, Meijo University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • Development of a Real-time Local Environment Stimulation System with Visual Feedback Control Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Member,IEEE, Kenichi Ohara, Member,IEEE, Mitsuhiro Hotade, Member,IEEE, Kazuto Kamiyama, Member,IEEE, Yasushi MaeMember,IEEE, Tatsuo Arai, Member,IEEE

    Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA)   2015.5

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    DOI: 10.1109/ICRA.2015.7139763

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  • Study on Effective Micro-manipulation Utilizing Manipulator with Nanostructured Surface Reviewed

    Mitsuhiro HORADE, Osaka University, Tomoyuki KURATA, Masaru KOJIMA, Kazuto KAMIYAMA, Yasushi MAE, Tatsuo ARAI, Osaka University

    Proceedings of the 2015 JSME Conference on Robotics and Mechatronics   2015.5

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  • High-Speed Automated Manipulation of Microobjects Using a Two-Fingered Microhand Reviewed

    Ebubekir Avci, Kenichi Ohara, Chanh-Nghiem Nguyen, Chayooth Theeravithayangkura, Masaru Kojima, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   62 ( 2 )   1070 - 1079   2015.2

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    In this paper, we present a high-speed pick-and-place method for cell-assembly applications. In addition to the range of motion and accuracy, the agility of a manipulation system is an important parameter, but it has been so far underrated in the literature. To begin highspeed micromanipulation, obtaining 3-D positions of both the target microobject and the end effector rapidly is necessary. Controlling the residual vibration of the end effector, which is greater at high speed, is another arduous task. Successful releasing of objects in microscale is also demanding. We propose a new fast detection algorithm for both the target microobject and the end effector, which will enable us to achieve high-speed control of the system. Moreover, to realize stable grasping for very fast movements, the vibration of the system is compensated, and a controllable vibration is applied to the end effectors while performing the releasing task. High-speed control of the microhand system is demonstrated with extensive experiments consisting of pick-and-place actions of 40-60 mu m microspheres; we aimed at performing the task in 1 s. A comparison with similar studies shows the advantage of the proposed automated high-speed micromanipulation system.

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  • Cell manipulation and cellular parts assembly for constructing 3D cellular systems Reviewed

    Masaru Kojima, Yasushi Mae, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Tatsuo Arai

    Hyper Bio Assembler for 3D Cellular Systems   93 - 128   2015.1

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    Bio Assembler integrates the state-of-the-art micro robotics and tissue engineering to create 3D tissues in vitro. In Bio Assembler we have different key technologies in different complex structure for creating 3D cellular systems. In this chapter, we have reviewed our recent progress to construct 3D cellular systems. Especially, introduce three key technologies of micro robotics for 3D cellular construction, (1) Cell manipulation by microhand, (2) Construction of 3D lattice by hydrogel fiber and (3) Changeable Cell Culture mold for Advanced Cell Sheet. These proposed new technologies contribute to realize “Bio Assembler”.

    DOI: 10.1007/978-4-431-55297-0_7

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  • Tracking Handheld Object Using Three Layer RGB-D Image Space Reviewed

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2436 - 2441   2015

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    Visual tracking of objects subjected to non-linear motion and appearance changes has shown to be a difficult task in computer vision. While research in visual object tracking has progressed significantly in terms of robust tracking of objects subjected to non-linear motion and appearance changes, these algorithms has shown limited capability for long term tracking of handheld objects during human-object interactions. The failure in tracking is a consequence of abrupt changes in the handheld object motion resulting in tracker drifting off the optimal object space. In this paper, we present a novel 3 layer RGB-D image model formulated with Bayesian filters that tracks handheld object using near constant velocity motion model. Our method divides the image into three layers of abstraction where each encodes visual information of environment, human, object and contributes toward precise localization of the handheld object during tracking. A boundary re-alignment step is introduced during tracking such that the tracker predicted object region is re-aligned to the optimal object region, therefore reducing the likelihood of tracker drifting off the object space. This compensation of the tracker prediction offset enables our algorithm to robustly track handheld object subjected to abrupt changes in motion during manipulation.

    DOI: 10.1109/ICRA.2015.7139524

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  • Development of thermos responsive gel coated end effector for micro manipulation Reviewed

    Hideaki Saijo, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   189 - 194   2015

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    In the field of medicine and biology, many studies to be related to regenerative medicine are accomplished. In particular, the purpose of helping the operation of the cells under a microscope, many research related to micro manipulation techniques with robotic technology has been proposed. In such background, we studied two finger micro hand that realized control of the sub-micro order size object. The accurate operation of the end effector against the object by the micro hand is demanded to users. To reduce the burden, we focus on making the manipulation easy. User can perform micro manipulation with rough operation by using the actuator that varies in size. Since the actuator fills space between the end effectors and the object. Then we focus on the gel that varies in size. In this paper, we evaluate the gel that varies in size. Then we propose the manipulation that take advantage of the gel.

    DOI: 10.1109/IROS.2015.7353373

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  • Generation of Rotational Flow for Formation of Spheroid by Using Microfluidics Device Reviewed

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   1042 - 1047   2015

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    Spheroid is important in the field of tissue engineering because it has a hole enabling efficient supply of oxygen and growth factors, and a vessel-like geometry is made by piling up it. But it is difficult to say that formation processes of toroidal-like spheroid is efficient, as most of them has done manually. In this study, we wish to suggest utility and possibility of applying microfluidics for formation of toroidal-like spheroid. The concept of our method is that cells are condensed by rotational flow in the microchannel and dielectrophoresis force. Some types of microchannels to generate rotational flow were designed with computer aided design (CAD) and analyzed with fluid analysis software. The superior microchannel was made, and NIH3T3 mouse embryo fibroblast cells suspension was flowed to it. As flow rates were changed, cells were rotated the microchannel just as our concept, and about 30% of them remained. This result support utility of our concept; toroidal-like spheroid can be formed under forces of rotational flow and dielectrophoresis.

    DOI: 10.1109/ICMA.2015.7237629

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  • Releasing of Adhered Micro-Objects using Local Stream Generated by High Speed Motion of End Effector Reviewed

    Eunhye Kim, Masaru Kojima, Kazuto Kamiyama, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION   1036 - 1041   2015

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    This paper presents a contactless release method of microobject using local stream generaged by high speed motions of an end effector. In the micro manipulation, the release task is a challenge work due to adhesion forces. To overcome the adhesion force and to place microobject on the desired location, in this paper, we apply local stream using high speed motion controlled by a parallel link. Two fingered microhand driven by DC motors and PZT actuators is utilized for this paper. Parallel mecahnism with three PZT actuators was used for making 3D motion at high speed. To generatge high acceleration of end effector, many researchers applied simple vibration by using an additional PZT actuator. In our research, 3D high speed motion with large amplitude was achieved by only using a compacted parallel mechanism. Using local stream generated by the high speed motion of the right effector, 55 mu m microbeads attached to the left end effector are released. To verify the placing accuracy by the proposed method, we compare four motions, 1D motions (X and Z direction) and circular motions (clockwise and counterclockwise direction), by analyzing the trajectory of the microbeads after release. From these results of experiment, we conclude that the circular motion can detach microobjects on desired position after release.

    DOI: 10.1109/ICMA.2015.7237628

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  • Brain signal-based safety measure activation for robotic systems Reviewed

    Christian I. Penaloza, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    ADVANCED ROBOTICS   29 ( 19 )   1234 - 1242   2015

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    In this paper, we present our approach for using EEG signals to activate safety measures of a robot when an error or unexpected event is perceived by the human operator. In particular, we consider brain-based error perception while the operator passively observes the robot performing an action. Our approach consists of monitoring EEG signals and detecting a brain potential called error related negativity (ERN) that spontaneously occurs when the operator perceives an error made by the robot or when an unexpected event occurs. We detect ERN by pre-training two linear classifiers using data collected from a preliminary experiment based on a visual reaction task. We derive the probability of failure in demand (PFD), commonly used to assess functional safety for a two-channel verification system based on the combination of linear classifiers. Functional safety analysis was then performed on a BMI-based robotic framework in which a signal was sent to the robot to active its safety measures in when an ERN was detected. Using brain-based signals, we demonstrate that it is possible to send an emergency stop action during mobile navigation task when unexpected events occur with an accuracy of 75%.

    DOI: 10.1080/01691864.2015.1057615

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  • Generation of Swirl Flow by Needle Vibration for Micro Manipulation Reviewed

    Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   772 - 777   2015

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    Recently micro manipulation techniques for cell or microorganism has attracted attention in life sciences. In this paper, non-contact manipulation method using water stream is proposed. Water stream is generated by a glass needle vibration that is actuated by a piezoelectric actuator. The stream is controlled by changing input voltage or frequency to the actuator. An accuracy of the motion of a piezoelectric actuator is in nano-meter order, so the stream is considered to be controlled precisely. The manipulator works in 3 dimensional space, that means water stream is generated in 3d space. We focused on the rotational stream generated by the glass needle 2-dimensional circular vibration. By using the resonance in a structure of the manipulator and the actuator's vibration, circular vibration can be generated by only one actuator. There is no need to use two actuators for generating circular vibration, so the structure of the manipulator is quite simple. In this paper rotational stream around the glass needle is also analyzed in 3d space using micro beads. This manipulator has the similar characteristics to the existing research of contact manipulation, so we think our method also have the capability to conduct contact manipulation.

    DOI: 10.1109/IROS.2015.7353459

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  • Cell Stiffnass Measurement Using Two-fingered Micro-hand Equipped with Plate-shaped End Effector Reviewed

    Nyamdorj Khangai, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Yasushi Mae, Tatsuo Arai

    11th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI2014)   2014.12

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    DOI: 10.1109/URAI.2014.7057379

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  • 細胞操作支援用自動ステージの構築

    山本 幸太朗, 小嶋 勝, 神山 和人, 洞出 光洋, 前 泰志, 新井 健生

    第15回システムインテグレーション部門講演会予稿集   2014.12

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  • Generaton og Rotational Flow in Microfluidics Device for Formation of Apheroid Reviewed

    Masaru Kojima, Mitsuhiro Horade, Hirochika Takai, Kenichi Ohara, Tamio Tanikawa, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2014 International Symposium on Micro-NanoMechatronics and Human Science(MHS2014)   2014.11

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    DOI: 10.1109/MHS.2014.7006134

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  • DEVELOPMENT OF MICRO-HEATER ARRAY DEVICE WITH REGIONAL SELECTIVE HEATING FOR BIOCHEMICAL APPLICATIONS Reviewed

    M. Horade, M. Kojima, K. Kamiyama, Y. Mae, T. Arai

    Proceedings of MicroTAS2014   2014.10

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  • MOVEMENT OF ASYMMETRIC SHAPE MICRO STRUCTURE ON BACTERIAL SHEET Reviewed

    M. Kojima, M. Horade, K. Kamiyama, Y. Mae, T. Fukuda, T. Arai

    Proceedings of the 18th International Conference on Miniaturized Systems for Chemistry and Life Sciences (µTAS 2014)   2014.10

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  • Brain Machine Interface System Automation Considering User Preferences and Error Perception Feedback Reviewed

    Christian I. Penaloza, Yasushi Mae, Francisco F. Cuellar, Masaru Kojima, Tatsuo Arai

    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING   11 ( 4 )   1275 - 1281   2014.10

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    This paper addresses the problem of mental fatigue caused by prolonged use of Brain Machine Interface (BMI) Systems. We propose a system that gradually becomes autonomous by learning user preferences and by considering error perception feedback. As a particular application, we show that our system allows patients to control electronic appliances in a hospital room, and learns the correlation of room sensor data, brain states, and user control commands. Moreover, error perception feedback based on a brain potential called error related negativity (ERN)-that spontaneously occurs when the user perceives an error made by the system-was used to correct system's mistakes and improve its learning performance. Experimental results with volunteers demonstrate that our system reduces the level of mental fatigue, and achieves over 90% overall learning performance when error perception feedback is considered.

    DOI: 10.1109/TASE.2014.2339354

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  • Development of End-effectors for Micro-manipulation with High Speed and Accuracy

    2014.10

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  • DEVELOPMENT OF THE OPTIMUM END-EFFECTOR FOR TWO-FINGERED MICRO-HANDS SYSTEM TO SUPPORT CELL MANIPULATION Reviewed

    T.Kurata, M.Horade, M.Kojima, K.Kamiyama, Y.Mae, T.Arai

    Proceedings of The 18th International Conference on Miniaturized Systems for Chemistry and Life Sciences (µTAS 2014)   2014.10

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  • バイオ応用を目的とした局所選択的加熱可能な マイクロヒータアレイデバイスの開発

    洞出光洋, 小嶋勝, 神山和人, 前泰志, 新井健生

    第32回日本ロボット学会学術講演会   2014.9

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  • エンドエフェクタに付与された振動により発生する周辺水流の現象解析

    服部 貴享, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    第32回日本ロボット学会学術講演会   2014.9

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  • 細胞培養可能なゲルファイバを用いた微細格子組織構築システム

    福島英, 小嶋 勝, 大原賢一, 洞出 光洋, 神山和人, 前 泰志, 新井 健生

    第32回日本ロボット学会学術講演会   2014.9

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  • Flexible microscaffold facilitating the in vitro construction of different cellular constructs

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    ROBOMECH Journal2014   2014.9

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  • Development of Hydrogel Coated End Effector for Stable Cell Manipulation by Two-fingered Micro-hand Reviewed

    Masaru Kojima, Hiroyuki Yabugaki, Ebubekir Avci, Kenichi Ohara, Shinji Sakai, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2014 IEEE International Conference on Mechatronics and Automation   2014.8

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    DOI: 10.1109/ICMA.2014.6885669

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  • Design and fabrication of micro/bio chip for in vitro fabrication of toroidal cellular aggregates Reviewed

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2014 IEEE International Conference on Mechatronics and Automation   2014.8

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    DOI: 10.1109/ICMA.2014.6885668

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  • 電力効率を考慮した脚移動ロボットによる閉空間3次元移動 Reviewed

    戸田 武, 大原 賢一, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    第14回建設ロボットシンポジウム   2014.8

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  • Vibration Reduction of Microhand Used in Transporting Operations Reviewed

    Tomoyuki Kurata, Ebubekir Avci, Kazuto Kamiyama, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Toru Ejima, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    Proceedings of 2014 International Symposium on Flexible Automation (ISFA2014)   2014.7

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  • Autonomous Modeling of Unknown Hand Grasp Object via Tracking in Cluttered Environments Proceedings Reviewed

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    Proceedings of 2014 International Symposium on Flexible Automation (ISFA2014)   2014.7

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  • 次元リソグラフィ技術を応用した細胞システム構築用マイクロチャンバアレイの開発

    洞出光洋, 小嶋勝, プワナンチュムトン, 神山和人, 前泰志, 新井健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

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  • 細胞操作を支援する二本指マイクロハンド用高機能エンドエフェクタの開発

    蔵田智之, 洞出光洋, 小嶋勝, 神山和人, 前泰志, 新井健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

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  • Direct comparison of psychological evaluation between virtual and real humanoids: Personal space and subjective impressions Reviewed

    Hiroko Kamide, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    INTERNATIONAL JOURNAL OF HUMAN-COMPUTER STUDIES   72 ( 5 )   451 - 459   2014.5

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    The aim of this study was to compare psychological evaluations of a robot constructed using a virtual reality (VR) system (VR robot) with a real robot. The same design was used for both the VR and real robot in order to make a direct comparison. For the psychological evaluation, we measured behavioral reactions (the amount of personal space the participants desired between themselves and the robot) and subjective impressions (from a psychological scale). The psychological scale included six dimensions that are typically used to evaluate a humanoid: utility, clumsiness of motion, possibility of communication, controllability, vulnerability, and objective hardness. Sixty-one participants observed both the VR and real robots walking toward them and reported their level of desired personal space. Next, the participants evaluated their psychological impressions of the robots. The results indicated no significant difference in the level of desired personal space between the situations with the real and VR robots. However, regarding the psychological dimensions, participants reported higher scores for utility and the possibility of communication, and lower scores for controllability for the real robot as compared with the VR robot. The usability of a VR robot is discussed. (C) 2014 Elsevier Ltd. All rights reserved.

    DOI: 10.1016/j.ijhcs.2014.01.004

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  • Face relighting using discriminative 2D spherical spaces for face recognition Reviewed

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    MACHINE VISION AND APPLICATIONS   25 ( 4 )   845 - 857   2014.5

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    As part of the face recognition task in a robust security system, we propose a novel approach for the illumination recovery of faces with cast shadows and specularities. Given a single 2D face image, we relight the face object by extracting the nine spherical harmonic bases and the face spherical illumination coefficients by using the face spherical spaces properties. First, an illumination training database is generated by computing the properties of the spherical spaces out of face albedo and normal values estimated from 2D training images. The training database is then discriminately divided into two directions in terms of the illumination quality and light direction of each image. Based on the generated multi-level illumination discriminative training space, we analyze the target face pixels and compare them with the appropriate training subspace using pre-generated tiles. When designing the framework, practical real-time processing speed and small image size were considered. In contrast to other approaches, our technique requires neither 3D face models nor restricted illumination conditions for the training process. Furthermore, the proposed approach uses one single face image to estimate the face albedo and face spherical spaces. In this work, we also provide the results of a series of experiments performed on publicly available databases to show the significant improvements in the face recognition rates.

    DOI: 10.1007/s00138-013-0584-z

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  • マイクロハンドによる操作支援を目的とした自動ステージの構築

    山本 幸太朗, 小嶋 勝, 神山 和人, 洞出 光洋, 前 泰志, 新井 健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

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  • 2本指マイクロハンドを用いた把持対象物の動的リリース手法の開発

    服部 貴享, 神山 和人, 小嶋 勝, 洞出 光洋, 前 泰志, 新井 健生

    ロボティクス・メカトロニクス講演会2014講演論文集   2014.5

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  • Multi-Lighting for Unknown Objects Segmentation in Cluttered Environment

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    SICE Journal of Control, Measurement, and System Integration   7(2) 90-95 ( 2 )   90 - 95   2014.3

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    For autonomous robots, the ability to manipulate unknown objects is pivotal to successfully operate in a complex environment. This paper presents a novel multi lighting two-step method for unknown objects segmentation using albedo characteristics of object shape. The authors address the task of detecting unknown multi colored objects of interest, specifically ones that are being seen for the first time and located in the proximity of unidentified obstacles. Illumination at different wavelengths and angles are projected by a robot, thus acquiring additional information about the scene and exploiting it for successful unknown objects segmentation. By analyzing shades and reflections of a scene's objects, we were able to form and identify true edges and visually separate items of interest. The proposed method does not require predefined models of target objects and assumes no previously assigned targets pose. The technique was validated by presenting promising experimental results using an autonomous robot manipulator successfully performing unknown objects segmentation from cluttered environments.

    DOI: 10.9746/jcmsi.7.90

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  • 感情センサ情報と画像特徴に基づくライフログ画像列のクラスタリング

    ポチャラ ラサミー, 前泰志, 小嶋勝, 洞出光洋, 神山和人, 新井健生

    第19回ロボティクスシンポジア   2014.3

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  • Impressions of Humanoids: The Development of a Measure for Evaluating a Humanoid Reviewed

    Hiroko Kamide, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS   6 ( 1 )   33 - 44   2014.1

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    In this study, we focus on what perspectives people use to perceive a humanoid, and we explore the basic dimensions of a humanoid evaluation by ordinary people. We also develop the psychological scale called PERNOD (PERception to humaNOiD), a humanoid-oriented scale that is based on fundamental dimensions.
    Several studies have investigated the psychological evaluation of robots interaction with humans; however, almost studies have methodological limitations because few scales for the evaluation of psychological impressions of humanoids have been developed thus far. This study uses a humanoid of HRP-2 and explores what are the perspectives to evaluate the robot and investigate importance to develop humanoid-oriented scale.
    With free descriptions, 157 respondents provided impressions of a humanoid robot, and psychologists categorized the qualitative data into several groups according to psychological meanings of the impressions. Thereafter, the descriptions were organized in the form of a Likert scale in order to develop PERNOD, and 380 additional respondents evaluated a humanoid robot quantitatively using PERNOD. The result of factor analysis indicated that PERNOD comprises five basic dimensions for perceiving humanoid robots: Familiarity, Utility, Motion, Controllability, and Toughness. Some similarities are found in dimensions of evaluation for both humanoids and humans, and original dimensions are found in dimensions for humanoids. The reliability of each sub-scale of PERNOD is statistically high; further, the usability of this scale is discussed.

    DOI: 10.1007/s12369-013-0187-x

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  • Object search using object co-occurrence relations derived from web content mining Reviewed

    Puwanan Chumtong, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    INTELLIGENT SERVICE ROBOTICS   7 ( 1 )   1 - 13   2014.1

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    We present the novel framework of knowledge construction (ICC: Independent Co-occurring based Construction) based on co-occurrence relations of objects. We compare its characteristics with that of general approach (DCC: Dependent Co-occurring based Construction) in various construction aspects: variations of trained probability values, percentage differences (probability value and priority ranking order), and reconstruction time. The similarity of their data content and faster reconstruction time of ICC suggest that ICC is more suitable for applications of service robot. Instead of using visual feature, we employed annotated data, such as word-tagging images, as the training set to increase the accuracy of correspondence between related keywords and images. The task of object search in unknown environment is selected to evaluate the applicability of using constructed knowledge (OCR: Object Co-occurrence Relations). We explore the search behaviors, provided by OCR-based search (indirect search) and greedy search (direct search), in simulation experiments with five different starting robot positions. Their search behaviors are also compared from the aspects of consumed computational time, travel distance, and number of visited locations. The certainty of success of OCR-based search assures us of its benefit. Moreover, the object search experiment in unknown human environment is conducted by a mobile robot, equipped with a stereo camera, to show the possibility of using OCR in the search in real world.

    DOI: 10.1007/s11370-013-0139-1

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  • Analysis and Suppresion of Residual Vibration in Microhand for High-Speed Single-Cell Manipulation

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    International Journal of Mechatronics and Automation   3(2) 110-117 ( 2 )   110-117   2014.1

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  • Cell stiffness measurement using two-fingered micro-hand equipped with plate-shaped end effector Reviewed

    Nyamdorj Khangai, Masara Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Yasushi Mae, Tatsuo Arai

    2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014   517 - 521   2014

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    In the field of life science which includes, for example tissue engineering and cloning, the manipulation and analysis of cells is important. However, manipulating micro objects by hand without the help of equipment is a difficult task. We developed a two-fingered micro-hand, which can help to operation of micro objects and increase operation efficiency. The cell's stiffness is an important mechanical property for the understanding of the cell's condition. Kawakami and others have developed a technique to measure cell stiffness using a two-fingered micro-hand with needle-shaped end effectors. This paper proposes a method to measure the stiffness of softer cells using plate-shaped end effectors. By using a plate-shaped end effector, in the process of cell deformation, the reaction force from the cell will increase more than when using needle-shaped end effectors. Thus, it is possible to measure the stiffness of softer cells. We calculate it by using the values from the micro force sensor and the displacement calculated from the images obtained during the process of deformation. In this paper, we propose a model of a plate-shaped end effector and a stiffness measurement method suitable for the new end effector, and compare the experimental results of our model and the needle-shaped model.

    DOI: 10.1109/URAI.2014.7057379

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  • Development of Simplified Haptic Interface for Two-finger Micro-manipulator Reviewed

    Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

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    Intuitive operating of the two-finger micro-manipulator used for handling cells requires a feasible interface. We developed a new haptic interface that has an easier operation method than a conventional one.

    DOI: 10.1109/MHS.2014.7006147

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  • 3D Movement of Legged Robot in Narrow Space Reviewed

    Takeshi Toda, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

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    In this paper, two new types of gait for moving in narrow space for the limb mechanism robot ASTERISK are proposed. The proposed "vertical wave gait" and "vertical cross gait" are generated on a simulator and achieved with an actual robot in an environment made up of two parallel walls.

    DOI: 10.1109/MHS.2014.7006109

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  • Real-time Local Environmental Stimulation System with Visual Feedback Control Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

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    Single cell analysis has attracted much attention for revealing detailed and localized biological information. A local environmental control technique is desired when analyzing the detailed and localized properties of single cells. In this paper, we propose a local environmental stimulation system which causes chemical stimulation in local area with micro dual-pipettes dynamically, freely, and automatically. As a cell analysis system, system quantification is necessary, so we try to realize it by using a fluorescent substance. Moreover, combining the spouted pipette and sucked pipette, we propose more localized stimulating system. As a first step, we try to measure the light intensity of the fluorescent substance using this system.

    DOI: 10.1109/MHS.2014.7006133

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  • Automated Construction System for Fine Lattice Shape Structures Based on Alginate Gel Fiber Reviewed

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2014

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    Recently, several studies have reported, the in vitro fabrication of small scale 3D tissues. However, in large cell structures, oxygen and nutrients are not supplied to the inside of the tissue. In this case, cells at the center will die. We propose an automated system for the construction of a fine lattice shaped structure, based on hydrogel fiber to produce active 3D tissues in vitro. To evaluate the proposed system, a fine lattice structure was constructed as a basic experiment of 3D tissue form.

