Mechatronics for Safety, Security and Dependability in a New Era Book

Skill-Assist and Its Related Safety-Oriented Technology   Y. Yamada     1
From RoboCup to RoboCity CoRE   M. Asada     5
Welfare
Evaluation of Operability of an Electric Cart Handle without the Bending Motion of Wrists   Y. Inoue   J. Kurata   H. Uchiyama     9
Quantification of Dynamic Walking Stability of Elderly by Using Nonlinear Time-Series Analysis and Simple Accelerometry   Y. Ohtaki   M. Arif   A. Suzuki   K. Fujita   R. Nagatomi   H. Inooka     13
Development of a Welfare Robot Based on RECS Concept-Task of Setting a Meal on the Table-   T. Yamaguchi   H. Kawano   M. Takano   S. Aoyagi     19
Development of a Mobility Aid for the Visually Impaired Using a Haptic Force Generator   T. Ikeda   H. Matsuda   Y. Shiota   K. Sakamoto   Y. Shimizu     23
Study of the Design Method of an Ankle-Foot-Orthosis   Y. Mine   T. Takashima   H. Fujimoto     27
Expected Main Features and Business Model of Healthcare Partner Robot Based on the Market Analysis   A. Kabe     31
Evaluation of Human Motor Characteristics in Driving a Wheelchair with Hand-Rims   Y. Ohta   H. Uchiyama   J. Kurata     37
Dynamic Modeling for Attendant Propelling Wheelchairs   T. Suzuki   H. Uchiyama   J. Kurata     43
Development of a Non-Powered Lift for Wheelchair Uses -Mechanism to Transmit Rotation of Wheels by Many Rollers-   Y. Kobayashi   H. Seki   Y. Kamiya   M. Hikizu   M. Maekawa   Y. Chaya   Y. Kurahashi     47
Guidance of Electric Wheelchair by the Lead Type Operating Device with Detecting Relative Position to Assistance Dog   T. Uemoto   H. Uchiyama   J. Kurata     53
Tele-Operation
Development of Master-Slave Robotic System for Laparoscopic Surgery   T. Suzuki   E. Aoki   E. Kobayashi   T. Tsuji   K. Konishi   M. Hashizume   I. Sakuma     57
Workers in Manufacturing Systems
Workplace Tasks Design Support System by Using Computer Mannequin   K. Mitsuyuki   T. Ono   Y. Matsumoto   Y. Fukuda   E. Arai     63
Simulation and Evaluation of Factory Works Using Musculoskeletal Human Body Model   T. Sato   H. Arisawa     67
Development of Measuring Device for Lower Leg Swelling during Standing Work Tasks   T. Kawano   T. Mizuno      73
Deformable Object Manipulation
Spreading of Clothes by Robot Arms Using Tracing Method   K. Salleh   H. Seki   Y. Kamiya   M. Hikizu     77
Indirect Simultaneous Positioning of Deformable Objects without Physical Parameters or Time-Derivatives   S. Hirai     81
Planning of Knotting Manipulation   H. Wakamatsu   T. Kato   A. Tsumaya   E. Arai   S. Hirai     87
Planning
Analyzing and Evaluating Robot Motion Algorithm for Sweeping Task   Y. Saito   M. Ezawa   Y. Fukumoto   H. Ogata   A. Torige     93
Method for Solving Inverse Kinematics of Redundant Robot under Restraint by Obstacles   J. Kawamoto   K. Tashiro   M. Takano   S. Aoyagi     97
CAD/CAM
Expression of Theoretical Design Information and Intention Transmitting Architecture   K. Takeuchi   A. Tsumaya   H. Wakamatsu   E. Arai     103
Detection of Uncut Regions in Pocket Machining   M. Seo   H. Kim   M. Onosato     109
Flexible Process Planning System Considering Design Intentions and Disturbance in Production Process   G. Han   M. Koike   H. Wakamatsu   A. Tsumaya   K. Shirase   E. Arai     113
A Study on Calculation Methods of Environmental Burden for NC Program Diagnosis   H. Narita   T. Norihisa   L. Chen   H. Fujimoto   T. Hasebe     119
Assembly/Disassembly
Assembly System by Using Prototype of Active Flexible Fixture   T. Yamaguchi   M. Higuchi   K. Nagai     125
Assembly Sequence Planning Using K-Nearest-Neighbor Rule   T. Murayama   T. Eguchi   F. Oba     129
Proposal of Ubiquitous Disassembly System for Realizing Reuse and Recycling in Cooperative Distributed Facilities   T. Tateno   S. Kondoh     133
Sensors & Actuators
Development of a Micro Tactile Sensor Utilizing Piezoresistors and Characterization of Its Performance   J. Izutani   Y. Maeda   S. Aoyagi     139
Development of Sensors Based on the Fixed Stewart Platform   K. Irie   J. Kurata   H. Uchiyama     145
