Development of Arm Equipped Single Wheel Rover: Effective Arm-Posture-Based Steering Method

We have been proposing a new planetary rover system named SMC Rover. This system consists of one main body and detachable units, which can work as child rovers, and also become driving units of the main body. Each detachable unit named Uni-Rover consists of a single manipulator mounted on a wheel. Prototype models of the Uni-Rover and the SMC Rover have been already developed. This paper describes a new method of trajectory modeling for the Uni-Rover using the relation between arm posture and turning radius. At first, an intuitively recognizable model which uses zero slip angle is introduced. However, because this intuitive model has some problems, a new solution which considers the loss of friction on the wheel and on the caster is also discussed. The validity of the presented method is verified by experiments with an actual mechanical model. Moreover, an effective steering method which considers the margin of the energy stability is introduced.Kazuhiro Motomura is a Ph.D candidate at the Tokyo Institute of Technology (Tokyo Tech). In 2001 he was admitted to skip the fourth grade of the bachelor course in the Department of Mechano-Aerospace engineering at Tokyo Tech to enterthe master course in the Department of Mechanical and Aerospace Engineering at the same Institute. He received the B.E. degree in National Institution for Academic Degrees an University Evaluation in 2002, and received the M.E. degree in the Department of Mechanical and Aerospace Engineering at Tokyo Tech in 2003. He has been a research fellow of the Japan Society for the Promotion of Science from 2004. He awarded the Incentive Award for the presentation in the 17th RSJ Annual Conference in 2001, and the Finalists for the Best Video Award in the IEEE International Conference on Robotics and Automation in 2003. His research interests include design of robotic mechanisms and control of mobile robots. He studies about the development of planetary rovers.Atsushi Kawakami awarded the chance to skip fourth gradein the bachelor course of Department of Mechano-Aerospace engineering in Tokyo Institute of Technology, and entered the master course in 1997. He received the M.E. and Dr. E. degrees in Department of Mechanical Engineering Science in Tokyo Institute of Technology in 1999 and 2003, respectively. From 2003, he is a post-doctoral researcher. His research interest is in design of robotic mechanisms. He studies about the development of planetary rover. He awarded the Incentive Award for the presentation in the 17th RSJ Annual Conference in 2001, and the Finalists for the Best Video Award in the IEEE International Conference on Robotics and Automation in 2003. He also acts as an organizer and lecturerin several hands on robots competitions that aim at the promotion and education for the beginners.Shigeo Hirose was born in Tokyo in 1947. He received the B. E. degree with first class honors in Mechanical Engineering from Yokohama National University in 1971, and the M. E. and Dr. E. degrees in Control Engineering from the Tokyo Institute of Technology in 1973 and 1976, respectively. From 1976 to 1979 he was a Research Associate, from 1979 to 1992 an Associate Professor and since 1992 he has been a Professor in the Department of Mechanical and Aerospace Engineering at the Tokyo Institute of Technology. He is the Fellow of both IEEE and Japanese Society of Mechanical Engineers. His research interest is in design of novel robotic mechanisms and its control. He awarded more than 30 prizes from academic societies; these include the first Pioneer in Robotics and Automation Award in 1999 and Best Conference Paper Award in 1995 both from IEEE Robotics & Automation Society. Prof. Hirose has published more than 200 academic papers as well as several books, including Snake Inspired Robots (Kogyo-chosakai Publishing Co. Ltd, 1987, in Japanese), Robotics (Shokabo Publishing Co. Ltd., 1987, in Japanese), and Biologically Inspired Robots (Oxford University Press,1993).     

Progress and prospects of the human–robot collaboration

Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An important application area for the integration of robots with such advanced interaction capabilities is human–robot collaboration. This aspect represents high socio-economic impacts and maintains the sense of purpose of the involved people, as the robots do not completely replace the humans from the work process. The research community’s recent surge of interest in this area has been devoted to the implementation of various methodologies to achieve intuitive and seamless human–robot-environment interactions by incorporating the collaborative partners’ superior capabilities, e.g. human’s cognitive and robot’s physical power generation capacity. In fact, the main purpose of this paper is to review the state-of-the-art on intermediate human–robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human–robot collaboration.     