    DOI: 10.1109/MHS.2014.7006098

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  • On-chip Flexible Scaffold for Construction of Multishaped Tissues Reviewed

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)   4692 - 4697   2014

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    This paper presents a chip containing a flexible scaffold which facilitates the construction of tissues with different shapes. The chip, entirely made of Polydimethylsiloxane (PDMS), has 2 main components including actuator and channel layers. The actuator layer consists of a 6 x 6 array of membrane actuators, with round shapes. The channel layer has a single layered structure due to the simplicity in chip assembly and the ability to observe seeded cells via a microscope. The actuator array offers a flat surface, like a normal cell culture dish, in the rest state, while it temporarily offers a scaffold structure when actuators are activated. By changing the actuation pattern, formation of many scaffold structures is possible. To demonstrate the utility of this chip in biological application, a syringe pump is connected to all actuators to produced 2 different scaffolds, enabling the fabrication of multiple flat round and lattice shaped tissues. NIH3T3 cells with the amount of 5 x 10(6) were seeded on the scaffold and kept inside the incubator for 24 hours. The 25 round shaped tissues with an average diameter of 623.87 mu m were simultaneously fabricated when a scaffold with large deformed actuators was used. The lattice shaped tissue with a line width of about 300 mu m was also fabricated with a different scaffold structure which has less actuator displacement. Results suggest the potential usage of this chip for the preparation of many building units with different structures, without the necessity of making a new mold for a new tissue shape.

    DOI: 10.1109/IROS.2014.6943229

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  • Control of Flagellar Motor Using a Real-time Local Environment Chemical Stimulation System Reviewed

    Masaru Kojima, Takahiro Motoyoshi, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   4699 - 4704   2014

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    Single cell analysis has attracted much attention to reveal the localized biological information in detail. Local environmental control technique is developed to analyze the localized detail properties of single cells. In this paper, we propose the local environmental chemical stimulation system with micro dual pipettes to stimuli the local reagent concentration dynamically and automatically. Local environmental chemical stimulation by dual pipettes is applied to the rotational speed control of bacterial flagellar motor, which is a rotary molecular machine. Here, we show quick response and rotational speed control of Na+-driven flagellar motor in both accelerating and relaxing directions was demonstrated by automatic switching the local spout between Na+-containing and Na+-free solutions with dual pipettes. It was shown that the rotational speed could be maintained by automatic controlling the spouting velocity of Na+-containing and Na+-free solution with multiplying the applied DC voltage. Furthermore, it was confirmed that by applying the P-control, rotational speed of flagellar motor could be controlled more stably.

    DOI: 10.1109/ICRA.2014.6907546

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  • Dynamic Releasing of Biological Cells at High Speed Using Parallel Mechanism to Control Adhesion Forces Reviewed

    Ebubekir Avci, Hiroyuki Yabugaki, Takayuki Hattori, Kazuto Kamiyama, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   3789 - 3794   2014

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    In this paper, a dynamic releasing method for high-speed biological cell manipulation is proposed. A compact parallel mechanism, used for grasping and releasing microobjects, was utilized for generating controllable vibration to overcome the strong adhesion forces between the end effector and the manipulated object. To reach the required acceleration of the end effector, which is necessary for the detachment of the target object, vibration in the end effector is generated by applying sinusoidal voltage to the PZT actuator of the parallel mechanism. For the necessary acceleration, we focus on the frequency of the vibration, while keeping the amplitude of the PZT actuator vibration small (14 nm) to achieve precise positioning. Releasing of microbeads and biological cells is conducted and results are compared for the first time. The effect of the air and liquid environments are also investigated. Successful releasing (97.5 %) of biological cells proves that the proposed active releasing method is an appropriate solution for the adhered biological cells during the releasing task.

    DOI: 10.1109/ICRA.2014.6907408

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  • BMI-based Framework for Teaching and Evaluating Robot Skills Reviewed

    Christian I. Penaloza, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   6040 - 6046   2014

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    Brain Machine Interface systems provide ways of communication and control of a variety of devices that range from domestic appliances to humanoid robots. Most BMI systems are designed exclusively to control devices using low-level commands, or high-level commands when devices with pre-programmed functionalities are available. In this paper, we build on our previous work on BMI-based Learning System in which we presented a different approach for designing BMI systems that incorporate learning capabilities that relieve the user from tedious low-level control. In this work, we extend the capabilities of our framework to allow a user to be able to teach and evaluate a robotic system by using a BMI. We provide general system architecture and demonstrate its applicability in new domains such as teaching a humanoid robot object manipulation skills and evaluating its performance. Our approach consists of 1) tele-operating robot's actions while robot's camera collects object's visual properties, 2) learning manipulation skills (i.e. push-left, lift-up, etc.) by approximating a posterior probability of commonly performed actions when observing similar properties, and 3) evaluating robot's performance by considering brain-based error perception of the human while he/she passively observes the robot performing the learned skill. This technique consists of monitoring EEG signals to detect a brain potential called error related negativity (ERN) that spontaneously occurs when the user perceives an error made by the robot. By using human error perception, we demonstrate that it is possible to evaluate robot actions and provide feedback to improve its learning performance. We present results from five human subjects who successfully used our framework to teach a humanoid robot how to manipulate diverse objects, and evaluate robot skills by visual observation.

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  • Autonomous Acquisition of Generic Handheld Objects in Unstructured Environments via Sequential Back-Tracking for Object Recognition Reviewed

    Krishneel Chaudhary, Yasushi Mae, Masaru Kojima, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   4953 - 4958   2014

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    Robots operating in human environments must have the ability to autonomously acquire object representations in order to perform object search and recognition tasks without human intervention. However, autonomous acquisition of object appearance model in an unstructured and cluttered human environment is a challenging task, since the object boundaries are unknown in prior. In this paper, we present a novel method to solve the problem of unknown object boundaries for handheld objects in an unstructured environment using robotic vision. The objective is to solve the problem of object segmentation without prior knowledge of the objects that human interacts with daily. In particular, we present a method that segments handheld objects by observing human-object interaction process, and performs incremental learning on the acquired models using SVM. The unknown object boundary is estimated using sequential back-tracking via exploitation of affine relationship of consecutive frames. The segmentation is achieved using identified optimal object boundaries, and the extracted models are used to perform future object search and recognition tasks.

    DOI: 10.1109/ICRA.2014.6907585

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  • Development of Chemical Stimulation System for Local Environment Control by Using Combination of Spout and Suction from Dual-pipettes Reviewed

    Takahiro Motoyoshi, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)   840 - 845   2014

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    Single cell analysis has attracted much attention for revealing detailed and localized biological information. A local environmental control technique is desired when analyzing the detailed and localized properties of single cells. In this paper, we propose a local environmental stimulation system with micro dual-pipettes to stimulate the local reagent concentration dynamically, freely and automatically. When the local environment is controlled with chemical stimuli, the chemical solution is diffused and affects other objects. The local environment stimulation system with micro dual-pipettes can solve this problem. By using spout pipette and suction pipette, it is possible to use local stimuli without affecting other objects. For evaluating the locality of the system, we use a fluorescent substance and measure the diffusion of the spouted solution.

    DOI: 10.1109/IROS.2014.6942657

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  • Automated Cell Stiffness Measurement with Two-Fingered Microhand using Micro Force Sensor Reviewed

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Shinji Sakai, Takanori Kihara, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   384 - 389   2014

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    Recently, with the development of life sciences, measurement of cell characteristics have been carried out to evaluate cells. As one example of these characteristics, cell stiffness has attracted attention. It is known that cell stiffness changes depending on the status of the cell. Thus, stiffness measurement is said to be one of the important indices to evaluate a cell. However, since measuring cell stiffness requires manipulating micron order scale cells and measuring nano order forces, cell stiffness has not been extensively researched. In previous studies, a cell stiffness measurement system using a two-fingered microhand with a micro force sensor has been proposed. In this research, cell stiffness is measured using the reaction force while the target object is deforming. Also, in the previous method, it was necessary to grasp the target object manually for measuring cell stiffness, and manual grasping leads to errors in the stiffness measurement. In this paper, an automated stiffness measurement combining force data and image data is introduced. By using this system, an automated and high-precision cell stiffness measurement is realized.

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  • Control of Flagellar Motor Using a Real-time Local Environment Chemical Stimulation System Reviewed

    Masaru Kojima, Takahiro Motoyoshi, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   4699 - 4704   2014

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    Single cell analysis has attracted much attention to reveal the localized biological information in detail. Local environmental control technique is developed to analyze the localized detail properties of single cells. In this paper, we propose the local environmental chemical stimulation system with micro dual pipettes to stimuli the local reagent concentration dynamically and automatically. Local environmental chemical stimulation by dual pipettes is applied to the rotational speed control of bacterial flagellar motor, which is a rotary molecular machine. Here, we show quick response and rotational speed control of Na+-driven flagellar motor in both accelerating and relaxing directions was demonstrated by automatic switching the local spout between Na+-containing and Na+-free solutions with dual pipettes. It was shown that the rotational speed could be maintained by automatic controlling the spouting velocity of Na+-containing and Na+-free solution with multiplying the applied DC voltage. Furthermore, it was confirmed that by applying the P-control, rotational speed of flagellar motor could be controlled more stably.

    DOI: 10.1109/ICRA.2014.6907546

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  • 3P147 Development of the real-long-time observation and local stimulation system for flagellar motor analysis(11. Molecular motor,Poster,The 52nd Annual Meeting of the Biophysical Society of Japan(BSJ2014))

    Kojima Masaru, Motoyoshi Takahiro, Horade Mitsuhiro, Kamiyama Kazuto, Mae Yasushi, Arai Tatsuo

    Seibutsu Butsuri   54 ( 1 )   S273   2014

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    DOI: 10.2142/biophys.54.S273_3

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  • Event Clustering of Lifelog Image Sequence using Emotional and Image Similarity Features Reviewed

    Photchara Ratsamee, Yasushi Mae, Masaru Kojima, Mitsuhiro Horade, Kazuto Kamiyama, Tatsuo Arai

    PROCEEDINGS OF THE 2014 9TH INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS (VISAPP), VOL 1   618 - 624   2014

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    Lifelog image clustering is the process of grouping images into events based on image similarities. Until now, groups of images with low variance can be easily clustered, but clustering images with high variance is still a problem. In this paper, we challenge the problem of high variance, and present a methodology to accurately cluster images into their corresponding events. We introduce a new approach based on rank-order distance techniques using a combination of image similarity and an emotional feature measured from a biosensor. We demonstrate that emotional features along with rank-order distance based clustering can be used to cluster groups of images with low, medium, and high variance. Experimental evidence suggests that compared to average clustering precision rate (65.2%) from approaches that only consider image visual features, our technique achieves a higher precision rate (85.5%) when emotional features are integrated.

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  • Analytical Design and Fabrication of Thermal Latch Valve Driven Flexible Microscaffold for Applications in Tissue Engineering Reviewed

    Puwanan Chumtong, Masaru Kojima, Mitsuhiro Horade, Kenichi Ohara, Kazuto Kamiyama, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    2014 9TH IEEE INTERNATIONAL CONFERENCE ON NANO/MICRO ENGINEERED AND MOLECULAR SYSTEMS (NEMS)   411 - 416   2014

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    This paper presents a flexible microscaffold driven by a thermal latch valve, which helps meet the necessity of engineered tissues with different structures for engineered organ assembly. Unlike the conventional approach, which normally utilizes a fixed scaffold, our flexible microscaffold offers many temporary scaffolds as needed. It consists of a 3x3 microactuator array with a diameter of 500 mu m and a pitch of 650 mu m. The type of PDMS membrane actuator is designed so as to prevent the leakage of culture media, and have high actuator displacement. The integration of a thermal latch valve with our microscaffold is proposed, as phase-change property of paraffin is beneficial for maintaining the actuator shape over the tissue cultivation period, without energy consumption. The liquid phase of paraffin acts as a valve that allows the adjustment of the actuator shape, while the solid phase acts as a latch that keeps the actuator shape stable over time. The phase-change of paraffin is induced by the joule heat generated by a microheater, made of nickel. The temperature coefficient of resistance and the heating-cooling response of three microheater designs are examined. Experiment results of all designs show that it normally takes 2 minutes to reach over the paraffin's melting point, and 3-4 minutes to cool the heaters down. The high pressure of about 19 kPa is needed in order to obtain an actuator displacement of about 180 mu m, which suggests the possibility of using the thermal latch valve to control the scaffold structure.

    DOI: 10.1109/NEMS.2014.6908839

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  • Development of the long-time observation system for bacterial motor Reviewed

    Masaru Kojima, Motoyoshi Takahiro, Hirochika Takai, Kenichi Ohara, Mitsuhiro Horade, Kazuto Kamiyama, Yasushi Mae, Tatsuo Arai

    Proceedings of 2013 International Conference on Micro-NanoMechatronics and Human Science   2013.11

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    DOI: 10.1109/MHS.2013.6710432

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  • An Active Microscaffold for Applications in Tissue Engineering Reviewed

    Puwanan Chumtong, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Yasushi Mae, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2013 International Conference on Micro-NanoMechatronics and Human Science   2013.11

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    DOI: 10.1109/MHS.2013.6710404

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  • Microfluidic Device for Automated Feneration of Troidal-like Spheroids Reviewed

    Hirochika Takai, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI)   2013.10

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    DOI: 10.1109/URAI.2013.6677497

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  • Microfluidic Device for Automated Feneration of Troidal-like Spheroids Reviewed

    Hirochika Takai, Masaru Kojima, Kenichi Ohara, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Masayuki Yamato, Tatsuo Arai

    Proceedings of 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI)   2013.10

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  • Automated Construction System for The Fine Lattice Shape Structure Using Alginate Gel Fiber Reviewed

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Shun Onozaki, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    Proceedings of 2013 IEEE International Conference on Mechatronics and Automation   2013.8

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    DOI: 10.1109/ICMA.2013.6617929

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  • HUMAN-ROBOT COLLISION AVOIDANCE USING A MODIFIED SOCIAL FORCE MODEL WITH BODY POSE AND FACE ORIENTATION Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   10 ( 1 )   2013.3

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    The ability of robots to understand human characteristics and make themselves socially accepted by humans are important issues if smooth collision avoidance between humans and robots is to be achieved. When discussing smooth collision avoidance, robot should understand not only physical components such as human position, but also social components such as body pose, face orientation and proxemics personal space during motion). We integrated these components in a modified social force model MSFM) which allows robots to predict human motion and perform smooth collision avoidance. In the modified model, short-term intended direction is described by body pose, and a supplementary force related face orientation is added for intention estimation. Face orientation is also the best indication of the direction of personal space during motion, which was verified in preliminary experiments. Our approach was implemented and tested on a real humanoid robot in a situation in which a human is confronted with the robot in an indoor environment. Experimental results showed that better human motion tracking was achieved with body pose and face orientation tracking. Being provided with the face orientation as an indication of the intended direction, and observing the laws of proxemics in a human-like manner, the robot was able to perform avoidance motions that were more human-like when compared to the original social force model SFM) in a face-to-face confrontation.

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  • Development of Multi-Scalable Microhand System with Precise Motion Ability

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25(1) 183-191 ( 1 )   183-191   2013.2

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  • Web-enhanced object category learning for domestic robots Reviewed

    Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    INTELLIGENT SERVICE ROBOTICS   6 ( 1 )   53 - 67   2013.1

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    We present a system architecture for domestic robots that allows them to learn object categories after one sample object was initially learned. We explore the situation in which a human teaches a robot a novel object, and the robot enhances such learning by using a large amount of image data from the Internet. The main goal of this research is to provide a robot with capabilities to enhance its learning while minimizing time and effort required for a human to train a robot. Our active learning approach consists of learning the object name using speech interface, and creating a visual object model by using a depth-based attention model adapted to the robot's personal space. Given the object's name (keyword), a large amount of object-related images from two main image sources (Google Images and the LabelMe website) are collected. We deal with the problem of separating good training samples from noisy images by performing two steps: (1) Similar image selection using a Simile Selector Classifier, and (2) non-real image filtering by implementing a variant of Gaussian Discriminant Analysis. After web image selection, object category classifiers are then trained and tested using different objects of the same category. Our experiments demonstrate the effectiveness of our robot learning approach.

    DOI: 10.1007/s11370-012-0126-y

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  • Spherical spaces for illumination invariant face relighting Reviewed

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 5 )   840 - 847   2013

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    In this paper, we propose a robust face relighting technique by using spherical space properties. The proposed method is done for reducing the illumination effects on face recognition. One single image is used as an input for recovering the face illumination and the recognition process. First, an internal training illumination database is generated by computing face albedo and face normal from 2D images under different lighting conditions. Based on the generated database, we analyze the target face pixels and compare them with the database by using pre-generated tiles. In this work, practical real time processing speed and small image size were considered when designing the framework. In contrast to other works, our technique requires no 3D face models for the training process and takes a single 2D image as an input. Experimental results on publicly available databases show that the proposed technique works well under severe illumination conditions and the method significantly improves the face recognition rates.

    DOI: 10.20965/jrm.2013.p0840

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  • Automated Stable Grasping with Two-Fingered Microhand using Micro Force Sensor Reviewed

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2771 - 2776   2013

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    Recently, with the development of life science field, micromanipulation technology has attracted attention. A two-fingered microhand system, that has been developed as a micro manipulator, can perform dexterous cell manipulation such as grasping, rotating, and transferring using two end effectors in a chopstick-like motion. The automated manipulation uses processing results based on all-in-focus (AIF) images and depth map obtained from the vision system; however, errors in the results still reduce the efficiency of the system. In this study, we introduce an automated grasping system that corrects the image processing error using the reaction force from the target object during grasping maneuvers. In our improved microhand system, micro force sensors that comprises strain gauge are attached to the two fingers of microhand. The two fingers with micro force sensor are set to be able to measure the horizontal and vertical forces to detect grasping state, precisely. Using the sensor information and the image processing results, we demonstrate that this system improves the accuracy and success rate of automated grasping.

    DOI: 10.1109/ICRA.2013.6630959

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  • Automated Stable Grasping with Two-Fingered Microhand using Micro Force Sensor Reviewed

    Hiroyuki Yabugaki, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2771 - 2776   2013

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    Recently, with the development of life science field, micromanipulation technology has attracted attention. A two-fingered microhand system, that has been developed as a micro manipulator, can perform dexterous cell manipulation such as grasping, rotating, and transferring using two end effectors in a chopstick-like motion. The automated manipulation uses processing results based on all-in-focus (AIF) images and depth map obtained from the vision system; however, errors in the results still reduce the efficiency of the system. In this study, we introduce an automated grasping system that corrects the image processing error using the reaction force from the target object during grasping maneuvers. In our improved microhand system, micro force sensors that comprises strain gauge are attached to the two fingers of microhand. The two fingers with micro force sensor are set to be able to measure the horizontal and vertical forces to detect grasping state, precisely. Using the sensor information and the image processing results, we demonstrate that this system improves the accuracy and success rate of automated grasping.

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  • Towards High-Speed Automated Micromanipulation Reviewed

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   1718 - 1723   2013

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    In this work, we present a high-speed pick-and-place method for cell-assembly applications. Besides range of motion and accuracy, rapidness of a manipulation system is an important parameter, which is so far underrated in related studies. To achieve high-speed micromanipulation, obtaining 3D positions of both the target microobject and the end effector rapidly is necessary. In addition, controlling the vibration of the end effector, which is greater at high speed, is another arduous task. We propose a new fast detection algorithm for both the target microobject and the end effector for achieving high-speed control of the system. Moreover, to realize the stable control for very fast movements, the vibration of the system is compensated. High-speed control of the microhand system is demonstrated with preliminary experiments consisting of pick-and-place actions of 40 to 60 mu m microspheres; we aimed at performing a manipulation task in 1 second. Comparison with similar studies shows the merit of the proposed automated highspeed micromanipulation system.

    DOI: 10.1109/ICRA.2013.6630802

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  • Adaptive gait for dynamic rotational walking motion on unknown non-planar terrain by limb mechanism robot ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 1 )   172 - 182   2013

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    An adaptive gait is proposed for dynamic rotational walking motion of multi-legged mobile robots by utilizing body angle compensation and the center of mass height control. Posture control is used to further enhance the robustness and stability of the robot based on a posture optimization database. The database is created by using a genetic algorithms in order to find the most suitable posture for each virtual plane created during body compensation in adaptive gait control. Additionally, the stability of the robot is controlled by online zero-moment point compensation and compliance control. In order to test the robustness of motion, experiments are divided into three parts: inclined-plane (linear variation), step (step variation), and obstacle (impulse variation). As a result of this research, with the proposed method, the robot could walk up and down inclined-planes with angles of 6.8° and 5.6°, respectively, and walk up and down a step and over an obstacle with a height of 20 mm.

    DOI: 10.20965/jrm.2013.p0172

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  • High-speed focusing and tracking of multisized microbiological objects Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 1 )   115 - 124   2013

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    This paper proposes a novel algorithm for high-speed auto focusing and tracking of multi sized microbiological objects observed under a transmitted light microscope. Unlike well-known auto focus algorithms found in the literature, the intensity variation of only a small defined region around the border of the micro object is analyzed in the frequency domain to determine the focused position of the object quickly. In the experiment, 20 μm3T3-SWISS cells were used as smaller micro objects and 97 μm diameter micro spheres were used to represent larger microbiological objects. The execution time and accuracy of the proposed algorithm were assessed and better results were obtained compared to some related auto focusing algorithms. Since its computational cost was low, the algorithm facilitated high speed auto focusing of both 3T3-SWISS cells and micro spheres. The algorithm was also applied to the tracking of moving micro objects by implementing a PD controller. Since visual feedback took only about 1 ms, high-speed tracking was achieved.

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  • Obstacle avoidance for multi-legged robot using virtual impedance model Reviewed

    Tomohito Takubo, Kenji Tsukamoto, Keishi Kominami, Kemchi Ohara, Yasushi Mae, Tatsuo Arai

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 ( 797 )   1 - 16   2013

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    An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When the leg passes over the threshold of the preferred operating region, the moving direction is modified by the virtual repulsive force from the virtual impedance wall to avoid the workspace limitation. Moreover, the pattern recognition technique using the support vector machine is implemented for estimating the contact point between the object and the body by using the data set of the error of each leg. The virtual impedance field is set at the estimated contact position to direct the aspect of avoidance. The robot is pushed and rotated by the virtual repulsive force from the impedance field. These passive motions from the virtual impedance model can provide a good solution for object avoidance control. The feasibility of the proposed obstacle avoidance method is shown by experiments using actual robots. © 2013 The Japan Society of Mechanical Engineers.

    DOI: 10.1299/kikaic.79.1

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  • Automated Construction System for The Fine Lattice Shape Structure Using Alginate Gel Fiber Reviewed

    Akira Fukushima, Masaru Kojima, Kenichi Ohara, Shun Onozaki, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   267 - 272   2013

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    The 3D tissue construction is one of the important issues for regenerative medicine. Recently, several studies have been reported, related to realize small size of 3D tissue like cells based structure in vitro. However, large size functional 3D tissue has not been achieved due to the size causing difficulties. In large size cells based structure, supplying oxygen and nutrients into the center part of the structure is prevented. In this case, cells at center part will die. In this paper, we propose an automated fine lattice shape structure construction system based on hydrogel fiber to produce active 3D tissues like structure. Several preliminary experiments were done to generate the suitable hydrogel fibers for our system. With respect to the experimental results, to evaluate the proposed system, the fine lattice structure was constructed as an example of 3D tissue form. Through the experiments of fine lattice shape structure construction, we observed the cell growth in the constructed lattice form, which proves the functionality of the structure. Furthermore, we designed the gel fiber discharge nozzle using laminar flow. Then, we confirmed that it is possible to form a thinner fiber in our system.

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  • Measuring particle positions in micro channel with multifiber array Reviewed

    Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 6 )   1105 - 1113   2013

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    This paper proposes position measurement of particles in micro channels fabricated on a polydimethylsiloxane (PDMS) chip using a two-layer plastic optical fiber (POF) array. Particle positions are measured by irradiating the POF array with laser light and measuring the decrease in POF output power posed by the presence of the particle. Our proposed sensor provides three dimensional measurements in the micro channel along the directions of the length, depth and the width. We demonstrate that plural particles of different diameters can be measured with our proposed sensor in which two layers of POF are vertically aligned or shifted along the flow direction. The effects of optical misalignment of POF array with respect to the measurement are theoretically and experimentally evaluated.

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  • The Development of an All-In-Focus Algorithm for Endoscopy Reviewed

    Junya Koseki, Kenichi Ohara, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai, Tsuyoshi Kaneko, Hirofumi Matsui

    2013 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   2013

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    Generally, the operation of an endoscope requires a skillful operator, due to the difficulty of focusing on the target region. To support such a task, a vision system that can produce clear endoscopic images to easily understand the target region, is required. In this paper, we propose an all-in-focus image creation algorithm which uses the original one, developed for microscopic image, and assuming that the target area is static, but we extend its application to endoscopic images. Through several experiments, we confirm the effectiveness of our proposed algorithm.