Microfabrication of a Parylene Suspended Structure and Investigation of Its Resonant Frequency   D. Yoshikawa   S. Aoyagi   Y.C. Tai     149
Machining
Direct Prediction of Cutting Error in Finish Endmilling Based on Sequence-Free Algorithm   J. Kaneko   K. Teramoto   K. Horio    Y. Takeuchi     153
Development of Curved Hole Machining Method -Size Reduction of Hole Diameter-   T. Nakajima   T. Ishida   M. Kita   K. Teramoto   Y. Takeuchi     157
Microchannel Array Creation by Means of Ultraprecision Machining   F. Andou   A. Yamamoto   T. Kawai   H. Ohmori   T. Ishida   Y. Takeuchi     163
Automation of Chamfering by an Industrial Robot (Development of Positioning System to Cope with Dimensional Error)   H. Tanaka   N. Asakawa   T. Kiyoshige   M. Hirao     169
Human Behavior Analysis
Interactive Behavioral Design between Autonomous Behavioral Criteria Learning System and Human   M. An   T. Taura     173
Human Behavior Based Obstacle Avoidance for Human-Robot Cooperative Transportation   Y. Aiyama   Y. Ishiwatari   T. Seki     177
Evaluation Methods for Driving Performance Using a Driving Simulator under the Condition of Drunk Driving or Talking Driving with a Cell Phone   Y. Azuma   T. Kawano   T. Moriwaki     181
Computational Model and Algorithm of Human Planning   H. Fujimoto   B. Vladimirov   H. Mochiyama     185
Humanoids
Safety Design for Small Biped-Walking Home-Entertainment Robot SDR-4XII   M. Iribe   T. Moridaira   T. Fukushima   Y. Kuroki     189
Scheduling
A Study on a Real-Time Scheduling of Holonic Manufacturing System -Coordination Among Holons Based on Multi-Objective Optimization Problem-   K. Iwamura   Y. Seki   Y. Tanimizu   N. Sugimura     195
A Study on Integration of Process Planning and Scheduling System for Holonic Manufacturing System -Scheduler Driven Modification of Process Plans-   R. Shrestha   T. Takemoto   N. Sugimura     201
Genetic Algorithm Based Reactive Scheduling in Manufacturing System -Advanced Crossover Method for Tardiness Minimization Problems-   T. Sakaguchi   Y. Tanimizu   K. Harada   K. Iwamura   N. Sugimura     207
A Basic Study on Cost Based Scheduling   K. Sashio   S. Fujii   T. Kaihara     213
Vision
Search and Pose Recognition of Industrial Components Using Curvature of Optimized Edge Pixels   K. Goto   F. Saitoh     219
Vision-Based Navigation of an Outdoor Mobile Robot Using a Rough Map   J. Yun   J. Miura   Y. Shirai     223
Teaching a Mobile Robot to Take Elevators   K. Iwase   J. Miura   Y. Shirai     229
Generated Image Feature Based Selective Attention Mechanism by Visuo-Motor Learning   T. Minato   M. Asada     235
Precise Micro Robot Bio Cell Manipulation Based on the Microscopic Image Recognition   D. Misaki   C. Naoto   T. Usuda   O. Fichiwaki   H. Aoyama     241
New Services & Decision Making in Manufacturing
Service Explorer -A Tool for Service Design-   Y. Shimomura   T. Sakao   T. Hara   T. Arai   T. Tomiyama     247
A Framework for Service Engineering Based on Hierarchical Colored Petri Nets   G. Tian   T. Miura   T. Hara   Y. Shimomura   T. Arai     253
Observables of Opposites Alternatives in Decision Making   J. Yagi   E. Arai   S. Matsumoto     257
Manufacturing Systems
Enhanced Distributed-Simulation Using ORiN and HLA   T. Inukai   H. Hibino   Y. Fukuda     261
Object-Oriented Embedded System Development Method for Easy and Fast Prototyping   T. Vallius   J. Haverinen   J. Roning     265
Integrated Construction Process Management System   M. Takata   E. Arai   J. Yagi     271
A Robotized System for Prototype Manufacturing of Castings and Billets   M. Sallinen   M. Sirvio     277
Towards Human-Profile Based Operations in Advanced Factory Governance Systems: Contemporary Challenges for Socio-Technical Systems Design?   F.M.V Eijnatten   J.B.M. Goossenaerts     281
Relation Diagram Based Process Optimization of Production Preparation Process for Oversea Factory   S. Sato   Y. Inamori   M. Nakano   T. Suzuki   N. Miyajima     287
