Noriaki Ando

Development of micromanipulator and haptic interface for networked micromanipulation

Telemicromanipulation systems with haptic feedback, which are connected through a network, are proposed. It is based on scaled bilateral teleoperation systems between different structures. These systems are composed of an original 6 degree of freedom (DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The system modeling and control of the parallel manipulator system are conducted. Parallel manipulator feasibility as a micromanipulator, positioning accuracy and device control characteristics are investigated. A haptic master interface is developed for micromanipulation systems. System modeling and a model reference adaptive controller are applied to compensate friction force, which spoils free motion performance and force response isotropy of the haptic interface. These systems aim to make the micromanipulation more productive constructing a better human interface through the microenvironment force and scale expansion.

Cooperation of distributed intelligent sensors in intelligent environment

We propose an architecture of intelligent space based on distributed intelligent sensors. Intelligent space is an environmental system able to support humans in informative and physical ways. Since an intelligent space should adapt to the various sizes and shapes of an environment, an architecture based on distributed intelligent sensors is designed. The proposed architecture satisfies not only scalability but also reconfigurability, modularity, easy maintenance, and affinity problems in building an intelligent space. Intelligent sensors are distributed among a space and they provide functions based on position information. According to the particular situation, cooperation among intelligent sensors or cooperation among function modules in the intelligent sensors are performed. Selected demonstrations are described in the paper.

RT(Robot Technology)-Component and its Standardization - Towards Component Based Networked Robot Systems Development

In this paper, we propose RT-component architecture for robot system integration. We have studied modularization of RT (Robot Technology) elements and have developed RT-Middleware, which promotes application of RT in various field. RT-Middleware is a software platform for RT systems and provides RT specific functionality for the component based system development. The component which constructs RT-systems in RT-Middleware is called the RT-Component We are also standardizing the architecture of RT-component in the Object Management Group (OMG). Finally conclusion and future work will be described

Design policy of intelligent space

Intelligent spaces are rooms or areas that are equipped with sensors which enable the spaces to perceive and understand what is happening in them. Intelligent Spaces are expected to have a broad range of applications such in homes, offices, factories etc. Intelligent Space is a kind of intelligent environments. The motivation of building intelligent environment is to realize convenient and active environments which have been passive. Intelligent Space is a space which supports both human and robots. In this paper, we explain our design policy of intelligent Space. Since this system is deeply related with real world, we should be careful on its design. We discuss how we selected its elements and what we want to realize. Some applications of Intelligent Space are shown.

Composite component framework for RT-middleware (robot technology middleware)

We have studied a framework of RT-component which promotes application of robot technology (RT) in various field. In this paper, we discussed robotic system development methodology and our RT-middleware concepts. The system development methodology using RT-component, and new framework to make composite component for RT-component is shown. An evaluation of composite component framework, which realizes low level and real-time composition of independent RT-components, is derived. Finally, conclusion and future are described

Development of a single-master multi-slave tele-micromanipulation system

This paper presents a novel single-master (PHANToM haptic device) multislave telemicromanipulator system using two parallel mechanism micromanipulators as a slave device. Firstly, the motivation of this research is mentioned. Then, the system structure and the configuration of our experimental system are introduced. In this system, there exists singular position problem which prevents precise and flexible movement of parallel mechanism manipulators. Through several simulations like a rectilinear movement, singular position and the manipulability of the dual-micromanipulator system is analyzed. Also, the different kinematical configuration and the different DOF between the master and the slave introduces a mapping problem which can be serious for some cooperative manipulations. Therefore, the mapping method between the master and the slave is discussed in this paper. A manipulation strategy to build the system that human and both manipulators perform the cooperative manipulation is also introduced. Finally, several experimental and simulation results are shown to verify the proposed system.

Micro teleoperation with haptic interface

In this paper, we discuss about micro teleoperation with haptic interfaces. We developed the micro teleoperation systems for micro tasks, such as assembly or manufacturing. We will show about structure of master/slave manipulators, its control and experimental results of teleoperation with these manipulators in this paper. We introduce the haptic interface that give operators the presence as if he/she touches the expanded micro objects with, his/her fingers. This micro telemanipulation system is the new tool, which enable human operators to touch and feel the expanded micro objects with his/her fingers.

Self-identification of distributed intelligent networked device in intelligent space

The Intelligent Space is a space where we can easily interact with computers and robots, and get useful service from them. To achieve such a space, a distributed intelligent networked device (DIND) has been proposed. Many DINDs are installed in a space and they cooperate each other to make the space to become an Intelligent Space. In this paper, an optimal DIND placement, self-calibration of DIND and handover protocol for cooperation among DINDs, are described.

Adaptive guidance for mobile robots in intelligent infrastructure

We propose a method of guiding mobile robots in a networked space. To watch human and robots, distributed sensor devices with processors are located around the networked space. In this space, robots as well as the human are supported informatively and physically. The distributed sensor devices guide mobile robots in this space and navigation with high adaptability is realized. The simulation and experimental results including the camera arrangement and robot guidance with distributed sensor devices are shown.

A study on influence of time delay in teleoperation

While a large number of studies have been made on teleoperation, most of these studies are focused on the human interface, the communication, the hardware devices, and stability of systems. Though many studies to overcome time delay in teleoperation have been done, there are few studies about including human factors in teleoperation. We focus on human not having the receptor which perceives time directly, and perform an experiment to find out how the human operator perceives time in teleoperation. In this paper we investigate the quantitative evaluation of operability that depends on the communication time delay in teleoperation and time perceptions of the human operator. In addition, we propose a guideline of human-interface in teleoperation. Selected experimental results are shown with comments.