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  • Automated construction system for 3D lattice structure based on alginate gel fiber containing living cells Reviewed

    Kenichi Ohara, Masaru Kojima, Akira Fukushima, Shun Onozaki, Mitsuhiro Horade, Masumi Yamada, Minoru Seki, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 4 )   665 - 672   2013

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    The construction of 3D tissue is an important issue in regenerative medicine. While small 3D tissue has been realized in vitro, large functional 3D tissue has not been achieved due to difficulties in supplying oxygen and nutrients to the tissue. In this paper, we propose automated 3D construction based on hydrogel fiber to produce active 3D tissues. Results of several preliminary experiments in generating suitable hydrogel fibers have resulted in a lattice structure as an example of 3D tissue. In experiments in 3D structure construction, we observed cell growth in the constructed lattice confirming structure functionality.

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  • Design and fabrication of changeable cell culture mold Reviewed

    Puwanan Chumtong, Masaru Kojima, Kenichi Ohara, Yasushi Mae, Mitsuhiro Horade, Yoshikatsu Akiyama, Masayuki Yamato, Tatsuo Arai

    Journal of Robotics and Mechatronics   25 ( 4 )   657 - 664   2013

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    Although the fabrication of engineered organs as replacements for damaged organs has been widely studied over the past decade, practical fabrication is very difficult because the engineered organ usually has a very complex structure and cannot be fabricated simply by using a fixed scaffold. Special attention has therefore been paid to methods of making engineered organs by assembling composite parts. Since structures of these individual parts are very different, fabrication using fixed scaffolds requires a lot of effort and time. The concept of a changeable scaffold offered by "changeable cell culture (C3) mold" is proposed in this paper as a means to simplify the fabrication of these parts. Using a thin PDMS membrane as an actuator layer enables various scaffold structures to be formed and altered, in turn enabling the fabrication of many different tissue structures. C3 mold consists of a 3×3 microactuator array with a diameter of 500 μm and spacing of 650 μm. Plant oil is used as the working fluid enabling deformation of the actuator layer. Various micropatterned gel sheets are fabricated, in order to demonstrate the possibility of using C3 molds in future tissue fabrication.

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  • Improving the speed of 3D information presentation in a microhabitat Reviewed

    Shota Takagi, Kenichi Ohara, Masaru Kojima, Yasushi Mae, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)   249 - 254   2013

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    Construction of an activated three-dimensional (3D) tissue at outside of the living body is desired, and expectations about the micro-manipulation to construct a 3D organization is growing. Although an object is usually observed using an optical microscope in the micro-manipulation, it is difficult to obtain the depth of field information of the object only from the visual information obtained via a microscope, so the micro-manipulation requires hard practice. In order to develop a measurement system for depth of field information aiming at micro-manipulation support, a system that can present 3D information in real time is indispensable. This paper reports an improvement in the speed of 3D information presentation in a microhabitat which would eventually lead to the easy micromanipulation and construction of 3D cellular organization.

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  • BMI-based Learning System for Appliance Control Automation Reviewed

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   3396 - 3402   2013

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    In this research we present a non-invasive Brain-Machine Interface (BMI) system that allows patients with motor paralysis conditions to control electronic appliances in a hospital room. The novelty of our system compared to other BMI applications is that our system gradually becomes autonomous by learning user actions (i.e. turning on/off window, lights, etc.) under certain environment conditions (temperature, illumination, etc.) and brain states (i.e. awake, sleepy, etc.). By providing learning capabilities to the system, patients are relieved from mental fatigue or stress caused by continuously controlling appliances using a BMI. We present an interface that allows the user to select and control appliances using electromyogram signals (EMG) generated by muscle contractions such as eyebrow movement. Our learning approach consists in two steps: 1) monitoring user actions, input data from sensors distributed around the room, and Electroencephalogram (EEG) data from the user, and 2) using an extended version of the Bayes Point Machine approach trained with Expectation Propagation to approximate a posterior probability from previously observed user actions under a similar combination of brain states and environmental conditions. Experimental results with volunteers demonstrate that our system provides satisfactory user experience and achieves over 85% overall learning performance after only a few trials.

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  • Lifelogging Keyframe Selection using Image Quality Measurements and Physiological Excitement Features Reviewed

    Photchara Ratsamee, Yasushi Mae, Amornched Jinda-apiraksa, Jana Machajdik, Kenichi Ohara, Masaru Kojima, Robert Sablatnig, Tatsuo Arai

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   5215 - 5220   2013

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    Keyframe selection is the process of finding a representative frame in an image sequence. Although mostly known from video processing, keyframe selection faces new challenges in the lifelog domain. To obtain a keyframe that is close to a user-selected frame, we propose a keyframe selection method based on image quality measurements and excitement features. Image quality measurements such as contrast, color variance, sharpness, noise and saliency are used to filter high quality images. However, high quality images are not necessarily keyframes because humans also use emotions in the selection process. In this study, we employ a biosensor to measure the excitement of humans. In previous investigation, keyframe selection using only image quality measurements yielded an acceptance rate of 79.70%. Our proposed method achieves an acceptance rate of 84.45%.

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  • Development of Microhand Utilizing Singularity of Parallel Mechanism Reviewed

    Toru Ejima, Kenichi Ohara, Masaru Kojima, Mitsuhiro Horade, Tamio Tanikawa, Yasushi Mae, Tatsuo Arai

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   1525 - 1530   2013

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    In the fields of medicine and biology, it is essential to realize fine manipulation. Therefore, micromanipulation techniques and micromanipulators such as microgrippers and optical tweezers have been developed. We have developed a two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. However, the previous microhand has problems about workspace and vibration. In this paper, the development of a new microhand which solves problems of previous microhand. The characteristic of new microhand is to enlarge the workspace utilizing the singularity of the parallel mechanisms. Inverse kinematics and structural analysis are used to analyze the workspace, and we show that results of two analyses match. Vibration analysis simulates transportation task and grasping task for manipulation. The new microhand has a potential to reduce the vibration by vibration analysis results.

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  • Social navigation model based on human intention analysis using face orientation Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Masaru Kojima, Tatsuo Arai

    IEEE International Conference on Intelligent Robots and Systems   1682 - 1687   2013

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    We propose a social navigation model that allows a robot to navigate in a human environment according to human intentions, in particular during a situation where the human encounters a robot and he/she wants to avoid, unavoid (maintain his/her course), or approach the robot. Avoiding, unavoiding, and approaching trajectories of humans are classified based on the face orientation on a social force model and their predicted motion. The proposed model is developed based on human motion and behavior (especially face orientation and overlapping personal space) analysis in preliminary experiments. Our experimental evidence demonstrates that the robot is able to adapt its motion by preserving personal distance from passers-by, and approaching persons who want to interact with the robot. This work contributes to the future development of a human-robot socialization environment. © 2013 IEEE.

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  • Real-time precise 3D measurement of micro transparent objects using All-In-Focus imaging system Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Ebubekir Avci, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Journal of Micro-Nano Mechatronics   7 ( 1-3 )   21 - 31   2012.12

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    Recently micromanipulation has gained much interest for industrial and biological applications. To realize efficient manipulation of these applications, it is crucial to know the position of microobjects in 3D space. This means that both the micromanipulator and the target object should be detected and located in 3D space in a robust way. A number of different methods for 3D microobject positioning were proposed in the literature
    however, either the object being manipulated or the micromanipulator is focused on with each having its own specific settings or assumptions. In our research, we obtained 3D position measurement of both the micromanipulator and target microobjects using an All-In-Focus imaging system. Because this imaging system is generally used for All-In-Focus visualization, it is necessary to overcome the noisy depth information provided by the system. This paper describes a robust 3D measuring technique to solve the noisy depth information problem and also how to locate the micro end-effector. In the experiment, 3D positions of a two-fingered microhand and glass microspheres were accurately obtained to automate the task of pick-and-place microobjects. Success rate over 70% was achieved. Real-time tracking of the microhand could also be achieved with success rate over 90%. © 2012 Springer-Verlag.

    DOI: 10.1007/s12213-012-0041-5

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  • Dextrous cell diagnosis using two-fingered microhand with micro force sensor Reviewed

    Kenichi Ohara, Daiki Kawakami, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Ayae Honda, Tatsuo Arai

    Journal of Micro-Nano Mechatronics   7 ( 1-3 )   13 - 20   2012.12

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    Micro-nano robotics has recently become an important robotics field, especially technologies to measure and control phenomena related to cells and tissues. Based on this background, analysis of cell characteristics is a hot topic in micro-nano robotics. However, current analytical methods have issues with efficiency because cell manipulation and measurements must be separately performed for each cell. If cell manipulation and mechanical property measurements could be simultaneously conducted, then the efficiency would be greatly improved. Herein physical property measurements and cellular diagnosis were examined using a two-fingered microhand system with a micro force sensor and an algorithm from the nano indentation approach. Additionally, we conducted several experiments to demonstrate the applicability of this method. © 2012 Springer-Verlag.

    DOI: 10.1007/s12213-012-0040-6

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  • Automated 3D lattice structure construction using hydrogel microfiber Reviewed

    Kenichi Ohara, Masaru Kojima, Shun Onozaki, Yasushi Mae, Tatsuo Arai

    Proceedings of 2013 International Symposium on Micro-NanoMechatronics and Human Science   2012.11

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    DOI: 10.1109/MHS.2012.6492487

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  • Development of End Effector for Cell Manipulation with Two-fingered Micro-hand Reviewed

    Masaru Kojima, Ebubekir Avci, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of 2012 International Symposium on Micro-NanoMechatronics and Human Science   2012.11

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    DOI: 10.1109/MHS.2012.6492477

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  • Control Strategy of Distributed Actuators with Compensation for Communication Delay Reviewed

    Yurina Maeda, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 9th International Conference on Ubiquitous Robots and Ambient Intelligence   2012.11

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    DOI: 10.1109/URAI.2012.6463038

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  • Using Depth to Increase Robot Visual Attention Accuracy during Tutoring Reviewed

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Proceedings of IEEE International Conference on Humanoid Robots - Workshop of Developmental Robotics   2012.11

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  • 2D Spherical Spaces for Face Relighting under Harsh Illumination Reviewed

    Amr Almaddah, Sadi Vural, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Proceedings of International Conference on Signal and Image Processing 2012   2012.9

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  • 床下環境における画像情報付加地図の生成 Reviewed

    河上真也, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第13回建設ロボットシンポジウム論文集   2012.9

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  • 強化学習を用いた腕脚統合型ロボットによる狭隘部における障害物回避 Reviewed

    小南景士, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第13回建設ロボットシンポジウム論文集   2012.9

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  • 無線通信遅延を考慮したアクティブキャスタシステムの制御手順 Reviewed

    前田 有里奈, 大原 賢一, 前 泰志, 新井 健生

    第13回建設ロボットシンポジウム論文集   2012.9

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  • マルチファイバアレイセンサによる微小流路を移動する粒子計測

    奥田一郎, 田窪朋仁, 前泰志, 大原賢一, 新井史人, 新井健生

    Journal of Robotics and Mechatronics   132(7) 203-211 ( 7 )   203-211   2012.7

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  • A Psychological Scale for General Impressions of Humanoids Reviewed

    Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Masato Hirose, Tatsuo Arai

    Proceedings of The 2012 IEEE International Conference on Robotics and Automation   2012.5

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    DOI: 10.1109/ICRA.2012.6224790

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  • Effect of Human Attributes and Type of Robots on Psychological Evaluation of Humanoids Reviewed

    Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Tatsuo Arai

    Proceedings of The 2012 IEEE Workshop on Advanced Robotics and its Social Impacts   2012.5

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    DOI: 10.1109/ARSO.2012.6213396

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  • Equilibrium Theory of Intimacy in Human-Humanoid Interaction

    Hiroko Kamide, Mika Yasumoto, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Masato Hirose, Tatsuo Arai

    2012.1

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  • Multi-view fast object detection by using extended haar filters in uncontrolled environments Reviewed

    Sadi Vural, Yasushi Mae, Huseyin Uvet, Tatsuo Arai

    PATTERN RECOGNITION LETTERS   33 ( 2 )   126 - 133   2012.1

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    In this paper, we propose multi-view object detection methodology by using specific extended class of haar-like filters, which apparently detects the object with high accuracy in the unconstraint environments. There are several object detection techniques, which work well in restricted environments, where illumination is constant and the view angle of the object is restricted. The proposed object detection methodology successfully detects faces, cars, logo objects at any size and pose with high accuracy in real world conditions. To cope with angle variation, we propose a multiple trained cascades by using the proposed filters, which performs even better detection by spanning a different range of orientation in each cascade. We tested the proposed approach by still images by using image databases and conducted some evaluations by using video images from an IP camera placed in outdoor. We tested the method for detecting face, logo, and vehicle in different environments. The experimental results show that the proposed method yields higher classification performance than Viola and Jones's detector, which uses a single feature for each weak classifier. Given the less number of features, our detector detects any face, object, or vehicle in 15 fps when using 4 megapixel images with 95% accuracy on an Intel i7 2.8 GHz machine. (C) 2011 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.patrec.2011.10.004

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  • Multi-view fast object detection by using extended haar filters in uncontrolled environments Reviewed

    Sadi Vural, Yasushi Mae, Huseyin Uvet, Tatsuo Arai

    PATTERN RECOGNITION LETTERS   33 ( 2 )   126 - 133   2012.1

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    In this paper, we propose multi-view object detection methodology by using specific extended class of haar-like filters, which apparently detects the object with high accuracy in the unconstraint environments. There are several object detection techniques, which work well in restricted environments, where illumination is constant and the view angle of the object is restricted. The proposed object detection methodology successfully detects faces, cars, logo objects at any size and pose with high accuracy in real world conditions. To cope with angle variation, we propose a multiple trained cascades by using the proposed filters, which performs even better detection by spanning a different range of orientation in each cascade. We tested the proposed approach by still images by using image databases and conducted some evaluations by using video images from an IP camera placed in outdoor. We tested the method for detecting face, logo, and vehicle in different environments. The experimental results show that the proposed method yields higher classification performance than Viola and Jones's detector, which uses a single feature for each weak classifier. Given the less number of features, our detector detects any face, object, or vehicle in 15 fps when using 4 megapixel images with 95% accuracy on an Intel i7 2.8 GHz machine. (C) 2011 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.patrec.2011.10.004

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  • Omni-directional gait of multi-legged robot on rough terrain by following the virtual plane Reviewed

    Kenji Kamikawa, Tomohito Takubo, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Journal of Robotics and Mechatronics   24 ( 1 )   71 - 85   2012

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    This paper proposes a simple gait algorithm for multi-legged robots on slopes or rough terrain. This algorithm enables a robot follow a virtual plane defined by grounding points of the legs. The robot does not recognize the surrounding rough terrain. This proposed algorithm has been applied to an actual robot and proven. The robot has a touch sensor on the tip of each leg. The sensors detect contact with the ground, allowing the leg to be planted stably. When the robot moves over rough terrain, the robot body inclines as if becoming parallel to the virtual plane that is defined by the support points of the legs. The ASTERISK robot to which the algorithm has been applied has six limbs that radiate out in six directions, giving it rotational symmetry. Each leg of the robot has a cylindrical working space
    the robot can move omnidirectionally without changing its posture. The movement algorithm is an easy, single-pattern operation that maintains a stable state at all times, and the robot can move without high-speed, real-time processing. The operation and effectiveness of this algorithm are verified on a slope and on steps through the experiment.

    DOI: 10.20965/jrm.2012.p0071

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  • Design of a compact 3-DOF microhand system with large workspace Reviewed

    Toru Ejima, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation"   63 - 68   2012

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    In the fields of medicine and biology, it is essential to realize fine manipulation. Therefore, micromanipulation techniques and micromanipulators such as microgrippers and optical tweezers have been developed. We have developed a two-fingered microhand which is using the parallel mechanism to realize precise and stable micromanipulation. In this paper, we report the design of a compact 3-DOF microhand system with a large workspace. This microhand contains a new parallel mechanism and its characteristic is utilizing the singularity of the parallel mechanisms. We establish an analytic theory for the proposed microhand, and we analyze the workspace. Also, we draw the CAD data to realize the system in 3D. The workspace of the proposed microhand is larger than previous microhands as far as simulation results shows. © 2011 IEEE.

    DOI: 10.1109/MHS.2011.6102160

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  • Development of End Effector for Cell Manipulation with Two-fingered Micro-hand Reviewed

    Masaru Kojima, Ebubekir Avci, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)   399 - 401   2012

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    Single cell analysis has attracted much attention to reveal the detailed and localized biological information, which is not obtained by the conventional group cell analysis due to the statistical assay on individual cells. In addition, new study field has been rapidly developing sauch as, aims to be applied to regenerative medicine by assembling organization like cells in vitro. In these fields, the technologies to operate single cells or mass composed of multiple cells freely are useful. In this case, the technique to manipulate the cells stable and fast was required. In such background, we studied two finger micro-hand that realized control of the sub-micro order size object. In this study we aim to achieve a stable grip and easy operation by processing the end effector of the two-fingered micro hand. Since the stabilization of grasping will be expected, if the contact surface between the object and end effector increase, we propose a simple method for coating end effector with hydrogel, which is highly biocompatible.

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  • Software Interface for Controlling Diverse Robotic Platforms using BMI Reviewed

    Christian Isaac Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   764 - 769   2012

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    This paper presents a software interface that allows a user to control different types of robotic systems by using a Brain-Machine Interface. Unlike common device-specific BMI systems, our software architecture maps simple EEG-based commands to diverse functionalities depending on the robotic platform, so the user does not have learn to generate new EEG commands for different robots. The graphic user interface provides a mechanism that allows the user to navigate through menus using EMG signals (i.e. eye-blink), and then execute robot commands using EEG signals. Our software is based on a modular design that allows the integration of new robotic platforms with easy customization. Our current prototype explores the controllability of a humanoid robot, a flying robot and a pan-tilt robot using the proposed software interface. Experimental evidence shows that the system achieves good user satisfaction as well as easy controllability of different types of robotic systems.

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  • Optimization of Obstacle Avoidance Using Reinforcement Learning Reviewed

    Keishi Kominami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   67 - 72   2012

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    Walking through narrow space for multi-legged robot is optimized using reinforcement learning in this paper. The walking is generated by the virtual repulsive force from the estimated obstacle position and the virtual impedance field. The resulted action depends on the parameter of the virtual impedance coefficients. The reinforcement learning is employed to find an optimal motion. The temporal walking through motion consists of each parameter optimized for a situation. Optimization of integrated walking through motion is finally achieved evaluating walking in compound encountering obstacle on simulator. The resulted motion is implemented to a real multi-legged robot and results show the effectiveness of the proposed method.

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  • Social human behavior modeling for robot imitation learning Reviewed

    Christian I. Penaloza, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   457 - 462   2012

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    Social imitation learning is an essential skill that humans use to achieve social acceptance, increase awareness in unknown situations or to achieve cultural adaptation. In this work we address the problem of social imitation learning in a many-to-one learning scheme (group of humans to robot), where humans do not necessarily have teaching roles. Contrary to common imitation learning approaches based on one-to-one learning schemes with two agents (human teacher and robot student), our approach is inspired by social learning theory and consists in performing human behavior modeling by observing multiple humans while discovering common behavioral patterns. We propose a common framework for social behavior feature extraction that can be used to collect essential information of various social behaviors such as multi-person trajectory and multiple-body pose. Considering the fact that social imitation learning is shaped by stimuli of others' behavior and the more individuals define the behavior, the more likely to engage in it
    our modeling approach also considers a social force model that triggers social behavior learning when observing a group of people. Finally, collective behavior modeling is achieved by feature clustering using a Gaussian Mixture Model approach. Experimental results show that our approach is suitable for social human behavior modeling in situations such as emergency evacuation and Japanese style greeting (bowing). © 2012 IEEE.

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  • Measurement of particle position in micro channel using two-layer POF array Reviewed

    Ichiro Okuda, Yasushi Mae, Kenichi Ohara, Tatsuo Arai, Tomohito Takubo

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   1462 - 1467   2012

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    We propose a two-layer plastic optical fiber (POF) array sensor assembled across a micro channel fabricated with polydimethylsiloxane (PDMS) chip for the measurement of particle position in the micro channel. Upon light emission from a light source to a two-layer POF array, the position of a particle is measured by the rate of decrease in POF light output power in the presence of a particle. The effects of optical axis misalignment of the POF array were examined with verification calculations. The proposed sensor was fabricated and experimentally evaluated. The experimental result of our proposed senor was compared with the particle position measured from the image recorded with a CCD camera attached to a microscope. The experimental results indicate that our proposed sensor can be adapted for use in automated cell manipulation. © 2012 IEEE.

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  • High resolution grid map with normal distribution transform algorithm Reviewed

    Tomohito Takubo, Takuya Kaminade, Yasushi Mae, Tatsuo Arai, Kenichi Ohara

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   78 ( 793 )   3186 - 3201   2012

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    A new convergence calculation method of tile Normal Distributions iratisforni (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven etiectively lhr the pairing data. In addition, outlier elimination process is unpleniented to the scanning for sub-grid scale objects. I'he scanning data from Laser Range Finder(LRF) have error hut its set of detected small objects can be clustered to determine the Center of Mass(C0M) and tile outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other points. [.xperimental result shows the effectiveness of the proposed convergence algorithm and the outlier elimination method.

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  • 2D spherical spaces for objects recognition under harsh lighting conditions Reviewed

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication   88 - 93   2012

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    For an object recognition task in an unknown environment, we propose a novel approach for illumination recovery of surface with cast shadows and specularities by using the object spherical spaces properties. Robust objects recognition in complex environment is fundamental to robot intelligence and manipulation. The proposed method is done for reducing the illumination effects on the objects detection and recognition processes. In this work, objects reference images are regenerated to match the scene lighting environment to increase the success rate of the recognition process. First, a database is generated by computing the albedo and surface normals from captured 2D images of the target objects. Next, the scene lighting direction and illumination coefficients are estimated. Finally, by using the calculated spherical spaces properties we regenerate objects reference data to match the search area illumination condition. In this work, practical real time processing speed and small image size were considered when designing the framework. In contrast to other techniques, our work requires no 3D models for the objects training process and takes images from a single camera as an input. Using our proposed 2D Spherical Spaces experimentally showed noticeable improvements in an objects identification task performed by an autonomous robot in a harshly illuminated environment. © 2012 IEEE.

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  • Feasibility check of an assist system through the simulation of bipedal walking using a CPG Reviewed

    Tomohito Takubo, Yohei Fukano, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   24 ( 4 )   657 - 665   2012

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    A wearablemobile-base Walking Assist System (WAS) is simulated in this paper with the bipedal simulator we developed. The simulator employs a Central Pattern Generator (CPG) for bipedal walking pattern generation. The CPG-based walking pattern is one of the candidates for simulating human walking. Average Japanese body dimension data is applied to the bipedal model so that walking efficiency can be evaluated using the simulator. The effectiveness of the proposed simulator is confirmed by comparing real human walking and simulated walking in terms of the shape of the swing leg trajectory, data from the pressure sensor, and the feasibility of the prototype WAS. A prototype is developed and experimental results show the effectiveness of the bipedal simulator.

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  • High-speed autofocusing of multisized microobjects Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    IEEE International Conference on Automation Science and Engineering   34 - 39   2012

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    This paper proposes a new high-speed autofocus algorithm for observing multisized microobjects under a transmitted light microscope. The method estimates the blurriness of the object by analyzing the intensity variation of a defined region around the object border in the frequency domain. A defocus function is proposed so that the best focused position of the object is found when the defocus function reaches its minimum within the close region around the focal plane. Experiments for execution time and accuracy evaluation have been performed to compare its performance to other autofocus algorithms. Experimental results showed that the proposed algorithm outperformed other algorithms in terms of execution time and accuracy and that it is more robust to environmental change. © 2012 IEEE.

    DOI: 10.1109/CoASE.2012.6386495

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  • Detection for particles moving in micro channel with multifiber array sensor Reviewed

    Ichiro Okuda, Tomohito Takubo, Yasushi Mae, Kenichi Ohara, Fumihito Arai, Tatsuo Arai

    IEEJ Transactions on Sensors and Micromachines   132 ( 7 )   203 - 211   2012

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    We propose a sensor that provides position measurement for a particle in a micro channel fabricated with polydimethylsiloxane (PDMS) chip. By irradiating a plastic optical fiber (POF) array arranged across the micro channel with a light source, the particle position is measured by the change in POF output power. The effects of the optical axis misalignment between POF, the particle size and transmission were calculated to evaluate the measurement principle. We fabricated a sensor integrated with a PDMS micro channel made by soft lithography. The sensor was examined experimentally by measuring the output voltage from a photodiode and calculating the decrease in POF output power in the presence of a particle. The measurement result of our fabricated senor was compared with the particle image recorded with a CCD camera attached to a microscope. The experimental results indicate that our proposed sensor can be adapted for use in automated cell manipulation. © 2012 The Institute of Electrical Engineers of Japan.

    DOI: 10.1541/ieejsmas.132.203

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  • Vibration analysis of microhand for high speed single cell manipulation Reviewed

    Ebubekir Avci, Chanh-Nghiem Nguyen, Kenichi Ohara, Yasushi Mae, Tatsuo Arai, Christoph Gobel

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   75 - 80   2012

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    The production of cell tissue is currently one of the most important topics in Bio-Engineering research. The fabricated tissues are to be used in medicine and biological research. In order to meet the demand in amount, production time and quality, the cell assembly and tissue handling has to be automated. Using robots capable of micromanipulation has the advantages of high speed, very good precision and reproducibility. To realize a stable transportation with high speed, vibration suppression is required. To decide the appropriate vibration control method, the first step is vibration analysis. In this paper, to achieve fast and stable manipulation, the feasibility of real time feedback control through vibration analysis is investigated. © 2012 IEEE.