Return Link Systems for Wireless Mobile Camera Using 42 GHz-Band with Frequency and Space Diversity Techniques

In this paper, return link systems for wireless mobile camera using 42 GHz-band in multipath fading environments are proposed. The return link systems for wireless mobile camera require wireless transmission with high reliability as same as the conventional wired camera systems. The proposed return link systems achieve transmission with high reliability by taking into consideration frequency and space diversity techniques. The proposed systems can be classified as 3 three types of return link systems according to diversity techniques： FD （frequency diversity） systems, SD （space diversity） systems and FD＋SD system （frequency and space diversity）. Computer simulations are carried out in order to confirm the effectiveness of the proposed return link systems. It is confirmed that the proposed three types of return link systems have an advantage about BER performances and effectively exploit frequency and space resources.     

A shell for signal interpretation expert systems

System monitoring and diagnosis through signal interpretation are important tasks in many engineering fields. Although monitoring or diagnosis expert systems help human experts a lot, it is not so easy to build a signal interpretation expert system. We have developed two expert systems for speech signal processing. The close analysis of the two systems revealed common functions and modules applicable to wide range of signal interpretation problems. On the basis of the experience, we have developed a shell for signal interpretation expert systems named SSI. In order to evaluate SSI, we also developed two expert systems by using it and obtained satisfactory results. This paper describes the design philosophy and architecture of SSI together with some examples.     

Multi-objective topology optimization of multi-component continuum structures via a Kriging-interpolated level set approach

This paper explores a framework for topology optimization of multi-component sheet metal structures, such as those often used in the automotive industry. The primary reason for having multiple components in a structure is to reduce the manufacturing cost, which can become prohibitively expensive otherwise. Having a multi-component structure necessitates re-joining, which often comes at sacrifices in the assembly cost, weight and structural performance. The problem of designing a multi-component structure is thus posed in a multi-objective framework. Approaches to solve the problem may be classified into single and two stage approaches. Two-stage approaches start by focusing solely on structural performance in order to obtain optimal monolithic (single piece) designs, and then the decomposition into multiple components is considered without changing the base topology (identical to the monolithic design). Single-stage approaches simultaneously attempt to optimize both the base topology and its decomposition. Decomposition is an inherently discrete problem, and as such, non-gradient methods are needed for single-stage and second stage of two-stage approaches. This paper adopts an implicit formulation (level-sets) of the design variables, which significantly reduces the number of design variables needed in either single or two stage approaches. The number of design variables in the formulation is independent from the meshing size, which enables application of non-gradient methods to realistic designs. Test results of a short cantilever and an L-shaped bracket studies show reasonable success of both single and two stage approaches, with each approach having different merits.     

Performance of SOR methods on modern vector and scalar processors

The building-cube method (BCM) is a new generation algorithm for CFD simulations. The basic idea of BCM is to simplify the algorithm in all stages of flow computation to achieve large-scale simulations. Calculation of a pressure field using the Successive Over Relaxation (SOR) method consumes most of the total execution time required for BCM. In this paper, effective implementations on modern vector and scalar processors are investigated. NEC SX-9 and Intel Nehalem-EX are the latest vector and scalar processors. Those processors have much higher peak performances than their previous-generation processors. However, their memory bandwidth improvement cannot catch up with the performance improvement of processors. This is the so-called memory wall problem. In our paper, we discuss optimization techniques for implementation of the SOR method based on architectural characteristics of these modern processors, and evaluate their effects on the sustained performances of these processors for BCM.     

