Ryosuke Masuda

A new QoS ontology and its QoS-based ranking algorithm for Web services

Abstract Web service composition is a promising solution for building distributed applications on the Internet in which Web service discovery is a key step. With a number of Web services having similar functionality, it is necessary to rank those services to select the best Web services for a request. QoS information which can reflect user’s expectation and experience of using a service is often used as a distinguish factor in a service ranking algorithm. Different service providers and participants may use different QoS concepts for describing service quality information. Therefore, it leads to the issue of semantic interoperability of QoS. In this paper, we propose a novel approach for designing and developing a QoS ontology and its QoS-based ranking algorithm for evaluating Web services. The QoS ontology can support not only describing QoS information in great detail but also facilitating various service participants expressing their QoS offers and demands at different levels of expectation. The QoS-based ranking algorithm adopted Analytic Hierarchy Process (AHP), a multiple criteria decision making technique, as an underlying mechanism for developing a flexible and dynamic ranking algorithm. The proposed QoS ontology and ranking algorithm can be used in various applications in order to facilitate automatic and dynamic discovery and selection of Web services.

Multifunctional optical proximity sensor using phase modulation

A proximity sensor is defined as the noncontact sensor of end-effector, and is one of the most important sensors for robot control. This paper deals with a new type of proximity sensor which has the capability of measuring spatial information, such as gap distance, inclination angles, and the angular positions of object particles. The measuring principle of the sensor is based on the phase shift of a modulated light signal. For this purpose, six light sources are placed on a cross-shaped pattern that is centered by a photodetector, and the power of light sources are modulated by different phase sine wave signals. The distance and angles can be measured by investigating the received phase information at the predetermined emitting pattern. By experimental measurement, the characteristics of this sensor are obtained and the effectiveness of the sensor is confirmed.

Multi-sensor control system for rescue robot

This paper describes the multisensor control system for rescue robot, which is necessary to save a human life at the great disaster. Basically this type of robot is controlled by human operator, but it needs an autonomous control function for safe and fast reaction. Here, we made a model of rescue robot whose hand provides the distributed tactile sensors; the force/torque sensor and the slip sensor. The signal processing method and controlling method of the robot hand are investigated By the fundamental experiments of grasping and pulling up a dummy, which are the first few steps of the rescue work, the system works well in the restricted condition.

Modelling of magnetorheological semi-active suspension system controlled by semi-active damping force estimator

This paper presents the simulation study of magnetorheological semi-active suspension system controlled by a new proposed algorithm. The control algorithm named as Semi-Active Damping Force Estimator (SADE) is proposed to control the operations of the magnetorheological damper. The simulation of semi-active suspension system was done by considering actual dynamics behaviour of a custom-made magnetorheological damper, where its characteristic testing and modelling are described. The performance of magnetorheological semi-active car suspension system controlled by SADE in term of ride comfort is evaluated in comparison with normal suspension system. The performance of SADE semi-active suspension system is also compared with the skyhook-controlled semi-active suspension system performance. It is shown that magnetorheological semi-active suspension system controlled by SADE is able to improve vehicles ride comfort significantly compared to passive suspension system. The SADE-controlled semi-active suspension system performs more or less the same as skyhook-controlled semi-active suspension system.

Active suspension system in improving ride and handling performance of electric vehicle conversion

This paper presents an evaluation on passenger vehicles ride and handling performance when converted into an electric vehicle (EV). The evaluations were done using a validated 14 degrees of freedom ride and handling model. The mathematical modelling of vehicles ride and handling model as well as its validations are described. Two types of experiments were performed to validate the developed simulation model; the ride test and the handling test. The validated simulation model was used to evaluate the vehicles ride and handling performance of the vehicle when converted into an electric vehicle. The evaluation involves two weight distribution ratios which are 60:40, for normal vehicle and 40:60 for EV conversion. The validated simulation model used active suspension system in order to improve the EV conversions ride and handling performance. It is found that modification into EV affects vehicles handling performance quite significant but not ride performance. The EV conversions weight, which is distributed towards the rear of the vehicle, causes the vehicle to travel off from its original travelling path. The application of active suspension system is proposed to improve EV conversions handling performance as well as its ride comfort performance.

Fuzzy semi-active damping force estimator (fSADE) and skyhook semi-active suspension systems

This paper presents the comparative study on semi-active suspension controlled by skyhook algorithm and fuzzy semi-active damping force estimator (fSADE). The damping element used in the semi-active suspension is non-pressurised magnetorheological (MR) damper. The performance of magnetorheological semi-active suspension system controlled by fSADE in terms of ride comfort is evaluated in comparison with normal suspension system and skyhook semi-active suspension system. The study is also focusing on the effects of the number of fuzzy rules used in fSADE algorithm performance. Other aspects studied are the current consumption used by the MR damper as well as the damper’s ability to execute the damping forces as estimated by the controllers. The vehicle ride comforts are evaluated based on the vehicle’s vertical motions (jerk, acceleration, displacement) and pitch motions (pitch rate and pitch angle). It is shown that magnetorheological semi-active suspension system controlled by fSADE is able to improve veh...

Development of an eco-communication robot for enhanced environmental education

In this paper, a new robot equipped with ecological and communication functions is proposed. We call this device an “Eco-communication Robot”. To fulfill its ecological function, this robot can move about on wheels around a campus or park to assist in waste collection. It can also identify various waste products, such as steel or aluminum cans and PET bottles, using an onboard multi-sensor system. Furthermore, when stimulated by sound or when touched, the robot uses its communication function to express “emotions”, and will react to different situations by changing eye color and by issuing distinctive cries. This Eco-communication Robot is intended for use as an educational tool to promote enhanced ecological awareness in children and students.

Improving Electric Vehicle Conversion’s Ride and Handling Performance Using Active Suspension System

This paper present an evaluation on passenger vehicle’s ride and handling performance if being converted into an electric vehicle. The mathematical modelling of vehicle’s ride and handling model as well as its validations are described. The simulation model was used to evaluate the vehicle’s ride and handling performance when converted into an electric vehicle. The validated simulation model was also integrated with an active suspension system in order to improve the EV conversion’s ride and handling performance. It was found that the modifications towards an EV conversion only affect the vehicle’s handling performance significantly. The modifications which change the weight distribution, which biased to the rear of the vehicle, will cause the vehicle to travel off from its original traveling path. The application of active suspension is possibly being used in correcting this condition as well as further improving the EV conversion’s ride comfort performance.

Sine Function and Power Function Model with Photovoltaic Generation System in Simple Installation

This paper shows the result of analytical consideration of the optimality of the solar panel installation for the simple photovoltaic generation system. The power generation is efficiency when the angle of solar panel is to change angle finite times. We adopted the approximated function to figured air mass with sine function or power function in solar radiation data, and calculated the solar radiation to decide optimum angle analytically. Then we have obtained the optimal relation which means the optimal relative angle, and the solar power generation will be made efficiently by using only simple structure.

Development of rescue robot system with human body grasping function

Abstract In situations such as earthquakes and fires, rescue workers are called upon to do very dangerous and hazardous work. Consequently, there is a strong demand for rescue robots to do rescue operations instead of human rescue workers. This paper discusses our ongoing development of a rescue robot system that can provide direct help to disaster victims. To enable the system to perform rescue operations, the robot hands are equipped with multiple tactile sensors. A model of the rescue robot system and its multi-sensor control system was made, and it successfully performed fundamental experiments in rescue operations.