    DOI: 10.1109/ICMA.2012.6282810

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  • Image information added map making interface for compensating image resolution Reviewed

    Shinya Kawakami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Journal of Robotics and Mechatronics   24 ( 3 )   507 - 516   2012

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    We propose an image information added map to create an intuitive interface to explore unknown environments using pictures. The proposed map contains a good picture for each mapped object. The shooting angle and position for the picture are defined by the required resolution of the image, the camera specifications and the object's shape. The appearance from a desired direction can be confirmed intuitively by referring to the shooting vector for the object. To make the proposed map, high quality image information should be acquired on its definition. We developed a tool for making the map and tested its effectiveness in an experiment.

    DOI: 10.20965/jrm.2012.p0507

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  • Modified Social Force Model with Face Pose for Human Collision Avoidance Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    HRI'12: PROCEEDINGS OF THE SEVENTH ANNUAL ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION   215 - 216   2012

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    In order for robots to be a part of human society, their social accceptance is an important issue if smooth interaction with humans is to be achieved. We propose a modified social force model that allows robots to move naturally like humans, based on estimated human motion and face pose. We add to the previous model the effect of the force due to face pose, in order to predict human motion and compute the robot motion itself. Our approach was implemented and tested on a real humanoid robot in a situation in which a human is confronted with a robot in an indoor environment. Experimental results illustrate that the robot is able to perform human-like navigation by avoiding the human in a face-to-face confrontation. Our system provides accurate face pose tracking that allows a robot to have a more realistic behaviour compared to the original social force model.

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  • New Measurement of Psychological Safety for Humanoid Reviewed

    Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Shigemi, Masato Hirose, Tatsuo Arai

    HRI'12: PROCEEDINGS OF THE SEVENTH ANNUAL ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION   49 - 56   2012

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    In this article, we aim to discover the important factors for determining the psychological safety of humanoids and to develop a new psychological scale to measure the degree of safety quantitatively. To discover the factors that determine the psychological safety of humanoids from an ordinary person's perspective, we studied 919 Japanese, who observed movies of 11 humanoids and then freely described their impressions about what the safety of each humanoid was for them. Five psychologists categorized all of the obtained descriptions into several categories and then used the categories to compose a new psychological scale. Then, 2,624 different Japanese evaluated the same 11 humanoids using the new scale. Factor analysis on the obtained quantitative data revealed six factors of psychological safety: Performance, Humanness, Acceptance, Harmlessness, Toughness, and Agency. Additional analysis revealed that Performance, Acceptance, Harmlessness, and Toughness were the most important factors for determining the psychological safety of general humanoids. The usability of the new scale is discussed.

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  • People tracking with body pose estimation for human path prediction Reviewed

    Photchara Ratsamee, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012   1915 - 1920   2012

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    Prediction and observation of human motion are essential functions for robots co-existing with humans in everyday environments. We propose a people motion tracking and prediction approach by using the advantage of detailed 3D information about the positions of body joints. Using the shoulder position displayed in a geometrical skeleton diagram of a human's upper body part, the body pose from the proposed human kinematic model is estimated. Human motion tracking and path prediction are achieved via the extended Kalman Filter. The proposed method is verified in an indoor environment where humans pass by each other. Experiment results demonstrate that walking people and their body pose are robustly tracked and predicted accurately, with less occlusions compared to traditional human tracking. © 2012 IEEE.

    DOI: 10.1109/ICMA.2012.6285114

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  • Interoperable vision component for object detection and 3D pose estimation for modularized robot control Reviewed

    Yasushi Mae, Jaeil Choi, Hideyasu Takahashi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    MECHATRONICS   21 ( 6 )   983 - 992   2011.9

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    Finding objects and tracking their poses are essential functions for service robots, in order to manipulate objects and interact with humans. We present novel algorithms for local feature matching for object detection, and 3D pose estimation. Our feature matching algorithm takes advantage of local geometric consistency for better performance, and the new 3D pose estimation algorithm solves the pose in a closed-form using homography, followed by a non-linear optimization step for stability. Advantages of our approach include better performance, minimal prior knowledge for the target pattern, and easy implementation and portability as a modularized software component. We have implemented our approach along with both CPU and CPU-based feature extraction, and built an interoperable component that can be used in any Robot Technology (RT)-based control system. Experiment shows that our approach produces very robust results for the estimated 3D pose, and maintain very low false positive rate. It is also fast enough to be used in on-line applications. We integrated our vision component in an autonomous robot system with a search-and-grasp task, and tested it with several objects that are found in ordinary domestic environment. We present the details of our approach, the design of our modular component design, and the results of the experiments in this paper. (C) 2011 Elsevier Ltd. All rights reserved.

    DOI: 10.1016/j.mechatronics.2011.03.008

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  • ヒューマノイドの一般的心理評価尺度の開発

    上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    第29回日本ロボット学会学術講演会   2011.9

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  • Automated Pose Estimation of Objects Using Multiple ID Devices for Handling and Maintenance Task in Nuclear Fusion Reactor

    2011.9

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  • 対ロボットインタラクションにおける親密性平衡モデルの適用

    安本実加, 上出寛子, 前泰志, 川辺浩司, 重見聡史, 広瀬真人, 新井健生

    第29回日本ロボット学会学術講演会   2011.9

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  • Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tatsuo Arai, Tomohito Takubo, Kenichi Ohara

    COMPUTER-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING   26 ( 5 )   336 - 355   2011.7

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    New robotic systems are going to play an essential role in the future dismantling service for renewing office interiors in buildings. In dismantling tasks, robots are expected to be able to find and remove very small parts such as screws and bolts. Such recognition of small parts is difficult for robots. The article describes a vision-based hierarchical recognition applied to dismantling tasks where large structures are detected at first, thus small parts attached to these structures are detected easier. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these panels to the light gauge steel (LGS), with the purpose of reusing it. With the pose detection of the large structure (LGS) and considering a robot arm with a stereo camera on its tip, a trajectory near that structure can be computed to detect the small parts, in this case the screws. The large structure is detected by using a process of line detection in 2D and its 3D pose is measured with the stereo camera. During the motion along the structure, the screws are detected by applying a multi-template matching process to every captured image. Followed by, the Support Vector Machine (SVM), which recognizes those screw candidates with high true positive rate and low false positive one. These rates are improved with a temporal multi-image integration for tracking the screw candidates. In the experiment, 10 actual screws distributed in 1.1 m along a linear segment on the LGS are successfully recognized with a few false positives and with a final computed 3D position of 2 mm in average. Feasibility of methodology is evaluated by experimentation under different lighting conditions in a realistic environment. Experimental results show that the method works well to be applied in an actual dismantling site.

    DOI: 10.1111/j.1467-8667.2010.00689.x

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  • Vision-Based Hierarchical Recognition for Dismantling Robot Applied to Interior Renewal of Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tatsuo Arai, Tomohito Takubo, Kenichi Ohara

    COMPUTER-AIDED CIVIL AND INFRASTRUCTURE ENGINEERING   26 ( 5 )   336 - 355   2011.7

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    New robotic systems are going to play an essential role in the future dismantling service for renewing office interiors in buildings. In dismantling tasks, robots are expected to be able to find and remove very small parts such as screws and bolts. Such recognition of small parts is difficult for robots. The article describes a vision-based hierarchical recognition applied to dismantling tasks where large structures are detected at first, thus small parts attached to these structures are detected easier. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these panels to the light gauge steel (LGS), with the purpose of reusing it. With the pose detection of the large structure (LGS) and considering a robot arm with a stereo camera on its tip, a trajectory near that structure can be computed to detect the small parts, in this case the screws. The large structure is detected by using a process of line detection in 2D and its 3D pose is measured with the stereo camera. During the motion along the structure, the screws are detected by applying a multi-template matching process to every captured image. Followed by, the Support Vector Machine (SVM), which recognizes those screw candidates with high true positive rate and low false positive one. These rates are improved with a temporal multi-image integration for tracking the screw candidates. In the experiment, 10 actual screws distributed in 1.1 m along a linear segment on the LGS are successfully recognized with a few false positives and with a final computed 3D position of 2 mm in average. Feasibility of methodology is evaluated by experimentation under different lighting conditions in a realistic environment. Experimental results show that the method works well to be applied in an actual dismantling site.

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  • Comparative Evaluation of Virtual and Real Humanoid with Robot-Oriented Psychology Reviewed

    Hiroko Kamide, Mika Yasumoto, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of IEEE International Conference on Robotics and Automation   2011.5

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    DOI: 10.1109/ICRA.2011.5979893

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  • 差分方程式拘束を伴う離散時間非ホロノミック系を用いた2足歩行計画の最適化 Reviewed

    八百伸弥, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第16回ロボティクス・シンポジア予稿集   2011.3

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  • Optimization of Bipedal Gait Planning with Difference Equation Nonholonomic System by Quadratic Programming with Constraints Reviewed

    Nobuya Yao, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Robotics Symposia   2011.3

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  • Illumination Normalization for Outdoor Face Recognition by Using Ayofa-filters

    adi Vural, Yasushi Mae, Huseyin Uvet, Tatsuo Arai

    Journal of Pattern Recognition Research   2011.1

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  • High speed micromanipulation system with multi-scalability Reviewed

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   1212 - 1217   2011

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    Many studies have been conducted for mechanical property measurement of microobjects. Most of these studies have a micromanipulation system which can only measure mechanical properties. However, if cell manipulation and mechanical property measurement could be carried on simultaneously with the same system, work efficiency would be greatly improved. It has been realized that our micro manipulation system can conduct both of tasks simultaneously. Then it has been understood that, if our manipulation system can be improved in terms of workspace and speed, this system will be much more suitable for cell analysis and manipulation tasks. In this paper, two main subjects have been explained. Workspace improvement method to manipulate different size microobjects with the same system is explained. Moreover, problems about high speed manipulation and solutions are described and high speed ability of the system is shown by comparing similar studies. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181453

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  • Adding image information corresponding to the shape of the objects' surfaces on environmental maps Reviewed

    Shinya Kawakami, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   142 - 147   2011

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    In this paper we propose adding image information to a map in order to create an intuitive interface for exploring unknown environments. On this map, a high-resolution photo is attached to each mapped object. The shooting angle and position for the picture is defined by the required resolution of the image, the camera specifications and the object's shape. The appearance from the desired direction can be confirmed intuitively by referring to the Shooting Vector of the object. To make the proposed map, high quality image information should be acquired on the Shooting Vector. We develop a tool for making the map, and confirm its effectiveness by experiments. © 2011 IEEE.

    DOI: 10.1109/URAI.2011.6145949

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  • Component-based robot software design for pick-and-place task described by SysML Reviewed

    Kenichi Ohara, Kyohei Iwane, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   124 - 127   2011

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    Recently, many researchers have been focusing on reusable software technology for robot systems. To develop reusable software, robot system developers build module-based software on middleware platforms. However, since each module is built for a specific framework, it is difficult to apply modules to other systems. Therefore, it is of great importance to consider module design when module-based systems are developed. To design a software module, the modeling language acts as a good description and communication tool for simplification of the target system. In this paper, we introduce a module design for building module-based systems by using SysML as the modeling language. We also introduce an example system implemented on RT-Middleware, in which a mobile manipulator is used to grab a target object by using its vision capability. Since this example system was implemented by using the proposed design, it is easy to modify it and add functionality. © 2011 IEEE.

    DOI: 10.1109/URAI.2011.6145945

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  • Real-time trajectory planning for mobile manipulator using model predictive control with constraints Reviewed

    Satoshi Ide, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence   244 - 249   2011

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    Real-time trajectory planning using model predictive control with constraints is proposed for mobile manipulators. The proposed method employs Quadratic Programming( QP) for optimizing control inputs. The control inputs and outputs are limited corresponding to the required motion and the hardware specifications of the mobile manipulator. The required motion is changed frequently according to the situation and the hardware limitations, concretely the torque, the angular velocity, the mobile base velocity and the acceleration, which are subject to the hardware design. The velocity and acceleration of the tip of the hand depend on the motion required by the user or on the environmental situation, and the required motion has to be changed flexibly. Thus, the mobile manipulator has to possess a high degree of freedom and be able to manage redundant system flexibly under constraints. These issues are solved by using the generalized mobile manipulator model with model predictive controller. In this paper, first, the generalized 2-D mobile Manipulator model is shown. The holonomic and nonholonomic mobile base by changing the constraint of the mobile base output is simulated, and the effectiveness of the mobile manipulator control design is confirmed. The proposed method is implemented to a real mobile manipulator model and real-time trajectory modification is demonstrated on a real mobile robot. © 2011 IEEE.

    DOI: 10.1109/URAI.2011.6145970

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  • Dynamic Rolling-Walk Motion by the Limb Mechanism Robot ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   25 ( 1-2 )   75 - 91   2011

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    New dynamic rolling-walk motion for a multi-legged robot with error compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the preview control of the zero moment point (ZMP) with a cart-table model based on the bipedal robot's technique, the robot's center of mass trajectory is planned for the dynamic motion. The resolved momentum control for manipulating the multi-links robot as a single mass model is also implemented in the system to maintain the stability of the robot. In the new dynamic rolling-walk motion, the robot switches between the two-leg supporting phase and three-leg supporting phase to achieve dynamic motion with the preview control of the ZMP and resolved momentum control as dynamic motion controllers. The authors analyzed the motion and confirmed the feasibility in the Open Dynamics Engine before testing the motion with an actual robot. Due to the difficulties of controlling the ZMP during the two-leg supporting phase, the authors implemented error compensation by using a gyro sensor and compared the results. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

    DOI: 10.1163/016918610X538499

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  • Adaptive gait for dynamic rotational walking motion by ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   68 - 73   2011

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    Adaptive gait for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The adaptive gait is a motion where the robot can adapt itself to environment by utilizing virtual plane without any case-by-case command for each situations from user. With internal sensing and proposed method, the robot knows how to response to its environment. As all the terrains in actual world is not ground leveled, the authors also optimized robot postures for each virtualized plane inclined-angle by using Genetic Algorithms. The adaptive gait is confirmed in the dynamic simulator, Open Dynamic Engine, before testing with actual robot. The robot could walk on the terrain with approximately 6 degree in both upward and downward directions without falling down. © 2011 IEEE.

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  • Automated Micromanipulation for a Microhand with All-In-Focus Imaging System Reviewed

    Chanh-Nghiem Nguyen, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   427 - 432   2011

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    For potential applications in bioscience, a two-fingered microhand with dexterous manipulation capability was developed. This microhand system could perform dexterous tasks such as cell rotation, single cell pick-and-place, cell patterning, and measurement of mechanical properties of living cells. However, it is a tedious task to manipulate micro objects manually. In order to improve the efficiency of the system, automated micromanipulation is required.
    This paper describes how to automate micromanipulation for this two-fingered microhand so that it can perform desired tasks more efficiently, more accurately, and faster. By integrating an All-In-Focus imaging system to the microhand system, 3D positions of the two microfinger tips and micro target objects can be obtained. These 3D positions are necessary for the microhand to handle the target object automatically. We demonstrate this capability by a pick-and-place task with multi-sized microspheres. Short time for object grasping and success rate over 70% for all cases could be achieved.

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  • Personal space of humans in relation with humanoid robots depending on the presentation method Reviewed

    Mika Yasumoto, Hiroko Kamide, Yasushi Mae, Koji Kawabe, Satoshi Sigemi, Masato Hirose, Tatsuo Arai

    2011 IEEE/SICE International Symposium on System Integration, SII 2011   797 - 801   2011

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    The authors have conducted experiments to measure personal space between a human and a humanoid robot using both a real and a VR (virtual reality) humanoid robot in order to evaluate the comfortable distance between them. The reason for using both a real and VR robot is to verify the effectiveness of VR. Using a VR robot, we can conduct experiments cheaply and safely because the robot has an unsubstantial body. As a result of our experiment, we have found that the personal space between a human and a humanoid robot matches the personal distance between two persons who are in a relationship of friendship. Also, no differences were seen in the shape of the personal space for a real robot and a VR robot significantly. © 2011 IEEE.

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  • Multiple cell suction and supply system for automated cell manipulation on microfluidic channel Reviewed

    Naoaki Koyama, Kenichi Ohara, Akiyuki Hasegawa, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    IEEE International Conference on Automation Science and Engineering   678 - 683   2011

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    Advances in biology have clarified the details of many phenomena and their results have been applied to many fields. However, in these fields, applications require dexterous and skillful manipulation. Hence, realizing high productivity is still difficult. To solve this problem, assisted cell manipulation and automated systems have been researched and microfluidic channel technology has been used in these fields. Most research focuses on only one part of the cell manipulation process, such as the cutting or sorting of cells. In the meantime, less attention has been paid to methods of supplying the target cells to a microfluidic channel. We have developed a multiple cell supply system for the microfluidic channel to realize automated cell cloning. This system sucks bovine egg cells with a size of 100[μm] and sends them to the microfluidic channel, then finally sends them to the cell manipulation part. It consists of a microfluidic channel, a pump, solenoid valves, camera systems, and an automatic stage. The cell supply action can be realized by controlling these parts through a computer program. © 2011 IEEE.

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  • Dynamic rotational walking motion on inclined-plane with posture optimization by genetic algorithms Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011   148 - 153   2011

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    New inclined-plane motion for limb mechanism robot ASTERISK's dynamic rotational walking motion is designed. The dynamic rotational walking motion is designed based on the isotropic leg arrangement. Two controllers are used to control the robot
    the Preview control of zero moment point with cart-table model to control the robot's center of mass trajectory and the resolved momentum control to maintain stability of the robot. The authors optimized the foot positions for each inclined-angle by using genetic algorithms. The inclined-plane motions are confirmed in the dynamic simulator, Open Dynamic Engine, before implementing the motions into actual robot. The actual robot could walk upward and downward on inclined-planes with inclined-angle of 5 and 10 degree. © 2011 IEEE.

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  • Visual and Physical Segmentation of Novel Objects Reviewed

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   807 - 812   2011

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    The ability to recognize novel items in complex environment is fundamental to robot intelligence and manipulation. In this work, we consider the issue of segmenting visual and physical aspects of novel objects of interest, specifically ones that are being seen for the first time and located in the proximity of unidentified obstacles. Illumination at different wavelengths and angles are projected by a robot, thus acquiring additional information about the scene and exploiting it for successful novel objects segmentation. By analyzing shades and reflections of a scene's objects, we were able to form and identify true edges and visually separate items of interest. In order to recognize the physical characteristics of segmented objects, we introduce a novel material classification technique which utilizes static electricity charge sensing. Our proposed methods do not require predefined models of target objects and assume no previously assigned targets' pose. Using extracted object visual and physical aspects, an autonomous robot manipulator successfully performed a trash separation task.

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  • Generic Object Classifiers based on Real Image Selection from the Web Reviewed

    Christian Penaloza, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2011 FIRST ASIAN CONFERENCE ON PATTERN RECOGNITION (ACPR)   239 - 243   2011

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    In this paper we present our semi-supervised technique for building object category classifiers using real image data from the Internet. Our technique not only reduces the overhead of manual training by humans, but also achieves robust classifiers that can be evaluated in real time. Given a sample object and its name (keyword), we collect a large amount of object-related images from two main image sources: Google Images and the LabelMe website. We deal with the problem of separating good training samples from noisy images by performing two steps: similar image selection and non-real image filtering. We use a variant of Gaussian Discriminant Analysis (GDA) to filter out non-real images (drawings, cartoons, etc.) that tentatively affect classifier performance in real environments. In order to select true object-related training samples, we introduce a Simile Selector Classifier (SSC) that is constructed from a small set of images taken from the sample object. The SSC not only is able to select similar samples from the large unordered set of images, but also it can separate desired object category images from other categories that have the same name (polysemes), i.e. "apple" as a fruit, or as a company logo. Finally, the experiments which we performed in real environments demonstrate the performance of our object classifiers.

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  • Web-based Object Category Learning using Human-Robot Interaction Cues Reviewed

    Christian I. Penaloza, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    PROCEEDINGS OF THE 6TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTIONS (HRI 2011)   223 - 224   2011

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    We present our method for learning object categories from the Internet using cues obtained through human-robot interaction. Such cues include an object model acquired by observation and the name of the object. Our learning approach emulates the natural learning process of children when they observe their environment, encounter unknown objects and ask adults the name of the object. Using this learning approach, our robot is able to discover objects in a domestic environment by observing when humans naturally move objects as part of their daily activities. Using speech interface, the robot directly asks humans the name of the object by showing an example of the acquired model. The name in text format and the previously learned model serve as input parameters to retrieve object category images from a search engine, select similar object images, and build a classifier. Preliminary results demonstrate the effectiveness of our learning approach.

    DOI: 10.1145/1957656.1957742

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  • Object Co-occurrence Graph for Object Search in 3D Environment Reviewed

    Puwanan Chumtong, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11)   999 - 1002   2011

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    We propose a method of using object co-occurrence graph for mobile service robots to search for small-scale objects in 3D environments without pre-defined map. Object co-occurrence graph describes co-occurrence relations between objects in scenes. The presence of other large objects in the environment, which are easier to be found, provides cues to search for a small object related to the large object. If the target object is often near to a large object, robot firstly finds the large object, and then searches around the large object for the target object. Thus, using object co-occurrence graph makes object searching task easier and more efficient. The object co-occurrence graph is automatically constructed by many tagged images from the WWW. Our experiment shows a robot searching for a target object using object co-occurrence graph.

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  • Component-based robot system design for grasping tasks Reviewed

    Yasushi Mae, Hideyasu Takahashi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Intelligent Service Robotics   4 ( 1 )   91 - 98   2011

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    The paper presents a robot system design with highly reusable components for a component-based robot system for manipulation tasks. The robot system is designed based on the analysis of manipulation tasks using a unified modeling language use case diagram. For a service robot with locomotion and manipulation mechanisms, reusability of robot system components is improved by adopting the proposed design. Our structure consists of scenario, task, robot information management server, data analyzer, sensor hardware controller, skill, and motion hardware controller on a component-based robot system. Based on the proposed robot system, we implemented a component-based robot system and subsequently realized a grasping motion by a service robot. © 2010 Springer-Verlag.

    DOI: 10.1007/s11370-010-0072-5

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  • Automated pose estimation of objects using multiple ID devices for handling and maintenance task in nuclear fusion reactor Reviewed

    Tomohiro Umetani, Jun-Ichi Morioka, Kenji Inoue, Tatsuo Arai, Yasusi Mae, Yuichi Tamura

    Plasma and Fusion Research   6 ( 1 )   2011

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    This paper describes a method for the automated estimation of three-dimensional pose (position and orientation) of objects by autonomous robots, using multiple identification (ID) devices. Our goal is to estimate the object pose for assembly or maintenance tasks in a real nuclear fusion reactor system, with autonomous robots cooperating in a virtual assembly system. The method estimates the three-dimensional pose for autonomous robots. This paper discusses a method of motion generation for ID acquisition using the sensory data acquired by the measurement system attached to the robots and from the environment. Experimental results show the feasibility of the proposed method. © 2011 The Japan Society of Plasma Science and Nuclear Fusion Research.

    DOI: 10.1585/pfr.6.2402079

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  • Vision-based object search in unknown human environment using object co-occurrence graph Reviewed

    Puwanan Chumtong, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   2043 - 2048   2011

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    Object search in unknown human environment by utilizing Object Co-occurrence Graph (OCG) is presented. In our approach, OCG which represents co-occurrence relations between objects is employed as robot's knowledge. Since direct search that solely relies on the finding of target object in each scene may face some difficulties such as insufficient image's resolution, illumination change, or occlusion problem, indirect search utilizing hints from large-size objects that relate to a target object may provide better solutions and can make the task become easier and faster. In this work, OCG is automatically constructed based on word-tagging images provided by millions of Internet users. Moreover, in order to illustrate the applicability of OCG, practical robot's experiment that performs object search autonomously without prior information of environment's layout and object locations is demonstrated. In addition, experimental result supports our assumption about the simplicity of the finding of target object, especially small-size object, in unknown environment when utilizing information from clue objects. © 2011 IEEE.