Cyber Concurrent Manufacturing Integrated with Process Engineering and 3D-CG Simulation -Product Design, Production System Design, and Workstation System Design as a Case Study on Curtain Wall Construction Work-   K. Tamaki     293
Wireless Communication
Wireless Data Transfer Applied on Hydraulic Servo   O.I. Karhu   T. Virvalo   M. Kivikoski     297
The Challenges on the Development of Mobile Controlled RFID System   M. Soini   L. Sydanheimo   M. Kivikoski     301
Wireless Communication with Bluetooth Hearing Protector   M. Oinonen   P. Myllymaki   M. Ritamaki   M. Kivikoski     305
Development of Local Positioning System Using Bluetooth   T. Hirota   S. Tanaka   T. Iwasaki   H. Hosaka   K. Sasaki   M. Enomoto   H. Ando     309
Analysis of Multiple Object Identification with Passive RFID   K. Penttila   L. Sydanheimo   M. Kivikoski     313
Modeling Electromagnetic Wave Propagation in Paper Reel for UHF RFID System Development   M. Keskilammi   L. Sydanheimo   M. Kivikoski     317
Effect of Conductive Material in Objects on Identification with Passive RFID Technology: A Case Study of Cigarette Cartons   L. Ukkonen   M. Soini   D. Engels   L. Sydanheimo   M. Kivikoski     323
Control
Current Limiter Complicates the Dynamic Characteristics of Servo Motor   P. Serikitkankul   H. Seki   M. Hikizu   Y. Kamiya     329
Active Suspension System with High-Speed On/Off Valve (Application of Preview Control with Adaptive Digital Filter)   H. Yamada   T. Muto     333
Embedded Distributed Sub Control System Based on Hybrid Controller   M. Lammila   T. Virvalo   E. Lehto     339
Active Noise Cancellation Hearing Protector with Improved Usability   M. Oinonen   H. Raittinen   M. Kivikoski     343
Suppressing Mechanical Vibrations in a PMLSM Using Feedforward Compensation and State Estimates   M. Hirvonen   H. Handroos     347
Characterization, Modeling and Simulation of Magnetorheological Damper Behavior under Triangular Excitation   J.A. Cortes-Ramirez   L.S. Villarreal-Gonzalez   M. Martinez-Martinez     353
Measuring & Monitoring
Soft-Sensor Based Tree Diameter Measuring   V. Holtta     359
Study On-Machine Work Piece Measurement on 5-Axis Controlled Machining Center   S. Nakamura   Y. Ihara     365
A New Methodology to Evaluate Error Space in CMM by Sequential Two Points Method   W.M. He   H. Sato   K. Umeda   T. Sone   Y. Tani   M. Sagara   H. Matsuzaki     371
Pressure Monitoring System of Gland Packing for a Control Valve   M. Wada   M. Naito   H. Hosaka   T. Hirota   R. Okutsu   K. Izumi     377
Application
Fabrication of a Micro Needle Made of Biodegradable Polymer Material   T. Aoki   H. Izumi   S. Aoyagi     381
An Effective State-Space Construction Method for Reinforcement Learning of Multi-Link Mobile Robots   M. Nunobiki   K. Okuda   S. Maeda     385
Circularly Polarised Rectenna for Enhanced Dual-Band Short-Range Wireless Power Transmission   J. Heikkinen   M. Kivikoski     389
Conductive Fibres in Smart Clothing Applications   J. Hannikainen   T. Jarvinen   T. Vuorela   K. Vahakuopus   J. Vanhala     395
Design of Low-Clearance Motion Platform for Driving Simulators   H. Mohellebi   S. Espie   A. Kheddar   H. Arioui   A. Amouri     401
High Performance Low Cost Stereo Projector System for Virtual Reality   H. Kosola   K. Palovuori     405
Analytical and Experimental Modeling of Intra-Body Communication Circuit   Y. Terauchi   K. Hachisuka   K. Sasaki   Y. Kishi   T. Hirota   H. Hosaka   K. Fujii   K. Ito     409
Design of Multi Sensor Units for Searching Inside of Rubble   K. Inoue   M. Yamamoto   T. Takubo   Y. Mae   T. Arai     415
Mechatronics Design and Development towards a Heavy-Duty Waterhydraulic Welding/Cutting Robot   H. Wu   H. Handroos   P. Pessi     421
Qutie-Modular Methods for Building Complex Mechatronic Systems   A. Tikanmaki   T. Vallius   J. Roning     427
Link Length Control Using Dynamics for Parallel Mechanism with Adjustable Link Parameters   W. Tanaka   T. Arai   K. Inoue   T. Takubo   Y. Mae   Y. Koseki     431
A Proposal of the Multimedia Archive System with Watermark Index for Prevention of Disasters   F. Maehara   Y. Tanno     435