Satoshi Iwaki

Acoustic signal transmission with insertion signal for machine control

The acoustic signal transmission includes electrically synthesizing an audible sound signal and an insertion signal to generate a synthesized sound electrical signal at the sending side, transmitting the synthesized sound electrical signal, and extracting the insertion signal form the synthesized sound electrical signal at the receiving side. The extracted signal may be used for controlling machines or for transmitting information. The acoustic signal represented by the synthesized sound electrical signal can be heard by human ears in the same way as the audible sound signal, while the synthesized insertion signal cannot be detected by human ears. The synthesized sound electrical signal can be transmitted as a sound wave in air space, as electrical signals through a transmission line or as radio signals such as infrared and electromagnetic waves. The synthesized sounds may also be transported or distributed by recording on recording media such as compact disc and DVD.

Remote-collaboration system using mobile robot with camera and projector

We have been studying a remote-collaboration system called SCOPE (sight collaboration by projection effect) featuring image projecting and capturing capabilities as implemented in a maintenance robot. With the help of SCOPE and a remote support person, an on-site worker can perform maintenance very efficiently. We propose a mobile SCOPE that can significantly expand the area of activity of the conventional SCOPE. To enable an on-site worker to share the field of view of a remote support person, we developed a technique for aligning the optical axes of a camera and a projector. We present experimental data that demonstrates the validity of our optomechanical design. Finally, we show that the mobile SCOPE enables workers to continuously share their field of view, no matter where the mobile SCOPE moves

Framework and service allocation for network robot platform and execution of interdependent services

This research introduces a framework for network robot platform (NWR-PF) and a service allocation method for heterogeneous distributed robots; they cooperate to perform services that include interdependent tasks. The proposed framework is composed of three layers: connection units, the area management gateway, and the robot-user interaction database. The area management gateway and robot-user interaction database treat the information of the users, robots, services, and service history in a uniform manner, because the connection units hide the differences, such as format and protocol, among the heterogeneous robots. The 4W1H matching method is also proposed for service allocation. The method selects the most suitable robots by comparing the elements of user, robot, and service information. Moreover, it generates robot commands in a common format, by combining the service scenario, and service history. A feature of the method is that both robotic functions to execute service and functions that robots possess are described as independent parameters. After the service trigger is received, both the robot and scenario needed to execute the service are decided by matching these parameters. Experiments show that robots controlled by NWR-PF can perform interdependent services by referring to the service history.

Contactless manipulation of an object on a plane surface using multiple air jets

We propose a technology for manipulating the position and orientation of an object in a contactless manner over an extended range. This technology involves multiple ejectors that stream jets of compressed air onto an object from various directions. By regulating the air jet directions and flow rates, the object can be actively “force closured” and its position and orientation can be manipulated freely. As the first step of this research, in this paper, we discuss technological challenges for this method. Next we provide a preliminary investigation with one degree-of-freedom planar experimental system using a continuous and a PWM air jet ejection method. Based on this investigation, we examine problems relating to the use of three air nozzles to control the position of a cylindrical object in two degrees of planar freedom.

Compliance design method using linear programming

An approach for designing compliance matrices using linear programming is presented. Compliance is treated as a linear mapping from a force to a corrected motion and is constructed on the basis of geometric information. The four conditions required of an appropriate compliance matrix (stability, feasibility, velocity dependency and error correctivity) are discussed. These conditions are formulated as a set of linear inequalities, and the compliance matrix design problem is reduced to a linear programming problem, with this set of inequalities as constraints. The usefulness of this method is shown by simulation and some experimental assembly tasks.<<ETX>>

Development of motion data description language for robots based on eXtensible Markup Language - realization of better understanding and communication via networks

To realize the ubiquitous robot and software avatar society in the near future, the concept of the MotionMedia contents sharing platform is proposed. MotionMedia is defined as a physical communication medium, that includes the actual motion of robots or physical end-effectors, as the fifth medium following audio, text, image, and video. MotionMedia should be valuable to realize better understanding and communication between humans via broadband networks through the support of advanced communication media. To share MotionMedia contents, especially motion data, a motion data modeling and formulation system for human-type robots based on eXtensible Markup Language (MotionXML) is developed. MotionXML leads to specifications to convey and reproduce robot motion via networks. It allows the same set of motion data to be shared by robots that have different structures and control interfaces. An application program interface (MotionAPI) as a common access interface for MotionXML is also developed. It allows application developers to handle MotionXML easily and to develop applications more rapidly.

A basic study of a pillow-shaped haptic device using a pneumatic actuator

As a new haptic device for daily use, a pillow-shaped haptic device using a pneumatic actuator, the Air-pillow telephone, is proposed. The Air-pillow telephone allows an intimate couple at a distance to mutually share the partnerpsilas sense of touch and presence, which cannot be easily conveyed by conventional communication media: text, voice, still image and video. We have developed a prototype system with an air bag driven by a piston-cylinder mechanism. The userpsilas head motion affects the air pressure of the air bag and then its signal is bilaterally transmitted in real time via internet to actuate the partnerpsilas air pillow. Inside the pillowpsilas subtle motion, the user can find the existence of the partnerpsilas haptic language. This paper describes the Air-pillow telephone concept and application as well as implementation of the prototype system, modeling and control design. For the userpsilas sense of touch control method, we propose two control modes: the seesaw mode and the synchronous mode. The validity of the proposed idea was confirmed with successful simulation and experimental results under the TCP/IP network environment.

A robot task design and management system for industrial applications

A new robot task design and management system has been developed for tool manipulation tasks done by a sensor-based robot. This design and management system can be used for all processes from teaching to task execution. A task description can be generated easily and intuitively by using graphical user interface, without precise geometrical workpiece models. Task conditions are inputted interactively by arranging iconized structured task components in accordance with the task procedure. A robot system to deburr the outside of an aluminum-cast workpiece was developed as one example of an application of this system. The results of a system evaluation experiment confirmed that the system enables the systematic task description and control of a task to be performed by a sensor-based robot system.

Touch sense control of an air pillow driven by a piston-cylinder mechanism

We propose a design and control of an air pillow system (IAAP: Impedance Adjustable Air Pillow), in which users can independently adjust its height and tactile sensation. The IAAP consists of an air bag with a pressure sensor and a motor-driven piston-cylinder mechanism. Because the IAAP does not contain any mechanical sensors inside the air bag, by using only the air pressure and the piston position, we propose an impedance control method to set the target impedance (rigidity and viscosity) of the air bag. To evaluate the usability of our IAAP, some sensory evaluation tests were carried out on a group of subjects. As a result of the tests, we conclude the IAAP has a good practical potential as a high-performance pillow for comfortable sleep.

Robust projection method for a mobile robot with camera and projector based on a structured-environment approach

In this paper, we discuss a mobile robot (Campro-RIS) that provides visual support for human activities by projecting information onto the surfaces of various objects in living spaces through a structured-environment approach. Campro-RIS employs a parallel two-wheeled vehicle system with a camera and a projector whose angle can be controlled with a pan/tilt actuator. By actively examining visual markers placed in the environment in advance, the robot projects distortion-free image information onto surfaces located at arbitrary distances and orientations even in extremely complex environments containing various objects. To precisely project the image onto the target location while simultaneously avoiding obstacles around the robot and staying within the pan/tilt actuators movable range, we propose a robust projection control method built upon an image-based visual servoing technique based on actuator redundancy. The effectiveness of the proposed method is demonstrated in a two dimensional experimental system.