    DOI: 10.1109/ROBIO.2011.6181592

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  • Cell Stiffness Measurement Using Two-Fingered Microhand Reviewed

    Daiki Kawakami, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Akihiko Ichikawa, Tamio Tanikawa, Tatsuo Arai

    Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics(ROBIO2010)   2010.12

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    DOI: 10.1109/ROBIO.2010.5723466

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  • Illumination-Invariant Face Texture Analysis by Gaussian-Histogram Equalization and Hierarchical Nonlinear Principal Component Analysis

    Sadi Vural, Yasushi Mae, Tatsuo Arai

    Journal of Signal Processing   2010.11

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  • Workspace optimization for multi-scale micromanipulation system Reviewed

    Evbekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 21th IEEE International Symposium on Micro-NanoMechatronics and Human Science 2010(MHS2010)   2010.11

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  • Automatic Object Modeling by Observing Human-Object Interaction Reviewed

    Christian Penaloza, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    Proceedings of the 7th International Conference on Ubiquitous Robots and Ambient Intelligence   2010.11

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  • Development of a Scale of Perception to Humanoid Robots:PERNOD Reviewed

    Hiroko Kamide, Yasushi Mae, Tomohito Takubo, Kenichi Ohara, Tatsuo Arai

    Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems   2010.10

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    DOI: 10.1109/IROS.2010.5648955

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  • NEW TURNING MOTIONS FOR ASTERISK'S DYNAMIC ROTATIONAL WALKING MOTION Reviewed

    Chayooth Theeravithyangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedins of The First IFToMM Asian Conference on Mechanism and Machine Science   2010.10

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  • Simulation of bipedal walking based on CPG for Clogs-type Sole Shape Reviewed

    Yohei Fukano, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

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  • The Wire-Swing Motion of ASTERISK and ER-Winch Locomotion Methods Reviewed

    Hiroyuki Sakamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

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  • Development of RSSI Measurement Sensor Modules for Robust Position Estimation of Wireless Sensor Network Node Reviewed

    Yuji Abe, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tamio Tanikawa, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

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  • SysML-Based Robot System Design for Manipulation Tasks Reviewed

    Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

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  • Development of a Microfludic Cell Coupling and Fusion System Reviewed

    Huseyin Uvet, Fumihito Arai, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh, Mitsuhiro Goto

    Proceedings of The 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

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  • Automated Three-Dimensional Pose Estimation of Objects using Multiple ID Devices by Autonomous Robot Reviewed

    Tomohiro Umetani, Jun-ichi Morioka, Kenji Inoue, Yasushi Mae, Tatsuo Arai

    Proceedings of the 5th International Conference on Advanced Mechatronics(ICAM2010)   2010.10

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  • Gait Planning for a Biped Robot by a Nonholonomic System with Difference Equation Constraints Reviewed

    Nobuya Yao, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems   2010.10

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    DOI: 10.1109/IROS.2010.5651683

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  • Wireless Home NetWork System with RT Middleware Reviewed

    2010.9

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  • Face Perception Based on Spatial Gaussian Bessel Mixture and Nonlinear Features Analysis

    Sadi Vural, Yasushi Mae, Tatsuo Arai

    信号処理   2010.9

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  • 実機・VR ロボットに対する心理の定量的評価

    上出寛子, 安本実加, 田窪朋仁, 大原賢一, 前泰志, 新井健生

    第28回日本ロボット学会学術講演会   2010.9

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  • Individual Automated Cell Transportation For Microfluidic Applications Reviewed

    Huseyin Uvet, Naoaki Koyama, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of 2010 International Symposium on Flexible Automation   2010.7

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  • 移動・作業知能のための視覚に基づくロバストな知能モジュール群の開発 Reviewed

    末永 剛, 高松 淳, 小笠原 司, 大原 賢一, 前 泰志, 新井 健生, 竹村 裕, 溝口 博

    ロボット   ( 195 )   36 - 39   2010.7

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  • On-Chip Somatic Cell Coupling and Fusion Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of 2010 International Symposium on Flexible Automation   2010.7

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  • Virtual Impedance Model for Obstacle Avoidance in a Limb Mechanism Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 2010 IEEE International Conference on Information and Automation   2010.6

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    DOI: 10.1109/ICINFA.2010.5512471

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  • 国際ロボット展2009 移動・作業知能のための視覚に基づくロバストな知能モジュール群の開発 Reviewed

    末永 剛, 高松 淳, 小笠原 司, 大原 賢一, 前 泰志, 新井 健生, 竹村 裕, 溝口 博

    日本ロボット学会学会誌   28 ( 5 )   37 - 38   2010.6

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  • Personal space for the humanoid robot and a presentation method

    Mika YASUMOTO, Hiroko KAMIDE, Yasushi MAE, KenichiOHARA, Tomohito TAKUBO, Tatsuo ARAI, saka

    The Japan Society of Mechanical Engineers   2A2-D18   "2A2 - D18(1)"-"2A2-D18(4)"   2010.6

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    Personal space between two human beings is very important. If humans and humanoid robots are to coexist in the same environment, the personal space between them has to be taken into consideration, too. We have evaluated the personal space between a person and a humanoid robot through an experiment using a real robot and a VR robot. If the results about a VR robot and a real robot are not different, the personal space can be evaluated in the future by VR only. As a result of our experiment, we have found that the personal space between a person and a humanoid robot matches to personal distance which is seen between two persons who are in a relationship of friendship/acquaintanceship. Also, no differences were seen in the shapes of personal space for a real robot and a VR robot, respectively.

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  • Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot Invited Reviewed

    Takuya Fukuda, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of Service Robotics and Mechatronics -Selected Papers of the International Conference on Machine Automation ICMA2008-   2010.6

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  • Developmentofa scale forperceptionto humanoid robots-lnvestigationofbasic perceptionaldimensionstohumanoidrobots

    Hiroko KAMDE, Osaka University,YasushiMAE, Osaka University, TomohitoTAKUBO, Osaka University,ichiOHARA, Osaka University, Tatsuo ARAI, Osaka University

    The Japan Society of Mechanical Engineers   2010.6

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  • RT MODULE DESIGN FOR HOME AND BUILDING AUTOMATION Reviewed

    Kenichi Ohara, Shinji Yonesaka, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of The 27th International Symposium on Automation and Robotics in Construction (ISARC2010)   2010.6

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  • Expansion of Movable Area of Multi Legged Robot by Rotational Gait.

    Kenji Kamikawa, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenji Inoue

    Journal of the Robotics Society of Japan   28(2) 231-240 ( 2 )   231 - 240   2010.3

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    This paper proposes a new locomotion algorithm of narrow scaffold. We have developed a limb-mechanism robot. The limb can move on a large working area, it can be used as an arm and a leg. ASTERISK Robot system has six limbs that radiate out in six directions. This robot system has the rotational symmetry, therefore, the posture is equivalent even if the robot body rotates. By using this feature, we propose a new movement algorithm "rotational gait" that the robot rotates like a wheel. The rotational gait can be applied to the robot that hanging on a cable, moving on narrow shelf of a cliff, and walking in a narrow space by the same algorithm. The operation and effectiveness of these algorithms were verified by the experiment. The movement algorithm is easy pattern operation that keeps stable state at all periods. And the robot can move without doing a high-speed real-time processing.

    DOI: 10.7210/jrsj.28.231

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    Other Link: https://jlc.jst.go.jp/DN/JALC/00349360056?from=CiNii

  • Recognition and Removing Interior Facilities by Vision-based Robot System

    S. Rolando Cruz-Ramirez, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenichi Ohara

    Journal of Robotics and Mechatronics   2010.2

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  • Cell stiffness measurement using two-fingered microhand Reviewed

    Daiki Kawakami, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Akihiko Ichikawa, Tamio Tanikawa, Tatsuo Arai

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010   1019 - 1024   2010

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    In the field of life science, such as regeneration medicine or cloning, the manipulation and analysis of cells is performed by researchers. However, in micro environments, manipulating objects by hand is often not feasible or practical. We have developed a two-fingered microhand, which will help to improve operation efficiency. Using the microhand, we can manipulate cells i.e., grab, rotate, carry, and so on - like when using chop sticks. The stiffness measurement of a cell is a key approach in single cell analysis techniques. It is important in indicating cell condition, because the stiffness of a cancer cell is lower than that of a normal cell as an example. In this paper, the pressure force caused in the process of cell deformation is measured via a micro force sensor attached to the root of micro glass needle. Our results point out that this can be one efficient measurement method for acquiring cell stiffness. The micro force sensor uses strain gauges to measure the strain of the glass needle so that we can find out the force generated on the micro force sensor indirectly. In this paper, two topics are discussed. One is for converting strain data to force data based on the force sensor model. The other refers to the experimental results about the stiffness measurement of the oocyte. © 2010 IEEE.

    DOI: 10.1109/ROBIO.2010.5723466

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  • Ladder Climbing Method for the Limb Mechanism Robot ASTERISK Reviewed

    Kenji Inoue, Shota Fujii, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    ADVANCED ROBOTICS   24 ( 11 )   1557 - 1576   2010

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    A ladder climbing method for the limb mechanism robot ASTERISK is proposed. This robot has six legs. The upper three legs hold on to the upper rung from both sides alternately, just like pinching it. The lower three legs hold on to the lower rung in the same way. Hence, the robot can take hold of the ladder stably. First, the robot releases the left upper and lower legs from the current rungs, and hangs them on the next rungs while supporting itself with the other four legs. Then, the mid two legs and the right two legs are moved to the next rungs in sequence. Finally, the robot lifts up its body using the six legs. Depending on the relative pose of the robot to the ladder, the robot automatically selects the legs that can support vertical and/or horizontal forces applied by the rungs. The robot then distributes its weight to the legs supporting the vertical force based on their force margins. The legs that cannot support forces are controlled to always touch the rungs slightly in order to pinch the rungs with the other legs. The advantages of the proposed gait and control method are verified by analysis of the leg workspace for generating the ladder climb gait, analysis of the range of force direction that the legs can support, analysis of the joint torques required for ladder climbing and an experiment on force distribution. Finally, the range of ladder pitch variation that ASTERISK can climb is clarified. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

    DOI: 10.1163/016918610X512596

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  • 2P1-A29 Development of automatic cell supply system with solenoid valve

    KOYAMA Naoaki, Huseyin Uvet, HASEGAWA Akiyuki, OHARA Kenichi, TAKUBO Tomohito, MAE Yasushi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2010   _2P1 - A29_1-_2P1-A29_2   2010

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    Micro tasks dealing with live cells and tissues in bio science and technology require dexterous and skillful manipulation under microscope, and are mostly executed manually. Microfluidic cell manipulation techniques are being developed to achieve their automation to improve the manipulation productivity. We are developing a cell supply system, where devising efficient valve is the key issue. We propose a solenoid valve system to improve its breaking capability. The new valve has higher responsibility than our previous air actuated valve. We have integrated an automatic cell supply system with this valve and the experiments confirm successful cell supply.

    DOI: 10.1299/jsmermd.2010._2P1-A29_1

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  • Unknown objects segmentation and material classification for separation Reviewed

    Amr Almaddah, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010   1457 - 1462   2010

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    This work address the issues and difficulties related to the design of an autonomous robot capable of performing unknown objects segmentation and material classification task. One of the most challenging aspects of such a system is that the robot has to segment unknown objects from a complicated scene and in the proximity of other objects. In this paper, illuminations of different frequencies are projected from the robot, providing additional information about the scene compared to conventional segmentation techniques. By using multiple light sources and material's reflectivity we were able to identify true edges and separate segmented unknown objects. To classify and gather information about the unknown segmented objects we introduce a novel material classification technique using static electricity charge sensing. Our proposed approaches do not require prior models of target objects and assumes no previously collected background statistics. © 2010 IEEE.

    DOI: 10.1109/ROBIO.2010.5723544

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  • Rotation control of polygonal prism by multi-legged robot Reviewed

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    International Workshop on Advanced Motion Control, AMC   601 - 606   2010

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    Rotation is one of efficient transportation methods for big or heavy object. For implementing the rolling operation to the small and light weight robot, it is necessary to consider the movable range of the robot, balance, actuator power and friction control. In this paper, we propose a new method of forward and backward rolling manipulation by using whole body motion for multi-legged robot. To control the balance, the weight shift control considering the Imaginary Zero Moment Point (IZMP) of the object is implemented. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated by controlling the robot's CoM position and the internal force generated by joint actuators. The internal force can adjust the rotational force but it should be generated considering the friction forces between the object and the floor etc. We analyze available internal force with friction by kinematic solution, and it is implemented to the small multi-legged robot by using position and torque control. The effectiveness is confirmed through experiments. © 2010 IEEE.

    DOI: 10.1109/AMC.2010.5464064

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  • Effect of chaos-driving motion of patient robot in nursing practice Reviewed

    Yasushi Mae, Mamoru Minami, Akiko Sakai, Takeo Ohnishi, Kanji Tanaka

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   76 ( 770 )   2628 - 2637   2010

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    This paper proposes a patient robot system for nursing students to practice injection training and describes verifications of the training effects. A prototype of a patient robot has been designed and developed with the functions of letting the students inject to its vein and expressing countenances and emotional behaviors to make the robot system be seen similar to actual human. Challenging how to achieve the objective of providing the student trainees with the feeling as if they are nursing actual human, we propose to utilize chaotic transitions generated by non-linear dynamics to avoid repeating actions. The motion of the patient robot is generated according to the internal state, which represents trainee's nursing behaviors recognized through the robot's eye-camera and chaos mimicking human's time-varying emotional transitions. The effects to the injection trainings of the patient robot have been evaluated by vital sign such as students' heart beating rate and questionnaire after practical injection trainings.

    DOI: 10.1299/kikaic.76.2628

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  • Automatic Single Cell Transfer Module Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

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    DOI: 10.1109/ROBIO.2009.5420614

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  • Vision-Based Automated Single-Cell Loading and Supply System Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    IEEE TRANSACTIONS ON NANOBIOSCIENCE   8 ( 4 )   332 - 340   2009.12

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    Automated continuous individual cell transfer is a critical step in single-cell applications using microfluidic devices. Cells must be aspirated gently from a buffer before transferring to operation zone so as not to artificially perturb their biostructures. Vision-based manipulation is a key technique for allowing nondestructive cell transportation. In this paper, we presented a design for an automated single-cell loading and supply system that can be integrated with complex microfluidic applications for examining or processing one cell at a time such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian donor (similar to 15 mu m) or oocyte (similar to 100 mu m) cells one by one from a container to a polydimethylsiloxane (PDMS) microchannel and then transport them to other modules. The system consists of two main parts: a single-cell suction module, and a PDMS-based microfluidic chip controlled by an external pump. The desired number of vacuumed cells can be directed into themicrofluidic chip and stored in a docking area. From the batch, they can be moved to next module by activating pneumatic pressure valves located on two sides of the chip. The entire mechanism is combined with monitoring systems that perform detection/tracking and control.

    DOI: 10.1109/TNB.2009.2035280

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  • Obstacle Avoidance Using Virtual Impedance Wall for Limb Mechanism Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

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    DOI: 10.1109/ROBIO.2009.5420603

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  • Dynamic Rolling-walk Motion with Sensory Compensation Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

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    DOI: 10.1109/ROBIO.2009.5420605

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  • Internal Force Control for Rolling Operation of Polygonal Prism Reviewed

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

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    DOI: 10.1109/ROBIO.2009.5420608

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  • Cell Coupling System for Somatic Cell Cloning Using Microfluidic Chip Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Osamu Satoh, Akihiro Nakayama

    Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics   2009.12

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    DOI: 10.1109/ROBIO.2009.5420617

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  • On-Chip Disposable Compact Vision System Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

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  • SELF-CONTROLLED CELL SUPPLY SYSTEM FOR SOMATIC CELL CLONING WORK IN MICROFLUIDIC CHIP Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 13th International Conference on Miniaturized Systems for Chemistry and Life Sciences (&micro;TAS 2009)   2009.11

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    We developed the self-controlled cell supply system for somatic cell cloning work. This system can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. Our aim is the efficient and stable supply egg cells and fibroblasts, from cell container to PDMS micro-channel in microchip and then transport them to other microchip modules. In this report, we made two types of microfluidic chips for valve system and compared these. These data indicated that this proposed system can be applied for cell supply into microfluidic chip.

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  • 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009) Reviewed

    Ebubekir AVCI, Kenichi OHARA, Tomohito TAKUBO, Yasushi MAE, Tatsuo ARAI

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

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  • User Friendly Two-Fingered Cell Manipulation System Reviewed

    Daiki KAWAKAMI, Kenichi OHARA, Yasushi MAE, Tomohito TAKUBO, Tamio TANIKAWA, Tatsuo ARAI

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

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  • Micro Valve System for Individual Cell Transportation in Microfluidic Chip Reviewed

    Akiyuki Hasegawa, Huseyin Uvet, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 20th IEEE International Symposium on Micro-NanoMehatronics and Human Science in 2009 (MHS 2009)   2009.11

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  • Layered Structure on Module-Based Robot Control System for Service Robots Reviewed

    Hideyasu Takahashi, Yasushi Mae, Jaeil Choi, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

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  • Implementation and Evaluation of the Scale-Invariant Feature Transform on GPU Reviewed

    Jaeil Choi, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

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  • Smart RT Device with Easy Replaceability in Ubiquitous Robot Environment Reviewed

    Kenichi Ohara, Shinji Yonesaka, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

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  • Position Estimation Method Using RSSI Measurement Sensors Reviewed

    Yuji ABE, Kenichi OHARA, Tomohito TAKUBO, Yasushi MAE, Tamio TANIKAWA, Tatsuo ARAI

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

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    Recently, sensor network is one of the key technologies<br />
    on robotic field. Especially, position estimation of<br />
    devices is important technology on sensor network. Position estimation method by using Received Signal Strength Indication (RSSI) is approached in indoor environment because of facility of installation. However, in indoor environment, estimation accuracy on this method is affected by multipath fading. In this paper, to solve this problem and take the advantage of RFcommunication, we propose RSSI measurement sensor using radio signal which is based on 125kHz, which is less affected by multipath fading. In this paper, we do RSSI measurement experiment with this sensor, and comparison experiment with Zigbee. And we show results of position estimation experiment by using RSSI measurement sensor.

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  • Evaluation of virtual and real robot based on human impression Reviewed

    Kenichi Ohara, Shunsuke Negi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of 18th IEEE International Symposiumon Robot and Human Interactive Communication   2009.10

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    DOI: 10.1109/ROMAN.2009.5326336

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  • Action Indication System in Emergency using Audio and Visual Presentation Reviewed

    Kotaro Morikawa, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

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  • Object Pose Estimation by Multi-Surfaces SIFT Matching for Manipulation Reviewed

    Amr Almaddah, Yasushi Mae, Tatsuo Arai, Kenichi Ohara, Tomohito Takubo

    Proceedings of The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009)   2009.10

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  • Rotational Operation of Polygonal Prism by Multi-Legged Robot Reviewed

    Gaku Takeo, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    The 2009 IEEE International Conference on Mechatronics and Automation   2009.8

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    DOI: 10.1109/ICMA.2009.5244948

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  • Dynamic Rolling-walk Motion by Limb Mechanism Robot ASTERISK Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    The 2009 IEEE International Conference on Mechatronics and Automation   2009.8

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    DOI: 10.1109/ICMA.2009.5244960

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  • Optimization of Grid Wall Walking by Genetic Algorithm Reviewed

    Yuya Yanagihara, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 2009 IEEE International Conference on Mechatronics and Automation   2009.8

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    DOI: 10.1109/ICMA.2009.5244953

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  • On special issue "Robot Vision for Human-Robot Coexistent Society"

    WATANABE Mutsumi, MAE Yasushi

    JRSJ   27 ( 6 )   591 - 591   2009.7

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    DOI: 10.7210/jrsj.27.591

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  • Rough Terrain Walking for Bipedal Robot by Using ZMP Criteria Map Reviewed

    Tomohito Takubo, Yoshinori Imada, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of IEEE International Conference on Robotics and Automation(ICRA 2009)   2009.5

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    DOI: 10.1109/ROBOT.2009.5152768

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  • Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects Reviewed

    Ahmed A. Ramadan, Tomohito Takubo, Yasushi Mae, Kenichi Oohara, Tatsuo Arai

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   56 ( 4 )   1121 - 1135   2009.4

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    The development of a chopstick-like two-fingered micromanipulator based on a hybrid mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical (PRS) parallel modules connected serially in a mirror image style. Each module has a long glass pipette as an end effector. The development process consists of three phases. In the first phase, analysis and mathematical modeling, a novel solution of the inverse kinematics problem (IKP) of a 3-revolute-prismatic-spherical (RPS) parallel module, is derived and applied with proper modification to the case of 3-PRS of the proposed mechanism. The solution is extended to the two-fingered hybrid mechanism of the microhand. In the optimization and design phase, the optimization of the chosen design parameters of a theoretical 3-PRS parallel module is carried out using two approaches: discretization method and genetic algorithms. Based on the optimal design parameters, a CAD model of the 3-PRS finger module is built, and a complementary optimization step using the ANSYS Workbench program is carried out to determine suitable characteristics of the pin flexure hinge. Finally, the total CAD model of the two-fingered hand is built. In the realization and implementation phase, the description of the hardware system of the two-fingered microhand prototype is presented. The program description, calibration method, practical Jacobian matrices, practical workspace, and error analysis of the prototype are discussed.

    DOI: 10.1109/TIE.2008.2008753

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  • Stair Recognition with Laser Range Scanning by Limb Mechanism Robot "ASTERISK" Reviewed

    Chayooth Theeravithayangkura, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008)   2009.2

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    DOI: 10.1109/ROBIO.2009.4913121

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  • Simple Method for Generating Dynamic Object Map Reviewed

    Yuusuke Ishizuka, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics (ROBIO 2008)   2009.2

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    In the present paper, we propose a simple generation<br />
    method of a dynamic object map by the person who does<br />
    not have professional knowledge about sensors. In the method,a user attaches ultrasonic sensors with RF-ID tags to corners of objects. More than 2 sets of receivers can measure their 3D positons.<br />
    Dynamic object map is generated by the measurements<br />
    in real time. The method is evaluated by the inexperience users act to build the map according to the simple procedure.

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  • 2A1-J06 Automated Cell Supply Module : The Design of Valve System and Branch Shape for Cell Transport in a Microfluidic Chip

    HASEGAWA Akiyuki, UVET Huseyin, MAE Yasushi, TAKUBO Tomohito, OHARA Kenichi, ARAI Tatsuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2009   _2A1 - J06_1-_2A1-J06_3   2009

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    We studied the cell supply system for automation of the cell cloning work. Our aim of this system is the efficient and stable supply some type of cells, egg cells or fibroblasts, to microfluidic chips.In this report, we present the design of air valve system and branch shape for cell transport. For valve system, we made two types of microfluidic chips, one is two layer chip and another is three layer chip. The pneumatic pressure valves were applied in or onto chips, blocked up the flow channel with each method, and changed flow passes.

    DOI: 10.1299/jsmermd.2009._2A1-J06_1

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  • A new multi-scale micromanipulation system with dexterous motion Reviewed

    Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science   444 - 449   2009

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    Micro robotics is a significant area to be able to manipulate micro level objects dexterously. Until now, various micro manipulation systems have been presented. In micro environment, different kinds of objects have different dimensions. Some of them are a few micrometers (μm) such as donor cells, some of them are more than a hundred μm such as egg cells. At this point, a manipulator which has multi-scale manipulation ability can manipulate different size objects. Otherwise, for different diameter objects, different micro-hands are necessary. Furthermore, when we want to manipulate micro objects, manipulation distance is not always same. Because, with micro hand, we do not just want to grasp or rotate the objects, sometimes we could also want to carry the object from one micro environment to another one. Therefore, workspace of micro manipulator is also important for various micro tasks. In this paper, we propose a new micro manipulation system which includes parallel mechanism for grasping and releasing tasks. This new system has ability of multi-scale manipulation, which means manipulation of different size objects with same micro hand. Moreover, short distance (nm) and long distances carriage (mm) are feasible with this micro manipulator. ©2009 IEEE.

    DOI: 10.1109/MHS.2009.5351959

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  • Detection Sensor for Flowing Particles in Micro Channel Reviewed

    I. Okuda, T. Arai, T. Takubo, A. Hasegawa, Y. Mae, K. Ohara

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   3679 - 3684   2009

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    In this paper, we propose a sensor for detecting particles flowing in a micro channel fabricated with polydimethylsiloxane (PDMS) chip. A light source placed at one side of a micro channel irradiates the micro channel through plastic optical fibers (POF), and a detector placed at the opposite side of the micro channel receives light transmitted through the POF. Since this sensor simultaneously detects plural particles with a diameter of around 100 pm flowing in a micro channel, it can be implemented in automatic measurement systems of cells in desktop bio plant, on which automated embryonic cell manipulation is achieved using micro robotics technology.

    DOI: 10.1109/IROS.2009.5354099

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  • NDT Scan Matching Method for High Resolution Grid Map Reviewed

    Tomohito Takubo, Takuya Kaminade, Yasushi Mae, Kenichi Ohara, Tatsuo Arai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   1517 - 1522   2009

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    A new convergence calculation method of the Normal Distributions Transform (NDT) scan matching for high resolution of grid maps is proposed. NDT scan matching algorithm usually has a good effect on large grids, so it is difficult to generate the detailed map with small grids. The proposed method employs Interactive Closest Point(ICP) algorithm to find corresponding point, and it also enlarges the convergence area by modifying the eigenvalue of normal distribution so that the evaluation value is driven effectively for the pairing data. In addition, outlier elimination process is implemented to the scanning for sub-grid scale object. The scanning data fromLeaser Renge Finder(LRF) have error but its set of detected small object can be clustered to determine the Center of Mass(CoM) and the outlier data. The outlier commonly locates behind true points and it can be eliminated when the robot observes from other point. Experimental result shows the effectiveness of the proposed convergence algorithm and outlier elimination method.

