Component-based robot system design for grasping tasks

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.     

A portable toolkit for supporting end-user personalization and control in context-aware applications

A context-aware application in the pervasive computing environment provides intuitive user centric services using implicit context cues. Personalization and control are important issues for this class of application as they enable end-users to understand and configure the behavior of an application. However most development efforts for building context-aware applications focus on the sensor fusion and machine learning algorithms to generate and distribute context cues that drive the application with little emphasis on user-centric issues. We argue that, to elevate user experiences with context-aware applications, it is very important to address these personalization and control issues at the system interface level in parallel to context centric design. Towards this direction, we present Persona, a toolkit that provides support for extending context-aware applications with end-user personalization and control features. Specifically, Persona exposes a few application programming interfaces that abstract end-user customization and control mechanisms and enables developers to integrate these user-centric aspects with rest of the application seamlessly. There are two primary advantages of Persona. First, it can be used with various existing middlewares as a ready-to-use plug-in to build customizable and controllable context-aware applications. Second, existing context-aware applications can easily be augmented to provide end-user personalization and control support. In this paper, we discuss the design and implementation of Persona and demonstrate its usefulness through the development and augmentation of a range of common context-aware applications.     

Scanning-laser-beam semiconductor pH-imaging sensor

We have constructed a two-dimensional (2-D) pH-imaging sensor that enables us to observe th H⁺ distribution produced by living cells. The pH-sensing principle is similar to that of thelight-addressable potentiometric sensor. The electrolyte-insulator-semiconductor (EIS) structure (electrolyte---Si₃N₄---SiO₂---Si) is illuminated by a focused (1 μm) and modulated (1–10 kHz) He—Ne laser bean from the backside of the semiconductor, and the a.c. photocurrent flowing through the EIS structure is measured. By scanning the laser beam, 2-D pH images can be obtained. By using this sensor, pH distributions of colonies of yeast (Saccharomyces cerevisiae) have been observed. The spatial resolution of this sensor could be improved by thinning the Si wafer.     

Sensitivity of an anadically oxidized aluminium film on a surface acoustic wave sensor to humidity

The sensitivity, transient response and sensitivity mechanism of a surface acoustic wave humidity sensor using porous anodically oxidized aluminium (alumina) films as mechanical interfaces have been studied theoretically and experimentally. It is found that the sensitivity of alumina films of 1.0 μm thickness is -0.034 m/(s %RH) and is the same order as that of polyimide films. The transient response of alumina films to humidity is about one order faster than that of polyimide films. For the sensitivity mechanism, the phase-velocity change is attributed to the mechanical perturbation caused by the absorption of water molecules. The equivalent density change of alumina films between 0 and 100%RH is about 0.7%. In addition, the actual stiffness constants of alumina films are two orders less than those of bulk alumina.     

A menu generator for audio visual networks

An audio visual system can enhance its controllability by an interactive and user-friendly menu through which a user issues commands to control audio visual devices. One of the serious problems encountered in such menu development is that end-user's requirement specifications vary in screen layouts, device configurations and commands contents, and often involves extensive manual programming. We have definedMacroMMenu formally as a tree structure menu system model restricting a menu transition graph, and designed and implemented an automated menu prototyping system which includes a menu generator calledInteractive Proto. UsingInteractive Proto through a visual programming language, end-users themselves, who are usually non-programmers, can easily define menu specification, input this source specification, and the targetMacro Menu is generated automatically.     

Novel screen technology for high‐contrast front‐projection display by controlling ambient‐light reflection

Abstract— One problem with front‐projection displays is that the screen contrast ratio decreases in bright ambient light. In this paper, we propose a new front‐projection display system that incorporates the control of reflection of ambient light in the screen design, providing a high contrast ratio even in a brightly lit room.     

Constant-phase-mode operation of the light-addressable potentiometric sensor

The constant-phase-mode operation of the light-addressable potentiometric sensor (LAPS) is proposed and demonstrated. In this new operation mode, the temporal change and the spatial distribution of the analyte concentration are recorded in the form of the bias voltage applied to the LAPS sensor plate, which is servo-controlled to maintain the phase of the photocurrent at a constant value with respect to the light modulation. The constant-phase-mode LAPS is advantageous for its wider measurement range and reduction of artifacts.     

Neural network-based asymptotic tracking control of unknown nonlinear systems with continuous control command

ABSTRACT

This paper proposes a robust tracking controller for a class of nonlinear second-order systems with time-varying uncertainties. The controller is mainly based on the robust integral of the sign of the error (RISE) control approach to achieve an asymptotic stability result with a continuous control command in the presence of additive uncertainties. An adaptive feedforward neural network control term is blended with a new RISE controller to improve the system's transient performance. The proposed RISE controller is a modified version of the existing saturated RISE controller such that only sign of the derivative of the output is needed. The stability of the closed-loop system is well studied, where a local asymptotic stability is proven. The controller performance is validated through simulations on a two-degree-of-freedom lower limb robotic exoskeleton.     

Playful training with augmented reality games: case studies towards reality-oriented system design

In this paper, we propose a reality-oriented augmentation approach to support training activities. The approach aims at adding new value and playful features to traditional training environments with keeping their original look-and-feel. For example, a game monitoring service enables to automatically record game events so that players can review a gaming process and strategy for soul-searching, or replay most impressive scenes to share the experience with others after the game finishes. Even several services are running on background, digital devices and services are seamlessly integrated to the game environment in unobtrusive way so that players can concentrate on training as usual. The concept can be applied to both traditional games (e.g., poker and the game of Go) and non-gaming activities (e.g., calligraphy and drumming). We developed four case studies on the concept: Augmented Reality Go, EmoPoker, Augmented Calligraphy and AR Drum Kit. We discuss design issues in the reality-oriented augmentation process based on user study results.