H2 sensors using Fe2O3-based thin film

This paper describes the fabrication procedure as well as the sensing properties of new hydrogen sensors using Fe₂O₃-based thin film. The film is deposited by the r.f. sputtering technique; its composition is Fe₂O₃, TiO₂(5 mol%) and MgO(0–12 mol%). The conductance change of the film is examined in various test gases. The sensitivity to hydrogen gas is enhanced by treating the film in vacuum at 550 °C for 4 h and then in air at 700 °C for 2 h. The sputtered film is identified to be polycrystalline -Fe₂O₃ based on X-ray diffraction patterns. However, the surface layer is considered to be changed to Fe₃O₄ after heating in vacuum and then to γ-Fe₂O₃ after heating in air. The film is thus a multilayer one with a thin γ-Fe₂O₃ layer on a -Fe₂O₃ layer. The sensing mechanism is discussed based on measurements of the physical properties of the film, such as the temperature dependence of the sensor conductance, X-ray diffraction pattern, surface morphology, RBS (Rutherford back-scattering) spectrum and optical absorption spectrum.     

Silica films with a single-crystalline mesoporous structure

Films of mesoporous materials attract broad interest because of their wide applicability in the fields of optics and electronics. Although many of these films have a regular local porous structure, the structural regularity has not been used practically yet because of difficulties in its control on macroscopic scales. Here, we demonstrate the preparation of mesoporous silica films whose porous structure can be described as a single crystal, that is, a long-range order of cage-like pores is maintained over centimetre scales. These films have a three-dimensional hexagonal (space group P6(3)/mmc) porous structure, and the in-plane arrangement of the pores is strictly controlled by a polymeric substrate surface that has been treated by rubbing. This new class of single-crystalline films with mesoscopic periodic structure is a significant breakthrough in bottom-up nanotechnology, and could lead to novel devices, for example, optics in a soft X-ray region, and quantum electronics.     

Characterization of mixing performance in a microreactor and its application to the synthesis of porous coordination polymer particles

Here we quantitatively evaluated the mixing performance of a tailor-made microreactor with central-collision type through the iodide/iodate chemical test reaction, and applied the microreactor to the synthesis of zeolitic imidazolate framework-8 (ZIF-8), which is a subclass of porous coordination polymers (PCPs) or metal organic frameworks (MOFs). The chemical test reaction demonstrated excellent mixing performance of the microreactor with a characteristic mixing time shorter than 1 ms, which is approximately 100 times faster than those of a batch reactor and a millimeter-sized Y-shaped mixer. Taking advantage of the rapid and uniform mixing, the microreactor successfully produced ZIF-8 particles with high reproducibility by simply mixing aqueous solutions of zinc nitrate and 2-methylimidazole. The synthesis at room temperature resulted in ZIF-8 particles with chamfered cube shape, while a lower temperature of 5 °C produced raspberry-type spherical particles. We confirmed that prepared ZIF-8 particles have BET surface area of ～1500 m²/g and exhibit the gate adsorption behavior caused by the structural transition of the ZIF-8 framework.     

Improving an immunoassay response to related polychlorinated biphenyl analytes by mixing antibodies

Immunoassays for detection of a class of closely related antigens, e.g., PCBs, have often been too specific (responding strongly to some members of the class and missing others) and no general method for adjusting the response has been described. In this paper, the difference in the response of a model immunoassay to different Kanechlors (Japanese commercial mixtures of PCBs, analogous to Aroclors in the United States) is reduced from 20- or 50-fold (depending on which antibody is used) to 3-fold when the antibodies are mixed at the proper ratio. A mathematical model based on competitive binding of two antibodies for up to four antigens has been developed and used to describe the assay performance and to predict optimum mix ratios for the antibodies used. The model (based on separate measurement of each antibody's effective Kd for each Kanechlor) provides an excellent fit to the measured mixed antibody assay response. The model is also successful in identifying cases where mixing monoclonal antibodies will not improve the response. It is thought the method described will have applicability in a variety of cases where the analytical goal is semiquantitative screening based on the total quantity of an unknown mixture of related compounds.