    DOI: 10.1109/IROS.2009.5353908

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  • Automated Initial Setup Method for Two-Fingered Micro Hand System Reviewed

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   3271 - 3276   2009

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    A two-fingered micro hand has been available for use for years and allows dexterous manipulation of a single cell: grabbing, positioning, rotating and releasing. The end-effector of this micro hand consists of two glass needles; however, the glass tips must be finely adjusted and the micro hand must be calibrated prior to use. Because these initial procedures require highly skilled human operators and a great deal of time, a fine adjustment module (FAM) has been developed for assisting with the fine adjustment work and was successfully shown to make the initial setup easier. However, problems with the calibration process and with the dependence on a user of the FAM control are still present. One means of improving the system for users is to automate the initial setup. The detection of the glass tips in a wide range of Z directions from a microscopic image having a small depth of focus requires robust calibration and must be possible using an automated FAM control. From this perspective, the tip position detection algorithm using the evaluation function, Image Quality Measurement (IQM), is proposed in this paper. Based on this algorithm, the automated initial setup method is explained and its effectiveness is experimentally evaluated.

    DOI: 10.1109/IROS.2009.5354559

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  • Leg-wheel hybrid locomotion for multi-legged robot Reviewed

    Tomohito Takubo, Takenobu Yoshioka, Tatsuo Arai, M. A.E. Yasushi, Kenichi Ohara

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   75 ( 759 )   2996 - 3004   2009

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    Leg-wheel hybrid locomotion on rough terrain for a hexapod robot is realized by continuous transition between wheeled and legged locomotion based on sensor feedback. In basic positioning on a flat surface, the robot is supported by three legs and moves using its wheels. Upon sensing an obstacle, the robot's support and swing legs change as a tripod gait to cross over the obstacle. We define the three dimensional model of the motion on a slope for stability estimation, and its analysis indicates that the maximum obstacle height depends on the robot's height and the slope gradient. Even if the slope is steep, the robot can climb over a higher step on it by moving the robot's center of gravity (COG) based on the analysis. The experimental results on ASTERISK H confirm the advantage of proposed motion by comparing to the fixed COG motion.

    DOI: 10.1299/kikaic.75.2996

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  • Interoperable RT Component for Object Detection and 3D Pose Estimation for Service Robots Reviewed

    Jaeil Choi, Hideyasu Takahashi, Yasushi Mae, Kenichi Ohara, Tomohito Takubo, Tatsuo Arai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   2710 - 2715   2009

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    Finding objects and tracking their poses are essential functions for service robots, in order to manipulate objects rind interact with humans. We present an approach for object detection and 3D pose estimation for autonomous mobile robots, that is suitable for general uses in a modularized robot control system. Our apprach extracts local features from the input images, searches for the reference pattern, and then produces the 3D pose in camera coordinate system, using only a single reference image and the 6-DOF pose in it. We have created an RT(Robot Technology) component that can be used in any RT-based system, and developed an algorithm that can extend the range of detection and produce robust pose estimation. For evaluation, we have integrated our vision component in an autonomous robot system with a search-and-grasp task, and tested it with several objects that are found in ordinary domestic environment. We present the details of our approach, the design of our modular component design, and the results of the experiments in this paper.

    DOI: 10.1109/IROS.2009.5353997

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  • Self-Controlled Cell Selection and Loading System for & Microfluidic Systems Reviewed

    Huseyin Uvet, Akiyuki Hasegawa, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   4712 - +   2009

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    In this paper, we presented a design for an automated cell supply system that can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian donor (similar to 15 mu m) or egg (similar to 100 mu m) cells one by one from a container to a PDMS micro-channel and then transport them to other modules. The system consists of two main parts; a single cell suction module, and a PDMS-based microfluidic chip controlled by an external pump. The desired number of vacuumed cells can be directed into the microfluidic chip and stored in a docking area. From the batch, they can be moved to next module by activating pneumatic pressure valves located on two sides of the chip.

    DOI: 10.1109/IROS.2009.5354585

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  • Rough Terrain Walking by Using ZMP Criteria Map Reviewed

    Yoshinori Imada, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 5th International Conference on Ubiquitous Robots and Ambient Intelligence   2008.11

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  • Building Monitoring System Using RFID and Mobile Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of The 5th International Conference on Ubiquitous Robots and Ambient Intelligence   2008.11

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  • Detection of Screws on Metal-Ceiling Structures for Dismantling Tasks in Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    The 2008 IEEE International Conference on Intelligent Robots and Systems   2008.9

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    DOI: 10.1109/IROS.2008.4650975

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  • Multipoint Support Motion Using Wheeled Hand for Humanoid Robot Reviewed

    Takuya Fukuda, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    7th International Conference on Machine Automation   2008.9

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  • Building Monitoring System Using UFAM and Mobile Robot Reviewed

    Kenji Tsukamoto, Tomohito Takubo, Kenichi Ohara, Yasushi Mae, Tatsuo Arai

    Proceedings of the 5th International Conference on Ubiquitous Robots and Ambient Intelligence   2008.8

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    The collaborative monitoring system with RFID<br />
    sensor tag and the mobile robot is proposed. The system<br />
    provides both wide area monitoring and detailed monitoring.<br />
    The wide area monitoring is achieved by RFID sensor tag.<br />
    We employ UFAM(Ubiquitous Functions Activation Module)<br />
    developed by AIST Japan for RFID sensor tag and it can<br />
    make sensor network by multiple tags and access points.<br />
    The detailed monitoring is executed by high-speck sensors<br />
    on a mobile robot. We implement the system to Water Leak<br />
    Detection on back of ceiling in a building. The proposed<br />
    detection system consists of three systems: RFID sensor<br />
    network system, Remote robot control system and Integration<br />
    control system. The sensor network monitors continuously<br />
    the surrounding of sensor tags, and the mobile robot goes<br />
    the round for periodic inspection. When certain sensor tag<br />
    measures abnormal transition, the integrated control system<br />
    commands the mobile robot to check around it in particular.<br />
    In this paper, we equips a thermography to the mobile robot<br />
    so that the detailed temperature distribution leads to find heat<br />
    of evaporation. This technique is evaluated in demonstration<br />
    experiment.

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  • Implementation of Cell Detection Mechanism on Microfluidic Chip Reviewed

    Kaori Fujimoto, Sadaaki, Kunimatsu, Yasushi Mae, Tomohito Takubo, Tatsuo Arai, Kenji Inoue, Masat Yamada

    JRSJ   26 ( 5 )   462 - 467   2008.7

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    The paper describes development of a compact and economical sensing system to detect a cell in a micro channel which can be integrated easily on a micro PDMS (polydimethylsiloxane) chip. The light-intersecting method is adopted for detecting a cell moving in the channel, since the mechanism can be basically composed of only a light source element and a detector. The paper proposes an integrating procedure and shows the experiment in order to bear out feasibility of the system. Furthermore, a method of implementation of the mechamism on a micro PDMS chip is described.

    DOI: 10.7210/jrsj.26.462

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  • Usability of Interface Devices for Human Robot Collaboration Reviewed

    Yuusuke Ishizuka, S. Rolando Cruz-Ram&iacute, rez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    International Symposium on Flexible Automation   2008.6

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  • Ladder Climbing Control for Limb Mechanism Robot "ASTERISK Reviewed

    Shota Fujii, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2008 IEEE International Conference on Robotics and Automation   2008.5

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    DOI: 10.1109/ROBOT.2008.4543674

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  • The Generation of Environmental Map Based on a NDT Grid Mapping Reviewed

    Takuya Kaminade, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008 IEEE International Conference on Robotics and Automation   2008.5

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  • Ladder climbing control for limb mechanism robot "ASTERISK" Reviewed

    Shota Fujii, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3052 - 3057   2008

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    A ladder climbing motion for limb mechanism robot "ASTERISK" is proposed. This robot has six legs. The upper three legs hold on the upper rung from its both sides alternately, just like pinching it. The lower three legs hold on the lower rung in the same way. Hence the robot can climb the ladder stably. Depending on the posture of the robot, when it lifts up its body, the robot automatically selects the legs supporting the robot's weight and distributes the weight to these legs based on their force margins. The legs which cannot support forces are controlled to always contact with the rungs so that the robot holds the ladder firmly. The advantages of proposed gait and control method are verified by the analysis of the supporting range and the torque, and by experiment on force distribution.

    DOI: 10.1109/ROBOT.2008.4543674

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  • Detection of screws on metal ceiling structures for dismantling systems Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Yuusuke Ishizuka, Tomohito Takubo, Tatsuo Arai

    25TH INTERNATIONAL SYMPOSIUM ON AUTOMATION AND ROBOTICS IN CONSTRUCTION - ISARC-2008   155 - 162   2008

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:VILNIUS GEDIMINAS TECHNICAL UNIV PRESS, TECHNIKA  

    In the dismantling works of office interiors for renewal, a robotic system is needed in order to assist the human workers engaged in this kind of job. Regarding to the items in the ceiling side, after a dismantling task of the ceiling boards, it is necessary to remove the screws that once held these boards to the Light Gauge Steel (LGS) with the purpose of reusing. At first, the paper presents the method to measure the 3D pose of the LGS. Thus the control system generates a trajectory under and near of that metal ceiling structure to measure the screws more precisely. The trajectory is followed for a robot arm which includes an eye-in-hand system. During the motion, the screws are detected by applying a template matching process to every single captured image. The detection of targets is tested under different lighting conditions and the effect of the number of images per meter is analyzed.

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  • Miniaturized Vision System for Microfluidic Devices Reviewed

    Huseyin Uvet, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Masato Yamada

    ADVANCED ROBOTICS   22 ( 11 )   1207 - 1222   2008

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    One of the biggest obstacles for lab-on-chip (LOC) devices is file miniaturization of large-scale devices and its methodologies. Miniaturization of the current microscopic technologies combined with image processing may bring significant advantages for LOC devices in the dynamic processes of sizing, positioning, flow control and cell manipulation at different time scales. Here, we propose a vision system boarded on a polydimethylsiloxane (PDMS) polymer-based chip, which can be utilized in a complex microfluidic network for continuous monitoring of mammalian egg and donor cells of sizes in the range of 10-100 mu m. The developed prototype system has sufficient resolution and is accompanied with a robust detection method for cell-based microfluidic applications. To assess its performance. an image processing algorithm was applied. and the capability of the detection method was evaluated Using 11- and 26-mu m particles. The results show that the proposed optical system of monitoring, and illumination can be effectively incorporated into PDMS structures aiming at LOC devices. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008

    DOI: 10.1163/156855308X338438

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  • Detection of Screws on Metal-Ceiling Structures for Dismantling Tasks in Buildings Reviewed

    S. Rolando Cruz-Ramirez, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   4123 - 4129   2008

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    In the renewal process of office interiors, a robotic system is needed in order to assist the human workers engaged in this kind of job. Regarding the items in the ceiling side, after the dismantling task of the ceiling panels, it is necessary to remove carefully the screws that once held these boards to the Light Gauge Steel (LGS), with the purpose of reusing. The proposed methodology to achieve the task consists at first of the LGS detection. Such detection is useful as a first approach to detect the screws because a trajectory under and near of that metal-ceiling structure can be generated for a scanning process. In both tasks, a stereo camera configured as an eye-in-hand system is necessary. During the motion under the structure, the screws are detected by applying a multi-template matching process to every caught image. A multi-frame integration increases the robustness in the screw detection process. The results of all the processed images along the trajectory are analyzed in order to measure both the true and the false positive detection rates of the screws attached to the LGS and to measure the 3D position of each one.

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  • Human-like Patient Robot for Injection Training by Chaotic Behavior Reviewed

    Yoshiro Kitagawa, Wei Song, Mamoru Minami, Yasushi Mae

    PROCEEDINGS OF THE SECOND INTERNATIONAL SYMPOSIUM ON TEST AUTOMATION & INSTRUMENTATION, VOLS 1-2   136 - 139   2008

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    In this paper, we present a system of patient robot developed aiming at improving abilities of nursing student&apos;s medical treatment, such as injection to vein. To let patient robot&apos;s motion look like human, we introduce visual servoing into the robot&apos;s head motion, simulating human&apos;s behavior of looking into the face who is talking with. Evaluating the effectiveness of the robot through the injection, we measure heartbeat rate of student nurses during the injection training, proving the effects of the robot&apos;s similarity to human.

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  • Cell analysis system using two-fingered micro hand: Fine adjustment mechanism for end-effector Reviewed

    Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008   108 - 113   2008

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    A two-fingered micro hand has been developed for years and it allows dexterous manipulation of a single cell: grabbing, positioning, rotation and releasing. The end-effector of this micro hand consists of two glass needles. Before grabbing an object, the glass needles need to be approached to each other manually (initial setup). However, this operation requires high skill manual control, so that it is very difficult and a time-consuming. This paper discusses improvement of the original micro hand mechanism to achieve its fine adjustment of two glass needles. For the easy initial setup, movement of the glass tips should be divided into three directions (horizontal, translational, vertical) and have the resolution of several micro meter order. Three piezoelectric devices are used to realize the fine movement for three directions. Moreover the workspace of the end-effector can be widened by applying the principle of leverage to glass and piezoelectric device. Based on these ideas, we prototyped a new shape of end-effector which enables fine movement along three axes. Using this end-effector design, the initial setup of micro hand is easier than the previous model. As a result, the micro hand can achieve more efficient manipulation. © 2008 IEEE.

    DOI: 10.1109/MHS.2008.4752432

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  • Development of a compact vision system for "Automated Nuclear Transplantation Project" Reviewed

    Huseyin Uvet, Tatsuo Arai, Yasushi Mae, Tomohito Takubo

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   3106 - 3111   2008

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    This paper describes research and development of a compact vision system for real-time cell detection and manipulation in a capillary in order to apply on the "Automated Nuclear Transplantation" project which will achieve sort of cell manipulation tasks such as positioning, cutting, sizing, and so on, automatically between different interconnected modules. Here, we propose a vision system boarded on a PDMS based silicon chip, which can be utilized in a complex network for continuous monitoring of mammalian egg and donor cells of sizes in the range of 10 to 100 micron. The developed prototype has sufficient resolution and is accompanied with a robust detection method for cell-based microfluidic applications.

    DOI: 10.1109/ROBOT.2008.4543683

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  • Dismantling interior facilities in buildings by human robot collaboration Reviewed

    S. Rolando Cruz-Ramirez, Yuusuke Ishizuka, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   2583 - 2590   2008

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    New robotic systems will be playing an essential role in the future dismantling service for renewing office interiors facilities in buildings. In our study, the dismantling task would be achieved by proper collaboration between human workers and robots utilizing mobile arms, interface devices and software. This paper describes an overview of the proposed dismantling system as well as its requirements. The real experiments presented are focused on the disassembling task of a ceiling lamp panel (LP). In the disassembling task, a robot arm collaborates with the human worker holding the LP, accomplishing an assisting function. At first, in order to approach the robot to the holding position, the worker controls the robot using interface devices which are also evaluated in their usability aspect. Then, a laser pointer fixed at the robot's tip is used both as a guidance in the teleoperation process and as a first indicator of the holding position. As a second step toward the target, the control program applies model-based 3D object recognition techniques to calculate the final position. At this stage the information of an stereo camera, configured as an eye-in-hand system, is necessary. On the last part of the task, the robot reaches the estimated position automatically by using the results of its kinematic analysis. The experimental results show the effectiveness of the proposed methodology.

    DOI: 10.1109/ROBOT.2008.4543602

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  • Collaborative Monitoring Using UFAM and Mobile Robot -2ndreport:Development of integrated management system- Reviewed

    Takahiro Miyauchi, Tomohito Takubo, Yasushi Mae, Tatsuo Arai, Kenichi Ohara

    The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI 2007)   2007.11

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  • Position/Force Control of Griding Robot by Using Real-time Presumption of Constrained Condition Reviewed

    Weiwei Xu, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2007   2007.9

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    DOI: 10.1109/SICE.2007.4421289

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  • Multiple Preview Control System for Redundant Manipulator Based on Partial Future Reachability Reviewed

    Tong-xiao Zhang, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2007   2007.9

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    DOI: 10.1109/SICE.2007.4421132

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  • Emergence of Robotic Intelligence by Chaos for Catching Fish Reviewed

    Jun Hirao, Mamoru Minami, Yasushi Mae, Jingyu Gao

    SICE Annual Conference 2007   2007.9

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    DOI: 10.1109/SICE.2007.4421125

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  • Fish Catching by Visual Servoing using Neural Network Prediction Reviewed

    Toshiaki Yoshida, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2007   2007.9

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    DOI: 10.1109/SICE.2007.4421385

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  • Localization of Mobile Robots by Multiple Landmark Recognition Reviewed

    Ryohei Ozawa, Yasushi Mae, Mamoru Minami

    SICE Annual Conference 2007   2007.9

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    DOI: 10.1109/SICE.2007.4421225

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  • Automated identification of partially exposed metal object Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    AUTOMATION IN CONSTRUCTION   16 ( 6 )   842 - 851   2007.9

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    This paper describes a method for automated shape and pose (position and orientation) identification of partially exposed metal objects that enables safe and efficient excavation of hazardous materials. The method estimates the object pose by matching a model of the object with the area that is extracted from the range image using the characteristics of metal objects. The paper introduces a method for an initial search area for object matching in order to obtain the accurate shape and pose of the partially exposed objects with reasonable calculation time. The experimental results show feasibility of the shape and pose identification of partially exposed objects. (c) 2007 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.autcon.2007.02.012

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  • On-line Stable Evolutionary Recognition based on Unit Quaternion Representation by Motion-Feedforward Compensation Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    SICE Annual Conference 2007   2007.9

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    DOI: 10.1109/SICE.2007.4421134

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  • Finding and quantitative evaluation of minute flaws on metal surface using hairline Reviewed

    Jianing Zhu, Yasushi Mae, Mamoru Minami

    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS   54 ( 3 )   1420 - 1429   2007.6

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    A method to detect minute flaws on metal parts is proposed to remove defective parts before assembling in a factory. The input grayscale images of metal parts are directly used to recognize flaws without any image conversion to shorten recognition time. The recognition problem to find flaws and detect their position on the metal parts is converted to another problem that searches for the maximum peak and the variables producing the peak. Then, the recognition problem can be treated as an optimization problem, and this conversion allows us to utilize high genetic algorithm performances in optimization. The effectiveness and problems of the proposed method are studied on the standing points of recognition speed and quantitative recognition ability. Based on the analysis, we furthermore improved our system to increase the flaw detection rate; the lighting direction was changed to find the best lighting condition that can emphasize the contrast between the metal surface and the flaw by using the reflection character of the hairline on the metal, which is resulted by a polishing process.

    DOI: 10.1109/TIE.2007.893050

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  • Avoidance Ability of Redundant Mobile Manipulators during Hand Trajectory Tracking Reviewed

    Mamoru Minami, Hiroshi Tanaka, Yasushi Mae

    Journal of Advanced Computational Intelligence and Intelligent Informatics   2007.4

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  • Link Length Control Using Dynamics for Paralle Mechanism with Adjustable Link Parameter Reviewed

    Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Tomohito Takubo, Yasushi Mae, Yoshihiko Koseki

    Mechatronics for Safety, Security and dependabiity in a New Era, Elsevier   2007.4

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    DOI: 10.1016/B978-008044963-0/50087-4

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  • Chaos-driving robotic intelligence for catching fish Reviewed

    Mamoru Minami, Gao Jingyu, Yasushi Mae

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   85 - 91   2007

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    We tackle a Fish-Catching task under a visual feedback hand-eye system with catching net. The fishes change escaping trajectory or speed up when being threatened as the net attached at hand approaches to them. Furthermore, as the time of tracking and catching process flows, the fish can somewhat get accustomed to the hand motion pattern and gradually find out new strategies on how to escape from the bothering net. For example, the fish can swim slowly along the pool edge where the net is forbidden to enter or keep a reasonable distance from the net as if it konws the visual servoing system bears steady state error by constant speed escaping. For the sake of such innate ability being widely existed in animal's behavior, the catching operation becomes tough and some effective intelligent method needs to be conceived to go beyond the fish's intelligence. The purpose of this research is to construct intelligent system to be able to exceed the fish's intelligence to survive. Then we embed chaotic motion into the hand motion of robot, and we have shown the chaotic net motion can overcome the fish escaping strategies.

    DOI: 10.1109/ROBOT.2007.363769

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  • On-line evolutionary head pose measurement by feedforward stereo model matching Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10   4394 - +   2007

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    This paper presents a method to estimate the 3D pose of a human's head using two images input from stereo cameras. The proposed method utilizes an evolutionary search technique of genetic algorithm (GA) and a fitness evaluation based on a stereo model matching. To improve the dynamics of recognition, a motion-feedforward method is proposed for the hand-eye system. The effectiveness of the method is confirmed by the experiments where the motion of the hand-eye camera compensated for the relative motion of the object in camera frame, resulting robust recognition against the hand-eye motion.

    DOI: 10.1109/ROBOT.2007.364156

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  • Construction automation based on parts and packets unification Reviewed

    Tomohiro Umetani, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Jun-ichiro Maeda

    AUTOMATION IN CONSTRUCTION   15 ( 6 )   777 - 784   2006.11

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    This paper describes a data management system for parts-oriented construction based on the concept of "parts and packets unification." Data of each component should be updated according to a change in the status of the component or composed module. An ID device is attached to each component to establish a strong relation between the components and their information. An operation server uses a reference table to relate the data to the composed module using the ID of any device attached to each composed module. The server manages the component data according to the task result such that other robots can obtain the information required in the next phase. A robot can acquire both the present data of the composed module and the data of each component history. Experimental results demonstrate the feasibility of the proposed method. (C) 2005 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.autcon.2005.10.013

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  • Evolutionary Recognition of Corridor and Turning using Adaptive Model with 3D Structure Reviewed

    Hui Liu, Zongyi Zhang, Wei Song, Yasushi Mae, Mamoru Minam, Seiji Aoyagi

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

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    DOI: 10.1109/SICE.2006.314815

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  • Fastest Guidance Control with Acceleration Restriction of PWS Mobile Robot Reviewed

    Yasuhiro Yazaki, Takeshi Ikeda, Mamoru Minam, Yasushi Mae

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   2006.10

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    DOI: 10.1109/IROS.2006.282310

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  • Cooperative Monitoring by Fixed Cameras and Moving Cameras Reviewed

    Sadaaki Kunimatsu, Hironori Kumeno, Naoko Tsukuda, Tomohito Takubo, Kenji Inoue, Tatsuo Arai, Yasushi Mae, Tomohiro Umetani

    23rd International Symposium on Automation and Robotics in Construction   2006.10

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  • Real-Time Trajectory Tracking/Quase-Optimal Obstacle Avoidance Control of Redundant Manipulators Reviewed

    Keiji Ikeda, Mamoru Minami, Yasushi Mae

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

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    DOI: 10.1109/SICE.2006.314813

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  • Person Recognition by Stereo Model-based Matching Reviewed

    Daisuke Itou, Yasushi Mae, Mamoru Minami

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

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    DOI: 10.1109/SICE.2006.314812

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  • On-line Optimization of Avoidance Ability for Redundant Manipulator Reviewed

    Keiji Ikeda, Hiroshi Tanaka, Tong-xiao Zhang, Mamoru Minam, Yasushi Mae

    Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)   2006.10

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    DOI: 10.1109/IROS.2006.282537

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  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence Reviewed

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

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    DOI: 10.1109/SICE.2006.315381

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  • On-line Prediction of Escaping Fish from Catching Net by Neural Network and Circular Approximation Reviewed

    Toshiaki Yoshida, Mamoru Minami, Yasushi Mae, Hidekazu Suzuki

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

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    DOI: 10.1109/SICE.2006.315377

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  • Evolutionary Head Pose Measurement by Improved Stereo Model Matching Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

    Proceedings of SICE-ICCAS International Joint Conference 2006   2006.10

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    DOI: 10.1109/SICE.2006.314828

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  • Machine Intelligence by Chaos Motion Generator against Escaping Fish Reviewed

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   2006.9

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  • Frontal Face Recognition from Patient Robot Point of View for Evaluating Nursing Skill Reviewed

    Yasushi Mae, Wei Song, Mamoru Minami

    Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent Systems(SCIS&ISIS 2006)   2006.9

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  • Intelligent Environment Using RF-ID Tag Reviewed

    Yasushi Mae, Yoshiteru Takezawa, Mamoru Minami

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   2006.8

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  • 3D Pose Visual Servoing to Face for Patient Robot Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   2006.8

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  • Fish Catching by Adopting Neural Network and Chaos to Robotic Intelligence Reviewed

    Gao Jingyu, Mamoru Minami, Yasushi Mae

    The 7th Asia-Pacific Conference on Control & Measurement (APCCM 2006)   2006.8

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  • Finding and Quantitative Evaluation of Minute Bruise on Metal Surface Using Hairline Reviewed

    Mamoru Minami, Jianing Zhu, Masato Miura, Yasushi Mae

    Transactions of the Japan Society of Mechanical Engineers   2006.7

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    DOI: 10.1299/kikaic.72.2240

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  • Sensor-Based Walking on Rough Terrain for Legged Robots Reviewed

    Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, Noriho Koyachi

    Field and Service Robotics, Springer   2006.4

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    DOI: 10.1007/10991459_25

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  • Design of multi sensor units for searching inside of rubble Reviewed

    Kenji Inoue, Masato Yamamoto, Tomohito Takubo, Yasushi Mae, Tatsuo Arai

    Mechatronics for Safety, Security and Dependability in a New Era   415 - 420   2006

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    "Search balls" are small sensor units for searching inside of rubble. Each ball is not equipped with locomotion mechanism but contains some sensors for searching for disaster victims and a radio transceiver in an impact-resistant outer shell. Many balls are thrown into rubble and fall down while repeatedly colliding
    they are scattered inside the rubble. The sensor information from the balls is transmitted on radio out of the rubble and monitored at a safe area. Thus, rescuers can search a wide area inside the rubble rapidly. The developed ball has two wireless cameras for search, infrared light emitting diodes (LEDs) for illumination, a radio receiver for communication with outside monitoring computers, and a battery
    these are packed into an impact-resistant sphere outer shell. This ball can provide the view of its entire circumstance by rotating the cameras using a motor. Just like a brim of a hat, a ring is attached to the shell for suppressing rolling of the ball
    it is effective for the distribution of balls inside rubble. © 2006 Elsevier Ltd. All rights reserved.

    DOI: 10.1016/B978-008044963-0/50084-9

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  • Generating Whole Body Motion of Humanoid Robots for Manipulation Tasks Reviewed

    INOUE Kenji, NISHIHAMA Yusuke, SAKATA Kotaro, ARAI Tatsuo, MAE Yasushi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   23 ( 8 )   967 - 976   2005.11

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    A control method for humanoid robots of mobile manipulation is proposed. A robot autonomously generates its whole body motion and steps so as to increase arm manipulability and robot stability, while performing various manipulation tasks with its hands; that enables dexterous and stable manipulation. An objective manipulation task is given as the desired trajectories of both hands, and external forces may be applied to the hands. For carrying out this task, the hands are always controlled along their desired trajectories by impedance control. Coordinating with this motion of the hands, the robot controls its body and legs so that the hands may be easy to perform the task. It determines the next foothold by evaluating manipulabilities of both arms, direction of stable region and moving direction. An evaluation function consisting of manipulabilities of both arms and static stability of the robot is defined, and the robot steps if the new double support state is better than the current one. Both in double and single support states, the robot controls its body pose using the support leg/legs so that this evaluation function may be optimal. The swing leg is moved to the next foothold in single support state. Various motions of humanoid robot"HRP-1"by the proposed method are simulated using dynamic simulator"OpenHRP".

    DOI: 10.7210/jrsj.23.967

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  • Guidance Control of Mobile Robot Preventing Slipping of Carrying Objects Reviewed

    Y. Yazaki, T. Ikeda, M. Minami, Y. Mae

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   2005.11

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    DOI: 10.1109/IECON.2005.1569175

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  • Evaluation of Obstacle Avoidance Ability for Redundant Mobile Manipulators Reviewed

    H. Tanaka, M. Minami, Y. Mae

    The 31st Annual Conference 2005 of the IEEE Industrial Electronics Society(IECON 2005)   2005.11

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    DOI: 10.1109/IECON.2005.1569173

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  • Avoidance Ability of Redundant Mobile Manipulator during Hand Trajectory Tracking Reviewed

    M. Minami, H. Tanaka, Y. Mae

    The 5th Asian Symposium on Applied Electromagnetics and Mechanics(ASAEM 2005)   2005.10

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  • Evolutionary Recognition of Corridor and Branch using Adaptive Model with Layered Structure Reviewed

    H. Liu, J.C. Yuan, F. Gao, Y. Mae, M. Minami

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   2005.9

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  • Prediction of Fish Motion by Neural Network Reviewed

    Y. Li, Y. Takezawa, H. Suzuki, M. Minami, Y. Mae

    The 3rd International Symposium on Autonomous Minirobots for Research and Edutainment(AMiRE 2005)   2005.9

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  • Learning of Fish Movement Pattern by Neural Network Reviewed

    Yoshiteru Takezawa, Hidekazu Suzuki, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   2005.8

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  • Motion Intelligence to Adapt for Changing of Its Body Condition of Mobile Manipulator to Utilize Dynamical Interferences Reviewed

    Jingyu Gao, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   2005.8

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  • Trajectory Tracking of Redundant Manipulators Based on Avoidance Manipulability Shape Index Reviewed

    Hiroshi Tanaka, Mamoru Minam, Yasushi Mae

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   2005.8

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    DOI: 10.1109/IROS.2005.1545253

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  • Evolutionary Head Pose Measurement by Stereo Model Matching Reviewed

    Wei Song, Mamoru Minami, Yasushi Mae

    SICE Annual Conference 2005 in Okayama PROCEEDINGS   2005.8

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  • Direct Force and Position Control Using Kinematics and Dynamics of Manipulators in Constrained Motion Reviewed

    Takeshi Ikeda, Mamoru Minam, Yasushi Mae

    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2005)   2005.8

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    DOI: 10.1109/IROS.2005.1545359

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  • Workspace Analysis of Parallel Mechanism with Adjustable Link Parameters Reviewed

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Tomohito TAKUBO, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 12th International Conference on Advanced Robotics   2005.7

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    DOI: 10.1109/ICAR.2005.1507413

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  • Development of Integrated Visual Haptic Display Using Translucent Flexible Sheet Reviewed

    Journal of Robotics and Mechatronics   2005.6

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    DOI: 10.20965/jrm.2005.p0302

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  • Obstacle Avoidance of Redundant Manipulator Using Potential and AMSI Reviewed

    K.Ikeda M.Minami, Y.Mae, H.Tanaka

    International Conference on Control, Automation, and Systems(ICCAS 2005)   2005.6

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  • Generation of Adaptive Motion Using Quasi-simultaneous Recognition of Plural Targets Reviewed

    T.Mizushima, M.Minami, Y.Mae, Y.Sakamoto, W.Song

    International Conference on Control, Automation, and Systems(ICCAS 2005)   2005.6

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  • Design of Search Balls with Wide Field of View for Searching Inside of Rubble Reviewed

    Kenji Inoue, Masato Yamamoto, Yasushi Mae, Tomohito Takubo, Tatsuo Arai

    Proceedings of the 2005 IEEE International Workshop on Safety, Security and Rescue Robotics   2005.6

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    DOI: 10.1109/SSRR.2005.1501242

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  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm- Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

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  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm- Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

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  • Identification and Localization of Buried Metal Object - High-Speed Matching using Genetic Algorithm- Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

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  • Evolutionary Pose Measurement by Stereo Model Matching Reviewed

    Wei Song, Yasushi Mae, Mamoru Minami

    Journal of Advanced Computational Intelligence and Intelligent Informatics(JACIII)   2005.3

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  • Person Identification by Color Pattern Acquired in Visual Tracking Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

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  • Person Identification by Color Pattern Acquired in Visual Tracking Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

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  • Person Identification by Color Pattern Acquired in Visual Tracking Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2nd International Symposium on Systems and Human Science (SSR2005)   2005.3

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  • Proposal of Wheelchair User Support System Using Humanoid Robots for Creating SSR Society Reviewed

    Kotaro Sakata, Kenji Inoue, Tomohito Takubo, Tatsuo Arai, Yasushi Mae

    Systems and Human Science - for Safety, Security and Dependability -   2005.2

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    DOI: 10.1016/B978-044451813-2/50029-4

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  • Calibration Method with Simplified Measurement for Parallel Mechanism

    Transactions of the Japan Society of Mechanical Engineers   2005.1

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    DOI: 10.1299/kikaic.71.206

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  • Pose Estimation of Objects using Multiple ID Devices

    UMETANI Tomohiro, MAE Yasushi, INOUE Kenji, ARAI Tatsuo, YAGI Jun-ichi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   23(1) 84-94 ( 1 )   84 - 94   2005.1

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    This paper proposes a method of pose (position and orientation) estimation of objects using multiple ID devices attached to each object for autonomous robots. The object pose is estimated from geometrical relation between poses of the devices attached to the object and the reading poses of the reader. It is required the poses of at least two ID devices in different orientations. We propose a method of precise localization of the ID device even when the ID reader has the volume of communication area. We show the feasibility of our proposed method through the pose estimation experiment.

    DOI: 10.7210/jrsj.23.84

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  • Head detection and tracking for monitoring human behaviors Reviewed

    Y Mae, N Sasao, Y Sakaguchi, K Inoue, T Arai

    SYSTEMS AND HUMAN SCIENCE - FOR SAFETY, SECURITY AND DEPENDABILITY   477 - +   2005

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    This chapter describes a mobile manipulator for monitoring and support of human activity in home and office to maintain security. The mobile manipulator is equipped with cameras at the end of an arm. The camera pose can be changed flexibly for monitoring by controlling both mobile platform and manipulator. The trajectory of a person's head is detected for recognizing his/her behaviors.

    DOI: 10.1016/B978-044451813-2/50037-3

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  • Limb-mechanism robot with winch mechanism Reviewed

    N Fujiki, Y Mae, T Umetani, T Arai, T Takubo, K Inoue

    CLIMBING AND WALKING ROBOTS   305 - 312   2005

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    The present paper describes a legged robot equipped with an omni-directional winch mechanism to climb up and down steep inclines. A small and omnidirectional winch mechanism is developed for robots moving in rubble environments. The wire of the winch mechanism can pull a robot on steep inclines. The developed winch mechanism has a guide which can reel up and release a wire in all directions. A legged robot with the developed winch mechanism can move in all directions on steep inclines without changing the direction of the robot. In addition, we propose an idea of using one limb of the robot as a guide for the wire. The method improves flexibility of the robot moving on steep inclines. We show feasibility of our proposed idea through the experiments.

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  • 'Search balls': sensor units for searching inside rubble Reviewed

    K Inoue, M Yamamoto, Y Mae, T Takubo, T Arai

    ADVANCED ROBOTICS   19 ( 8 )   861 - 878   2005

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    'Search balls' for searching inside rubble are proposed. A search ball is a small sensor unit which contains some sensors for searching for disaster victims, such as cameras and microphones, and a radio transceiver; it does not have actuators. Many balls are thrown into rubble and fall down while repeatedly colliding; they are scattered inside the rubble. The sensor information from the balls is transmitted by radio from the rubble and monitored at a safe area. In this way, rescuers can search a wide area inside the rubble rapidly. In the present paper, an impact-resistant ball structure is proposed: sensors, an electronic circuit, a radio transceiver and a battery are wrapped up in cushion material and packed into an impact-resistant outer shell. As a method of distributing balls inside rubble, the effect of the ball shape is discussed. The influence of ball shape and size on the distribution of balls inside rubble is experimentally evaluated using miniature rubble. One-to-one communication between balls and external computers for identifying the balls and acquiring the sensor information from them is discussed. Then a sphere-type search ball is developed: it contains three wireless cameras, IR LEDs, a radio receiver and a battery. The impact resistance of this ball is evaluated by experiments. Using a realistic model of rubble, it is experimentally verified that the external computer can send commands to the ball inside this rubble and the video signal from the ball can be transmitted out.

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  • Link Length Control using Dynamics for Parallel Mechanism with Adjustable Link Parameters Reviewed

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Tomohito TAKUBO, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 5th International Conderence on Machine Automation (ICMA2004)   2004.11

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  • Detection of Dynamic Obstacles for Building 3D Map using Human Action Recognition Reviewed

    Yukinobu SAKAGUCHI, Yasushi MAE, Tomohiro UMETANI, Naoki SASAO, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the Fourth International Symposium on Human and Artificial Intelligence Systems (HART2004)   2004.11

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  • Design of Multi Sensor Units for Searching Inside of Rubble Reviewed

    Kenji INOUE, Masato YAMAMOTO, Tomohito TAKUBO, Yasushi MAE, Tatsuo ARAI

    Proceedings of the 5th International Conderence on Machine Automation (ICMA2004)   2004.11

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  • Pose Measurement of 3-D Object Using Model-based Matching in Stereo Image Reviewed

    Wei SONG, Yasushi MAE, Mamoru MINAMI

    The 5th International Conference on Machine Automation(ICMA 2004)   2004.11

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  • Finding and Quantitative Evaluation of Minute Flaws on Metal Surface Using Hairline Reviewed

    Jianing Zhu, Yasuhi Mae, Mamoru Minami

    The 30th Annual Conference of the IEEE Industrial Electronics Society (IECON 2004)   2004.11

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  • Integrated Visual and Haptic Display Using Translucent and Flexible Sheet Reviewed

    Kenji Inoue, Reiko Uesugi, Ryouhei Sasama, Tatsuo Arai, Yasushi Mae

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

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  • Mobile Manipulation of Humanoid Robots-Control Method for CoM Position with External Force- Reviewed

    Tomohito Takubo, Kenji Inoue, Kotaro Sakata, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

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  • Marionette System for Operating and Displaying Robot Whole-Body Motion-Development of Similar Humanoid-Type Reviewed

    Tomohito Takubo, Kazutoshi Nishii, Kenji Inoue, Yasushi Mae, Tatsuo Arai

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

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  • Identification of Partially-Exposed Metal Object Reviewed

    Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho

    Proceedings of the 21st International Symposium on Automation and Robotics in Construction   2004.9

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  • Building 3D Map for Localization using Human Actio Reviewed

    Yukinobu SAKAGUCHI, Yasushi MAE, Naoki SASAO, Tomohito TAKUBO, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004.9

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  • 3D Map Building using Human Action by Moving Three-camera Unit Reviewed

    Yukinobu Sakaguchi, Yasushi Mae, Naoki Sasao, Tomohito Takubo, Kenji Inoue, Tatsuo Arai

    SICE Annual Conference 2004   2004.8

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  • Wheelchair User Support System Using Humanoid Robots -System Concept and Experiments on Pushing Wheelchair Reviewed

    Kotarou Sakata, Kenji Inoue, Tomohito Takubo, Tatsuo Arai, Yasushi Mae

    SICE Annual Conference 2004   2004.8

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  • Real-time Visual Person Tracking by Evolutionary Recognition Reviewed

    Yasushi Mae, Zianing Zhu, Mamoru Minami

    Journal of Machine Intelligence and Robotic Control   2004.6

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  • Omni-Directional Locomotion of Robots with Limb Mechanism

    Yasushi Mae, Yuuya Takahashi, Tatsuo Arai, Kenji Inoue, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.22, no.3, pp.329-335   22(3) 329-335 ( 3 )   329 - 335   2004.4

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    A new working robot has been designed and built on the basis of the concept"Limb Mechanism"that integrates functions of legged locomotion and arm manipulation. As one of feasible structures of the limb mechanism a six-limbed mechanism will be analyzed and evaluated in the aspects of omni-directional mobility. To evaluate the omni-directional mobility, a stroke and a stability margin are examined in all walking directions during six-legged and four-legged locomotion. The paper introduces two types of structures: radial and parallel arrangement of legs, and compares their stroke and stability in all directions during six-legged locomotion. The radial arrangement model will be proved to have the omni-directional mobility even in four-legged locomotion. Based on this evaluation the proto-type robot is designed and built. The developed robot has radially arranged six limbs that can be used for both locomotion and manipulation.

    DOI: 10.7210/jrsj.22.329

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  • Omni-Directional Gait of Multi-Legged Rescue Robot Reviewed

    Kenji KAMIKAWA, Tatauo ARAI, Kenji INOUE, Yasushi MAE

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004.4

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  • Evaluation of Human Sense of Security for Coexisting Robots using Virtual Reality -1st report Reviewed

    Seri NONAKA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2004 IEEE International Conference on Robotics and Automation ICRA2004   2004.4

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  • Self-Assisted Care System for Human Mobility Reviewed

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Robotics and Mechatronics   2004.1

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    DOI: 10.20965/jrm.2004.p0464

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  • Parallel Mechanism with Adjustable Link Parameters Reviewed

    Tatsuo Arai, Yoshihiko Koseki, Kazunari Takayama, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.22, no.1, pp.140-147   22 ( 1 )   140 - 147   2004.1

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    This paper proposed an adjustable parallel mechanism, which can change its workspace by change of link parameters. Firstly, adjustable parameters and adjusting methods are classified and discussed. Secondly, the workspace of HEXA type with adjustable middle links is numerically analyzed. The mechanism is changed translationally and rotationally and the volumes and centroids of its translational and rotational workspace are compared. The analyses conclude that adjusted mechanism is superior to non-adjusted mechanism in terms of workspace. Finally, a prototype of an adjustable 5-bar-link mechanism is introduced for an instance of simple adjustable parallel mechanism.

    DOI: 10.7210/jrsj.22.140

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  • Psychological evaluation on shape and motions of real humanoid robot Reviewed

    K Sakata, T Takubo, K Inoue, S Nonaka, Y Mae, T Arai

    RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   29 - 34   2004

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    For realizing humanoid robots coexist with humans, it is important to evaluate on shape and motions of a real humanoid robot. This paper compares impressions given by the humanoid robot HRP-2 and the mobile manipulator based on psychological methods. We also evaluated the influence of pick and place motion of the humanoid robot to human sense of security. As a result of analysing the questionnaire, it is found that turning the body coordinating with the arm gives good impression on humans. It will be an effect of human-like motion of humanoid robots.

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  • See-through Sheet Visual Display for Haptic Device Using Flexible Sheet Reviewed

    Reiko UESUGI, Kenji INOUE, Ryouhei SASAMA, Tatsuo ARAI, Yasushi MAE

    13th International Conference on Artificial Reality and Telexistence ICAT2003   2003.12

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  • Head Detection and Tracking for Monitoring Human Behsviors Reviewed

    Yasushi MAE, Naoki SASAO, Yukinobu SAKAGUCHI, Kenji INOUE, Tatsuo ARAI

    Proceedings of the First International Symposium on Systems & Human Science, pp.239-244   2003.11

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  • Proposal of Wheelchair Support System Using Humanoid Robots for Creating SSR Society Reviewed

    Kotaro SAKATA, Kenji INOUE, Tomohito TAKUBO, Tatsuo ARAI, Yasushi MAE

    Proceedings of the First International Symposium on Systems & Human Science, pp.53-58   2003.11

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  • Search for Survivors by Locomotive Working Robots in Rescue Operations Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Atsushi Yoshida, Kunio Miyawaki, Hironori Adachi

    International Journal of Robotics and Automation   2003.10

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  • Display of Variable Compliance by Haptic Devices Using Flexible Sheet Reviewed

    Kenji Inoue, Reiko Uesugi, Ryohei Sasama, Tatsuo Arai, Yasushi Mae

    Transactions of the Virtual Reality Society of Japan, vol.8, no.3, pp.295-302, 2003.   8 ( 3 )   295 - 302   2003.9

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    A new haptic device using flexible sheet such as rubber is proposed. Controlling the bias tension of the sheet, the device varies compliance of the sheet in the normal direction; users can feel compliance of various virtual objects if they touch the sheet. The device is suitable for displaying soft objects. An elastic plane model offlexible sheet is analyzed by FEM. A prototype device using a square rubber sheet is developed. This device controls the bias tension of the sheet by pulling its four corners with four motors. The normal force applied to the center of the sheet and the normal displacement at this point are measured, and the obtained force-displacement curves of three kinds of sheet-urethane, chloroprene rubber and low elastic rubber-are compared. The results show that the developed device can generate different compliance by changing the bias tension. The compliance of human palm is measured and simulated by the device.

    DOI: 10.18974/tvrsj.8.3_295

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  • Automated Handling of Construction Components Based on Parts and Packets Unification Reviewed

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Jun-ichi YAGI

    Proceedings of the 20th International Symposium on Automation and Robotics in Construction, pp.339-344   2003.9

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  • Person Detection by Mobile-Manipulator for Monitoring Reviewed

    Yasushi Mae, Naoki Sasao, Kenji Inoue, Tatsuo Arai

    SICE Annual Conference 2003   2003.8

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  • Development of the Basic Structure for an Exoskeleton Cyborg System Reviewed

    Teruhisa ONISHI, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Journal of Aritificial Life and Robotics, vol.7, pp.95-101   2003.7

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    DOI: 10.1007/BF02481155

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  • Shape Adaptation of Planar Hyper-redundant Manipulators to Narrow and Unknown Environment using Proximity Sensors Reviewed

    Hiroyuki TANI, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 11th International Conference on Advanced Robotics (ICAR 2003), pp.482-487   2003.7

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  • Sensor-based walking on rough terrain for legged robots Reviewed

    Yasushi Mae, Tatsuhi Mure, Kenji Inoue, Tatsuo Arai, Noriho Koyachi

    Preprints of the 4th International Conference on Field and Service Robotics, pp.127-132   2003.7

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  • Tension Control and Force Estimation for Hybrid Drive Parallel Arm Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Proceedings of the 11th Mediterranean Conference on Control and Automation, IV11-04   2003.6

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  • Tension Control and Force Estimation of Hybrid Drive Parallel Arm Reviewed

    Yasushi Mae, Tatsuo Arai, Hirofumi Kamishima, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.21, no.4, pp.436-443   21 ( 4 )   436 - 443   2003.5

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    A hybrid drive parallel arm with 3 cylinders and 4 wires has been developed for manipulating heavy materials. This paper discusses the estimation of various data of handling object and external force at handling object using only 4 tension sensor output. The developed hybrid arm is a kind of actuation-redundant mechanism and its internal force can be freely controlled. The proposed algorithm will compensate the internal force and estimate various data by exploiting 4 tension sensor output obtained at several arm positions. The paper introduces the hybrid parallel arm and the tension sensor. Then, a control method of the arm using tension information is described. Finally, an estimation method of gravity center and mass of an unknown handling object, and external force estimation are explained. The basic experiments using the prototype arm are presented with effective reasonable results.

    DOI: 10.7210/jrsj.21.436

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  • Locomotive Working Robots in Rescue Operations Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Atsushi Yoshida, Kunio Miyawaki, Hironori Adachi

    International Journal of ROBOTICS & AUTOMATION, ACTA Press   2003.4

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  • Development of Haptic Device Using Flexible Sheet Reviewed

    Kenji Inoue, Reiko Uesugi, Tatsuo Arai, Yasushi Mae

    Journal of Robotics and Mechatronics, vol.15, no.2, pp.121-127, 2003.   15 ( 2 )   121 - 127   2003.4

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  • Automated micro handling Reviewed

    A Suzuki, T Arai, Y Mae, K Inoue, T Tanikawa

    2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS   348 - 353   2003

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    Biotechnologies demand high quality micro robotics including micromanipulation, micro machining, micro assembling, and other required micro operations. Most of them are done manually under microscope, and it might be an obstacle to increasing the efficiency of the operation. The automated micromanipulation (or auto-micromanipulation) system will be useful for reducing human tasks and improving the efficiency. We develop an auto-micromanipulation system including auto-calibration and auto-handling. Auto-calibration requires recognition of fingertip position in three-dimensional space. The fingertip position is detected by the combination of the one-dimensional search in depth using auto-focusing and the two-dimensional search in the focused plane using the correlation matching. The color information processing is adopted for the auto-focusing. Using the calibrated micromanipulator, we achieved some micro tasks, picking up, rotating and so on. We developed an auto-micromanipulation system that can recognize and pick up a micro object automatically. The experimental results show the efficiency of our system.

    DOI: 10.1109/CIRA.2003.1222114

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  • Translucent view for robot tele-operation Reviewed

    H Tatsumi, Y Mae, T Arai, K Inoue

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   7 - 12   2003

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    This paper proposes a presentation method of translucent view of occluding objects in working environment for robot tele-operation. Though vision is important and useful for tele-operators to obtain working environmental information, target objects in performing tasks, especially in manipulation tasks, may be occluded by the body or the robot arm. If the operators can see the target objects through the occluding objects, tele-operation using vision becomes easier. The translucent view is generated from the cameras on the robot and/or around the robot's working environment. The translucent view is applicable in a presentation method, Object-centered View (OV), where a target object in performing tasks is always centered at the view. Tele-operators can perform tasks efficiently using translucent view in the object-centered view.

    DOI: 10.1109/ROMAN.2003.1251768

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  • Mobile manipulation of humanoid robots - Control method for accurate manipulation Reviewed

    Y Nishihama, K Inoue, T Arai, Y Mae

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4   1914 - 1919   2003

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    A control method for humanoid robots of mobile manipulation is proposed: this method allows accurate manipulation using hands, even when the robots move around. A robot controls its body pose and steps so that manipulabilities of both arms and robot stability can increase, coordinating with the motion of both hands for performing objective tasks. Because of the vibration caused by the impact of foot landing and the slip of the feet, the accuracy of hand positions and robot stability decrease. For this problem, the robot measures real hand positions and body orientation with its camera and gyroscope. Then the hand position errors are transformed to correcting joint angles of the arms using arm Jacobian matrices. Adding the calculated joint angles to the desired joint angles of the arms, the arms can compensate the hand positions. New desired joint angles of the legs are calculated by inverse kinematics from real foot positions and desired shoulder position. Adding the correcting joint angles to the desired joint angles of the legs, the legs can compensate the shoulder position, thus increasing robot stability. The effectiveness of the proposed method is ascertained by simulation.

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  • Shape adaptation of planar hyper-redundant manipulators to narrow and unknown environment using proximity sensors Reviewed

    H Tani, K Inoue, T Arai, Y Mae

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   482 - 487   2003

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    A control method for planar hyper-redundant manipulators of shape adaptation to narrow and unknown environment using proximity sensors is proposed. A manipulator consists of serially connected joint units. Each unit is a serial chain of 2 rotational joints, and only neighboring units communicate with each other. Each unit detects an obstacle using its local proximity sensors and autonomously moves along the obstacle with a certain distance away from it; thus the manipulator bends, expands and contracts along the shape of unknown environment. The manipulator can move into/out of long and narrow space only by guiding its end-effector. The experimental planar manipulator with proximity sensors can adapt its shape to narrow and unknown environment by the proposed method.

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  • Calibration met-hod by simplified measurement for parallel mechanism Reviewed

    W Tanaka, T Arai, K Inoue, Y Mae, CS Park, Y Koseki

    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3   1781 - 1786   2003

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    This paper discusses a simplified calibration method for parallel mechanism. Since it is difficult to measure full 6 degree of freedom of the end plate accurately, especially orientation, the simplified measurement for calibration is discussed. First, the condition of orientation measurements on the calibration is investigated. The simplified calibration method which uses as less orientation measurement as possible is proposed. The simulation results show the feasibility of the proposed method.

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  • Development of a Welfare Work Support System Using a Chair-desk Reviewed

    Teruhisa Onishi, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Proceedings of the 6th International Conference on Mechatronics Technology (ICMT2002), pp.379-384   2002.11

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  • Development of Basic Structure for Exoskeleton Cyborg System Reviewed

    Teruhisa Onishi, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Proceedings of the 7th International Symposium on Artifical Life and Robotics (AROB 7th), pp.209-214   2002.11

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  • Sensor -based walking of limb mechanism on rough terrain Reviewed

    Tatsuhi Mure, Kenji Inoue, Yasushi Mae, Tatsuo Arai, Noriho Koyachi

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.479-486   2002.9

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  • Search task by limb mechanism robot with infrared sensors and cameras

    Kazuo Kita, Yasushi Mae, Tatsuo Arai, Kenji Inoue, Kunio Miyawaki

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.241-246   2002.9

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  • Search task by limb mechanism robot with infrared sensors and cameras Reviewed

    Kazuo Kita, Yasushi Mae, Tatsuo Arai, Kenji Inoue, Kunio Miyawaki

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.241-246   2002.9

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  • Parts and Packets Unification for Construction Automation and Robots Reviewed

    Tomohiro UMETANI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Jun-ichiro MAEDA

    Proceedings of 19th International Symposium on Automation and Robotics in Construction, pp.311-316   2002.9

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  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning Reviewed

    Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Tatsuhiko NISHIDA

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.271-278   2002.9

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  • Automated Calibration for Micro Hand Using Visual Information

    Tatsuo ARAI, Akihiro SUZUKI, Yosuke KATO, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, pp.293-298   2002.9

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  • Evaluation of omni-directional mobility of multi-legged robots based on error analysis of dead reckoning

    Yasushi MAE, Kenji INOUE, Tatsuo ARAI, Tatsuhiko NISHIDA

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.271-278   2002.9

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  • Parts and Packets Unification for Construction Automation and Robots

    Tomohiro UMETANI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Jun-ichiro MAEDA

    Proceedings of 19th International Symposium on Automation and Robotics in Construction, pp.311-316   2002.9

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  • Adaptive Relocation of Environment-Attached Storage Devices for Knowledge-Sharing among Autonomous Robots

    Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Journal of the Robotics Society of Japan, vol.20, no.6, pp.631-639   20 ( 6 )   631 - 639   2002.9

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  • Automated Calibration for Micro Hand Using Visual Information Reviewed

    Tatsuo ARAI, Akihiro SUZUKI, Yosuke KATO, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, pp.293-298   2002.9

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  • Adaptive Relocation of Environment-Attached Storage Devices for Knowledge-Sharing among Autonomous Robots Reviewed

    Tomohiro Umetani, Yasushi Mae, Kenji Inoue, Tatsuo Arai

    Journal of the Robotics Society of Japan, vol.20, no.6, pp.631-639   20 ( 6 )   631 - 639   2002.9

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  • Sensor -based walking of limb mechanism on rough terrain

    Tatsuhi Mure, Kenji Inoue, Yasushi Mae, Tatsuo Arai, Noriho Koyachi

    Proceedings of 5th International Conference on Climbing and Walking Robots, pp.479-486   2002.9

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  • Fundamental Study on Human Support System Using Humanoid Robots for Creating SSR Society Reviewed

    Kenji Inoue, Tatsuo Arai, Yasushi Mae, Yusuke Nishihama

    Proceedings of SICE Annual Conference 2002   2002.8

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  • Design of Limb Mechanism Robot for Dual Arm Manipulation

    Kenji INOUE, Tatsuo ARAI, Kazuo KITA, Yasushi MAE

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation, pp.1121-1126   2002.7

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  • Design of Limb Mechanism Robot for Dual Arm Manipulation Reviewed

    Kenji INOUE, Tatsuo ARAI, Kazuo KITA, Yasushi MAE

    Proceedings of 2002 Japan-USA Symposium on Flexible Automation, pp.1121-1126   2002.7

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  • Simplified Kinematic Calibration for a Class of Parallel Mechanism

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.483-488   2002.5

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  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics- Reviewed

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2271-2276   2002.5

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  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation- Reviewed

    Kenji INOUE, Yusuke NISHIHAMA, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2259-2264   2002.5

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  • Mobile Manipulation of Humanoid Robots -Optimal Posture for Generating Large Force Based on Statics-

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2271-2276   2002.5

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  • Mobile Manipulation of Humanoid Robots -Body and Leg Control for Dual Arm Manipulation-

    Kenji INOUE, Yusuke NISHIHAMA, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.2259-2264   2002.5

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  • Simplified Kinematic Calibration for a Class of Parallel Mechanism Reviewed

    Wataru TANAKA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK

    Proceedings of the 2002 IEEE International Conference on Robotics and Automation (2002 IEEE ICRA), pp.483-488   2002.5

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  • Error Analysis of Multilegged Robots for Dead Reckoning Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.170-176   2002.4

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  • Vision System for Micromanipulation

    Yousuke Katoh, Tatsuo Arai, Kenji Inoue, Yasushi Mae, Tamio Tanikawa

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.203-209   2002.4

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  • Error Analysis of Multilegged Robots for Dead Reckoning

    Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.170-176   2002.4

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  • Vision System for Micromanipulation Reviewed

    Yousuke Katoh, Tatsuo Arai, Kenji Inoue, Yasushi Mae, Tamio Tanikawa

    Journal of Robotics and Mechatronics, vol.14, no.2, pp.203-209   2002.4

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  • A Hybrid Drive Parallel Arm for Heavy Material Handling

    Tatsuo Arai, Kei Yuasa, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    IEEE Robotics Automation Magazine, vol.9, no.1, pp.45-54   2002.3

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    DOI: 10.1109/100.993154

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  • A Hybrid Drive Parallel Arm for Heavy Material Handling Reviewed

    Tatsuo Arai, Kei Yuasa, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    IEEE Robotics Automation Magazine, vol.9, no.1, pp.45-54   2002.3

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    DOI: 10.1109/100.993154

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  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction Reviewed

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of the fifth Asian Conference on Computer Vision, pp.545-551   2002.1

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  • Acquisition and Accumulation of Object Appearances using Successive Eigenspace Construction

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of the fifth Asian Conference on Computer Vision, pp.545-551   2002.1

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  • Application of a 'limb mechanism' robot to rescue tasks Reviewed

    Y Mae, T Arai, K Inoue, K Miyawaki

    ADVANCED ROBOTICS   16 ( 6 )   529 - 532   2002

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    DOI: 10.1163/156855302320535890

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  • Application of a 'limb mechanism' robot to rescue tasks

    Y Mae, T Arai, K Inoue, K Miyawaki

    ADVANCED ROBOTICS   16 ( 6 )   529 - 532   2002

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    DOI: 10.1163/156855302320535890

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  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation

    Kentaro KATO, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01), pp.422-427   2001.12

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  • Cooperative Control and Force Limitation for Multiple Robots in Single Object Transportation Reviewed

    Kentaro KATO, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of The 27th Annual Conference of the IEEE Industrial Electronics Society (IECON'01), pp.422-427   2001.12

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  • Tension Control and Its Application for Hybrid Drive Parallel Arm

    Hirofumi KAMISHIMA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Kunio MIYAWAKI, Noriho KOYACHI

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.127-132   2001.10

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  • Error Analysis of Dead Reckoning of Multi-Legged Robots Reviewed

    Yasushi MAE, Toru MASUDA, Tatsuo ARAI, Kenji INOUE

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, pp.1558-1563   2001.10

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  • Auto Focusing and Tracking for Micro Manipulation Reviewed

    Yousuke KATOH, Tatuo ARAI, Kenji INOUE, Yasushi MAE, Tamio TANIKAWA

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.349-354   2001.10

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  • Error Analysis of Dead Reckoning of Multi-Legged Robots

    Yasushi MAE, Toru MASUDA, Tatsuo ARAI, Kenji INOUE

    Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, pp.1558-1563   2001.10

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  • Auto Focusing and Tracking for Micro Manipulation

    Yousuke KATOH, Tatuo ARAI, Kenji INOUE, Yasushi MAE, Tamio TANIKAWA

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.349-354   2001.10

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  • Tension Control and Its Application for Hybrid Drive Parallel Arm Reviewed

    Hirofumi KAMISHIMA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Kunio MIYAWAKI, Noriho KOYACHI

    Proceedings of 5th France-Japanese Congress & 3rd European-Asian Congress on Mechatronics (Mechatronics '01), pp.127-132   2001.10

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  • Omni-Directional Mobility of Limb Mechanism Robot Reviewed

    Tatsuo Arai, Yuuya Takahashi, Heditoshi Maeda, Kenji Inoue, Yasushi Mae

    Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR), pp.635-642   2001.9

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  • Omni-Directional Mobility of Limb Mechanism Robot

    Tatsuo Arai, Yuuya Takahashi, Heditoshi Maeda, Kenji Inoue, Yasushi Mae

    Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR), pp.635-642   2001.9

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  • View Controls in Environment Presentation for Robot Tele-operation

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Ikunosuke Kurosaki

    Proceedings of 10th IEEE International Workshop on Robot and Human Interactive Communication(ROMAN), pp.333-337   2001.9

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  • View Controls in Environment Presentation for Robot Tele-operation Reviewed

    Yasushi Mae, Tatsuo Arai, Kenji Inoue, Ikunosuke Kurosaki

    Proceedings of 10th IEEE International Workshop on Robot and Human Interactive Communication(ROMAN), pp.333-337   2001.9

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  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.171-176   2001.7

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  • Mobile Manipulation of Humanoid Robots -Analysis of the Required Function of Legs in Mobile Manipulation-

    Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.5, pp.660-666   19 ( 5 )   660 - 666   2001.7

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    DOI: 10.7210/jrsj.19.660

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  • Adaptive Relocation of Environment-Attached Storage Devices for Effective Knowledge-Sharing among Multiple Robots Reviewed

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.171-176   2001.7

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  • Mobile Manipulation of Humanoid Robots -Analysis of the Required Function of Legs in Mobile Manipulation- Reviewed

    Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.5, pp.660-666   19 ( 5 )   660 - 666   2001.7

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    DOI: 10.7210/jrsj.19.660

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  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control-

    Keniji Inoue, Tatsuo Arai, Yasushi Mae, Yuuya Takahashi, Haruyuki Yoshida, Noriho Koyachi

    Preprints of IFAC Workshop on Mobile Robot Technology, pp.104-109   2001.5

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  • Mobile Manipulation of Limbed Robots -Proposal on Mechanism and Control- Reviewed

    Keniji Inoue, Tatsuo Arai, Yasushi Mae, Yuuya Takahashi, Haruyuki Yoshida, Noriho Koyachi

    Preprints of IFAC Workshop on Mobile Robot Technology, pp.104-109   2001.5

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  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots Reviewed

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2998-3003   2001.5

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  • Adaptive Relocation of Environment-Attached Storage Devices by Multiple Robots

    Tomohiro UMETANI, Yasushi MAE, Kenji INOUE, Tatsuo ARAI

    Proceedings of the 2001 IEEE International Conference on Robotics and Automation, pp.2998-3003   2001.5

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  • Distributed Control of Hyper-redundant Manipulator with Expantion and Contraction Motion (Position Control and Application to Planar Manipulator)

    Kenji Inoue, Akinobu Okuda, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.2, pp.197-206   19 ( 2 )   49 - 58   2001.3

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    DOI: 10.7210/jrsj.19.197

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  • Distributed Control of Hyper-redundant Manipulator with Expantion and Contraction Motion (Position Control and Application to Planar Manipulator) Reviewed

    Kenji Inoue, Akinobu Okuda, Tatsuo Arai, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.19, no.2, pp.197-206   19 ( 2 )   49 - 58   2001.3

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    A distributed control method for hyper-redundant manipulators is proposed, aiming at applying to complicated and unknown or dynamic environment. A manipulator consists of serially connected joint units, and each unit has the same degrees of freedom as dimension of task space. The proposed method is highly distributed: each unit is controlled by one controller, only neighboring units communicate with each other, and each unit does not have to obtain information from far units. The method is multiple point control: not only the end-effector but also several units can converge to their own desired positions stably. Thus the manipulator can avoid obstacles only if the units which detect the obstacles with their own proximity sensors set their desired positions far from the obstacles. The manipulator makes expansion and contraction motion; it can move into/out of long and narrow space like pipes. All units are controlled so that their displacements may be equal. Hence they have the same and maximum displacement margin. The dynamics of the end-effector is not influenced by the motion of units; that is important for doing tasks with the end-effector. The proposed method is applied to a planar hyper-redundant manipulator with rotational joints, and the effectiveness and usefulness of the method are ascertained by computer simulations and experiments.

    DOI: 10.7210/jrsj.19.197

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  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji Inoue, Akinobu Okuda, Hiroyuki Tani, Tatsuo Arai, Yasushi Mae

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.315-320   2001.1

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  • Dead Reckoning of Multi-legged Robot -Error Analysis- Reviewed

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.351-356   2001.1

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  • Dead Reckoning of Multi-legged Robot -Error Analysis-

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.351-356   2001.1

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  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji Inoue, Akinobu Okuda, Hiroyuki Tani, Tatsuo Arai, Yasushi Mae

    Human Friendly Mechatronics, Selected Papers of the International Conference on Machine Automation ICMA2000, pp.315-320   2001.1

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  • Mobile manipulation of humanoid robots - A method of adjusting leg motion for improvement of arm's manipulability

    H Yoshida, K Inoue, T Arai, Y Mae

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   266 - 271   2001

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    A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered arm's manipulation, is proposed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function expressed by the sum of them. Step length and timing of step motion are determined so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.

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  • F-1219 Cooperation of Visual and Microhand for Micro-Nano Tasks

    KATOH Yousuke, ARAI Tatsuo, MAE Yasushi, INOUE Kenji, Tanikawa Tamio

    The proceedings of the JSME annual meeting   1   189 - 190   2001

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    A dexterous micromanipulation system was developed for applications such as assembling micro machines, manipulating cells and microbes, microsurgery. By old research, it turns out that there are various problems. The major problem is its weak visual feedback due to the limited focusing range in a microscope. High magnification, like 500 to 1000 times, is required to observe micrometer order scale objects where the focusing range is limited to only a few micrometer. Thus, it is very difficult to keep the hand tip and/or objects in its focusing scope, and consequently an operator feels difficulty even in simple tasks. There might be some ways to cope with this problem including an auto focusing or wide focusing techniques. The paper will discus an auto focusing technique based on microscope vision data.

    DOI: 10.1299/jsmemecjo.IV.01.1.0_189

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  • Mobile manipulation of humanoid robots - A method of adjusting leg motion for improvement of arm's manipulability Reviewed

    H Yoshida, K Inoue, T Arai, Y Mae

    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II   266 - 271   2001

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    A control method of mobile manipulation for a humanoid robot, mobile manipulation means the integrated motion centered arm's manipulation, is proposed. This method makes the arms carry out the manipulation, and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly, the arm tips always follow their desired position under the condition with external force by impedance control. Secondly, the shoulder is controlled so that manipulability and stability can be improved. Moreover, we define three functions; they are an average of manipulability measure, and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the values of them at every moment, because manipulability and stability vary with robot motion. Then, we define total evaluation function expressed by the sum of them. Step length and timing of step motion are determined so that the function can be optimized. The effectiveness of the proposed method is ascertained through the computer simulations.

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  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility Reviewed

    Yuuya TAKAHASHI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Noriho KOYACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2012-2017   2000.10

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  • Parallel Mechanisms with Adjustable Link Parameters Reviewed

    Tatsuo ARAI, Kazunari TAKAYAMA, Kenji INOUE, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.671-676   2000.10

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  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment Reviewed

    Kenji INOUE, Yusuke TAKAO, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1137-1142   2000.10

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  • Application of Locomotive Robot to Rescue Tasks Reviewed

    Yasushi MAE, Atsushi YOSHIDA, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI, Hironori ADACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2083-2088   2000.10

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  • Application of Locomotive Robot to Rescue Tasks

    Yasushi MAE, Atsushi YOSHIDA, Tatsuo ARAI, Kenji INOUE, Kunio MIYAWAKI, Hironori ADACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2083-2088   2000.10

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  • Development of Multi-Limb Robot with Omnidirectional Manipulability and Mobility

    Yuuya TAKAHASHI, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Noriho KOYACHI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.2012-2017   2000.10

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  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1924-1929   2000.10

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  • Mobile Manipulation of Humanoid Robots: Analysis of Manipulability and Stability in Mobile Manipulation Reviewed

    Haruyuki YOSHIDA, Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1924-1929   2000.10

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  • Parallel Mechanisms with Adjustable Link Parameters

    Tatsuo ARAI, Kazunari TAKAYAMA, Kenji INOUE, Yasushi MAE, Yoshihiko KOSEKI

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.671-676   2000.10

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  • Presentation of Push Button Switches with Manipulators for Virtual Operating Environment

    Kenji INOUE, Yusuke TAKAO, Tatsuo ARAI, Yasushi MAE

    Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pp.1137-1142   2000.10

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  • Dead Reckoning of Multi-legged Robot

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.427-432   2000.9

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  • Object Recognition using Appearance Models Accumulated into Environment Reviewed

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of 15th International Conference on Pattern Recognition (ICPR-2000), pp.845-858   2000.9

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  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance Reviewed

    Kenji INOUE, Akinobu OKUDA, Hiroyuki TANI, Tatsuo ARAI, Yasushi MAE

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.315-520   2000.9

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  • Object Recognition using Appearance Models Accumulated into Environment

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Proceedings of 15th International Conference on Pattern Recognition (ICPR-2000), pp.845-858   2000.9

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  • Dead Reckoning of Multi-legged Robot Reviewed

    Toru Masuda, Yasushi Mae, Tatsuo Arai, Kenji Inoue

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.427-432   2000.9

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  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion for Obstacle Avoidance

    Kenji INOUE, Akinobu OKUDA, Hiroyuki TANI, Tatsuo ARAI, Yasushi MAE

    Proceedings of the International Conference on Machine Automation ICMA2000, pp.315-520   2000.9

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  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Intelligent Autonomous Systems 6 (IAS-6), pp.479-486   2000.7

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  • Relocation of Storage Devices Attached to Environment for Effective Knowledge Sharing among Multiple Robots Reviewed

    Yasushi MAE, Tomohiro UMETANI, Tatsuo ARAI, Kenji INOUE

    Intelligent Autonomous Systems 6 (IAS-6), pp.479-486   2000.7

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  • Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm Reviewed

    Hajime Kaneko, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.18, no.4, pp.555-560   18 ( 4 )   555 - 560   2000.5

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposes a realtime trajectory planning and control method of a robot arm for obstacle avoidance. If the distance between a link and a object are small, suggesting that a collision is about to occur, then an alternative trajectory is calculated to prevent the collision while minimizing the error in the desired (commanded) trajectory. The trajectory control algolithm that results in the form of a constrained minimization problem. Key to the trajectory modification algorithm is derivation of the Jacobian matrix relating changes in endeffector velocity to interference verocity. Simulation results demonstrate the performance of this algoritm and experimental results veryfy it's effectiveness.

    DOI: 10.7210/jrsj.18.555

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  • Real-time Obstacle Avoidance with Collision Jacobian for Robot Arm

    Hajime Kaneko, Tatsuo Arai, Kenji Inoue, Yasushi Mae

    Journal of the Robotics Society of Japan, vol.18, no.4, pp.555-560   18 ( 4 )   555 - 560   2000.5

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    This paper proposes a realtime trajectory planning and control method of a robot arm for obstacle avoidance. If the distance between a link and a object are small, suggesting that a collision is about to occur, then an alternative trajectory is calculated to prevent the collision while minimizing the error in the desired (commanded) trajectory. The trajectory control algolithm that results in the form of a constrained minimization problem. Key to the trajectory modification algorithm is derivation of the Jacobian matrix relating changes in endeffector velocity to interference verocity. Simulation results demonstrate the performance of this algoritm and experimental results veryfy it's effectiveness.

    DOI: 10.7210/jrsj.18.555

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    Other Link: https://jlc.jst.go.jp/DN/JALC/00066338437?from=CiNii

  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability

    Kenji INOUE, Haruyuki YOSHIDA, Tatsuo ARAI, Yasushi MAE

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation, pp.2217-2222   2000.4

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  • Mobile Manipulation of Humanoids: Real-Time Control Based on Manipulability and Stability Reviewed

    Kenji INOUE, Haruyuki YOSHIDA, Tatsuo ARAI, Yasushi MAE

    Proceedings of ICRA2000, IEEE International Conference on Robotics and Automation, pp.2217-2222   2000.4

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  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control)

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000, pp.314-323   2000.3

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  • Distributed Control of Hyper-redundant Manipulator with Expansion and Contraction Motion (Position Control) Reviewed

    Kenji INOUE, Tatsuo ARAI, Yasushi MAE

    Proceedings on TITech COE/Super Mechano-Systems Symposium 2000, pp.314-323   2000.3

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  • Hybrid Drive Parallel Arm for Heavy Material Handling

    Kei Yuasa, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   18 ( 1 )   102 - 109   2000.1

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    DOI: 10.7210/jrsj.18.102

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  • Hybrid Drive Parallel Arm for Heavy Material Handling Reviewed

    Kei Yuasa, Tatsuo Arai, Yasushi Mae, Kenji Inoue, Kunio Miyawaki, Noriho Koyachi

    Journal of the Robotics Society of Japan, vol.18, no.1, pp.102-109   18 ( 1 )   102 - 109   2000.1

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    DOI: 10.7210/jrsj.18.102

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  • Hybrid drive parallel arm and its motion control

    H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   516 - 521   2000

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    A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.

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  • Hybrid drive parallel arm and its motion control Reviewed

    H Kamishima, T Arai, K Yuasa, Y Mae, K Inoue, K Miyawaki, N Koyachi

    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS   516 - 521   2000

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    A hybrid cylinder/cable drive parallel arm and its motion control are discussed in this paper The basic idea of the hybrid parallel arm is to make Use Best we of mixture of the high power cable drive and the cylinder actuation to obtain a heavy-duty manipulator in construction and ship building applications. A prototype arm has been designed and built based on Use analysis and the comparative study of several types of hybrid drive mechanisms, Use Stewart platform, and a wire drive mechanism. The tension of wire has to be maintained properly in the hybrid mechanism during its motion. The proposed hybrid arm is a kind Of actuation-redundant mechanism and its internal force can be freely controlled. The proposed control algorithm is to give wires proper tension during its motion by exploiting the internal force. The required tension and cylinder force can be obtained by compensating each link position command based on its compliance. The repeatability tests show Use effectiveness of Use proposed algorithm in maintaining the overall stiffness of the arm.

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  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism

    Yoshikazu MURATA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK, Yoshihiko KOSEKI

    Proceedings of 30th International Symposium on Robotics, pp.645-650   1999.10

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  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian Reviewed

    Hajime KANEKO, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 617-622   1999.10

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  • Hybrid Drive Parallel Arm For Heavy Material Handling Reviewed

    Kei YUASA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Kunio MAYAWAKI, Noriho KOYACHI

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1234-1240   1999.10

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  • Development of 3-DOF Finger Module for Micro Manipulation Reviewed

    Yoshiki OHYA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.894-899   1999.10

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  • Extraction and Tracking of Moving Objects in 3-D Space by Multiple Plane Approximation Based on Optical Flow and Edges Reviewed

    Yasushi Mae, Yoshiaki Shirai, Jun Miura, Yoshinori Kuno

    Vol.17, No.7, pp.959-965   1999.10

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    DOI: 10.7210/jrsj.17.959

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  • Workspace Analysis of Fixed Linear Actuation Parallel Mechanism Reviewed

    Yoshikazu MURATA, Tatsuo ARAI, Kenji INOUE, Yasushi MAE, Choong Sik PARK, Yoshihiko KOSEKI

    Proceedings of 30th International Symposium on Robotics, pp.645-650   1999.10

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  • Real-time Obstacle Avoidance for Robot Arm Using Collision Jacobian

    Hajime KANEKO, Tatsuo ARAI, Kenji INOUE, Yasushi MAE

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 617-622   1999.10

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  • Development of 3-DOF Finger Module for Micro Manipulation

    Yoshiki OHYA, Tatsuo ARAI, Yasushi MAE, Kenji INOUE, Tamio TANIKAWA

    Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.894-899   1999.10

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